zy-wcs.git - Gitblit

			@@ -1,29 +1,30 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.enums.NavigationMapType;
			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.LiftDispatchUtils;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;

			import java.util.*;
			@@ -36,18 +37,8 @@
			@Service("mainService")
			public class MainServiceImpl {

			@Value("${wms.url}")
			private String wmsUrl;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkMastLogMapper wrkMastLogMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			@@ -55,21 +46,17 @@
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasLiftErrService basLiftErrService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private BasMapService basMapService;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;
			@Autowired
			private NavigateMapData navigateMapData;
			@Autowired
			@@ -79,471 +66,67 @@
			@Autowired
			private ShuttleAction shuttleAction;
			@Autowired
			private ForkLiftAction forkLiftAction;


			// /**
			// * 组托
			// * 入库站，根据条码扫描生成入库工作档，工作状态 2
			// */
			// public void generateStoreWrkFile() {
			// try {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口
			// for (DevpSlave.Sta inSta : devp.getInSta()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// // 尺寸检测异常
			// boolean back = false;
			// String errMsg = "异常：";
			// if (staProtocol.isFrontErr()) {
			// errMsg = errMsg + "前超限；";
			// back = true;
			// }
			// if (staProtocol.isBackErr()) {
			// errMsg = errMsg + "后超限";
			// back = true;
			// }
			// if (staProtocol.isHighErr()) {
			// errMsg = errMsg + "高超限";
			// back = true;
			// }
			// if (staProtocol.isLeftErr()) {
			// errMsg = errMsg + "左超限";
			// back = true;
			// }
			// if (staProtocol.isRightErr()) {
			// errMsg = errMsg + "右超限";
			// back = true;
			// }
			// if (staProtocol.isWeightErr()) {
			// errMsg = errMsg + "超重";
			// back = true;
			// }
			// if (staProtocol.isBarcodeErr()) {
			// errMsg = errMsg + "扫码失败";
			// back = true;
			// }
			// // 退回
			// if (back) {
			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			// }
			// continue;
			// }
			//
			// // 判断是否满足入库条件
			// if (staProtocol.isAutoing() && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			// ) {
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (!Cools.isEmpty(barcode)) {
			//// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode) \|\| "00000000".equals(barcode)) {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			// continue;
			// }
			// } else {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			//// // led 异常显示
			//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			//// if (ledThread != null) {
			//// String errorMsg = "扫码失败，请重试";
			//// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			//// }
			// continue;
			// }
			//
			// // 过滤盘点/拣料/并板任务
			// WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (null != wrkMast1) {
			// continue;
			// }
			//
			// // 判断重复工作档
			// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast2 != null) {
			// News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast2.getWrkNo());
			// continue;
			// }
			//
			// try {
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// SearchLocParam param = new SearchLocParam();
			// param.setBarcode(barcode);
			// param.setIoType(1);
			// param.setSourceStaNo(inSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// // plc 处理
			// barcodeThread.setBarcode("");
			//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			//// staProtocol.setStaNo(dto.getStaNo().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			////
			//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//// if (!result) {
			//// throw new CoolException("更新plc站点信息失败");
			//// }
			//
			// // 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// // 更新工作主档
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			// }
			//
			// } else if (code == 500) {
			// if (ledThread != null) {
			// String errorMsg = jsonObject.getString("msg");
			// if (!Cools.isEmpty(errorMsg)) {
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// ledThread.setLedMk(false);
			// }
			// }
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// } else if (code == 700) {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setRollback102(1);//102站回退信号
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
			//
			// // led 异常显示
			// if (ledThread != null) {
			// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// ledThread.setLedMk(false);
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 拣料、并板再入库
			// */
			// @Transactional
			// public synchronized void stnToCrnStnPick(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历拣料入库口
			// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// // 获取拣料入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			//// && (staProtocol.getWorkNo() > 0)
			// && staProtocol.isPakMk()) {
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (Cools.isEmpty(barcode)) {
			// continue;
			// }
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// continue;
			// }
			//
			// WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (wrkMast == null) {//找不到工作档
			// continue;
			// }
			//
			// if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
			// \|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// continue;
			// }
			//
			//// //*******************同库位组校验*******************
			//// boolean flag = false;
			//// String th = "";
			//// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			//// for (String loc : innerLoc) {
			//// LocMast locMast = locMastService.selectById(loc);
			//// if (locMast == null) {
			//// continue;
			//// }
			////
			//// if (!locMast.getLocSts().equals("F")) {
			//// flag = true;
			//// th = loc + "库位存在未回库任务";
			//// break;
			//// }
			//// }
			//// if (flag) {
			//// News.info(th);
			//// continue;
			//// }
			//// //*******************同库位组校验*******************
			//
			//// // 保存工作主档历史档
			//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			//// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			//// continue;
			//// }
			//
			// try {
			// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			// SearchLocParam param = new SearchLocParam();
			// param.setWrkNo(wrkMast.getWrkNo());
			// param.setBarcode(wrkMast.getBarcode());
			// param.setIoType(wrkMast.getIoType());
			// param.setSourceStaNo(pickSta.getStaNo());
			// param.setLiftNo(pickSta.getLiftNo());
			// param.setLocType1(locMast.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			//
			//// //获取回库提升机目标站
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			//// if (liftStaProtocol == null) {
			//// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// wrkMast.setModiTime(new Date());
			//// if (wrkMastMapper.updateById(wrkMast) == 0) {
			//// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// continue;
			//// }
			// } else if (code == 500) {
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			// }
			//
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 盘点再入库
			// */
			// @Transactional
			// public synchronized void stnToCrnStnPlate(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历拣料入库口
			// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// // 获取拣料入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			//// && (staProtocol.getWorkNo() > 0)
			// && staProtocol.isPakMk()) {
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (Cools.isEmpty(barcode)) {
			// continue;
			// }
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// continue;
			// }
			// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
			// if (wrkMast == null) {//找不到工作档
			// continue;
			// }
			//
			// if ((wrkMast.getIoType() != 107)
			// \|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// continue;
			// }
			//
			//// // 保存工作主档历史档
			//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			//// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			//// continue;
			//// }
			//
			// //盘点找新库位
			// try {
			// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			// SearchLocParam param = new SearchLocParam();
			// param.setWrkNo(wrkMast.getWrkNo());
			// param.setBarcode(wrkMast.getBarcode());
			// param.setIoType(107);//盘点
			// param.setSourceStaNo(pickSta.getStaNo());
			// param.setLiftNo(pickSta.getLiftNo());
			// param.setLocType1(locMast.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			//
			//// //获取回库提升机目标站
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			//// if (liftStaProtocol == null) {
			//// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// wrkMast.setModiTime(new Date());
			//// if (wrkMastMapper.updateById(wrkMast) == 0) {
			//// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// continue;
			//// }
			//
			//// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// } else if (code == 500) {
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			//
			// }
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			private LiftAction liftAction;
			@Autowired
			private NotifyUtils notifyUtils;
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private DeviceConfigService deviceConfigService;
			@Autowired
			private LiftDispatchUtils liftDispatchUtils;
			@Autowired
			private BasShuttleService basShuttleService;

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			try {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			Object data = redisUtil.get(RedisKeyType.MAP.key + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//获取完整地图(包括入库出库)

			//存入数据库
			basMap = new BasMap();
			basMap.setData(JSON.toJSONString(lists));
			basMap.setCreateTime(new Date());
			basMap.setUpdateTime(new Date());
			basMap.setLev(i);
			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
			if (data == null) {//redis地图数据为空
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonOriginData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图(包括入库出库)

			if (!basMapService.insert(basMap)) {
			log.info("地图数据存储失败");
			}
			//存入数据库
			basMap.setData(JSON.toJSONString(lists));
			basMap.setCreateTime(new Date());
			basMap.setUpdateTime(new Date());
			if (!basMapService.updateById(basMap)) {
			log.info("地图数据存储失败");
			}

			//将数据库地图数据存入redis
			redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
			redisUtil.set(RedisKeyType.MAP.key + lev, lists);
			}

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

			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
			)
			.orderBy("io_pri", false)
			.orderBy("appe_time", true)
			);
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
			Thread.sleep(100);
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			@@ -551,351 +134,332 @@
			}
			}

			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			// for (WrkMast wrkMast : wrkMasts) {
			// //获取源站
			// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			// if (sourceBasDevp == null) {
			// continue;//站点不存在
			// }
			//
			// //获取目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			// if (liftStaProtocol == null) {
			// continue;//站点不存在
			// }
			//
			// // 判断是否满足入库条件，自动、空闲、有物
			// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			// News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			/**
			* 入库-小车搬入库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
			//获取目标站
			LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			// /**
			// * 入库-小车搬入库中
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			// if (wrkMast.getWrkSts() == 4) {
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			// News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //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;
			// }
			// if (!shuttleThread.isIdle()) {
			// News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//// //判断小车令牌是否未被占领
			//// if (shuttleProtocol.getToken() != 0) {
			//// News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			//// return false;//小车已被独占，禁止再派发任务
			//// }
			//
			// //判断小车是否存在移动任务
			// WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			// if (hasMoveWorking != null) {
			// News.info("{}任务，{}小车，存在移动任务，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//存在移动任务，禁止执行入库任务
			// }
			//
			// //判断小车是否到达输送站点库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			// News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //小车已抵达输送站点位置，进行搬运货物
			// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
			// if (result == null) {//路径计算失败
			// News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id);//入库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(result.getCommands());//运行命令
			// assignCommand.setNodes(result.getNodes());//路径节点
			//
			// wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			// wrkMast.setModiTime(new Date());
			//// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			// /**
			// * 出库 ===>> 四向穿梭车出库作业下发
			// */
			// public synchronized void shuttleOutExecute() {
			// try {
			// for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			//
			// /**
			// * 出库-小车搬出库中
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			// //21.生成出库任务 => 22.小车搬运中
			// if (wrkMast.getWrkSts() == 21) {
			// EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			// wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			// wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (staDesc == null) {
			// News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
			// return false;//出库路径不存在
			// }
			//
			// //获取出库站点
			// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (basDevp == null) {
			// return false;//出库站点不存在
			// }
			//
			//// if (!basDevp.getAutoing().equals("Y")) {
			//// News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
			//// return false;//不是自动状态
			//// }
			////
			//// if (!basDevp.getOutEnable().equals("Y")) {
			//// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
			//// return false;//出库站点不可出
			//// }
			//
			// Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
			// List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
			// if (!liftWrkMasts.isEmpty()) {
			// News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo);
			// return false;//存在入库任务，禁止出库
			// }
			//
			// //同库位组校验
			// List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
			// List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
			// if (!outerLocMasts.isEmpty()) {
			// News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
			// return false;//浅库位存在未执行任务
			// }
			//
			// //获取源站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftStaProtocol == null) {
			// return false;//找不到站点
			// }
			//
			// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			// News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
			// return false;//站点必须自动、空闲、没有托盘
			// }
			//
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// //强制预留一台小车给入库任务
			// int lev = Utils.getLev(wrkMast.getSourceLocNo());
			// //获取当前楼层有几台可用小车
			// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			// if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			// int shuttleWrkInObligateCount = 1;//预留小车数量
			// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			// if (config != null) {
			// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			// }
			// //可用出库小车数量(给入库任务预留一台车)
			// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			// //查询楼层已分配车辆的出库任务数量
			// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			// if (wrkMasts.size() >= useShuttleCount) {
			// News.info("{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			// return false;
			// }
			// }
			// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			// News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleProtocol.isIdle()) {
			// News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// //判断小车令牌是否未被占领
			// if (shuttleProtocol.getToken() != 0) {
			// News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//小车已被独占，禁止再派发任务
			// }
			//
			// //判断小车是否到达货物库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			// News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //小车已抵达货物位置，进行搬运货物
			// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
			// if (result == null) {//出库路径计算失败
			// News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(result.getCommands());//运行命令
			// assignCommand.setNodes(result.getNodes());//路径节点
			//
			// wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			// wrkMast.setModiTime(new Date());
			// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			// return false;
			// }
			// return true;
			// }
			//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;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断小车是否存在移动任务
			WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (hasMoveWorking != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo());
			return false;//存在移动任务，禁止执行入库任务
			}

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

			//检测障碍物车
			int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
			add(shuttleProtocol.getShuttleNo());
			}}, new ArrayList<>());
			if (checkObstacle > 0) {
			News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
			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.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
			assignCommand.setAuto(true);//自动模式

			//获取小车到目标库位命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), 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.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
			wrkMast.setModiTime(new Date());
			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_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 四向穿梭车任务完成
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleFinished() {
			public synchronized void shuttleOutExecute() {
			try {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.NEW_OUTBOUND.sts
			)
			.orderBy("io_pri", false)
			.orderBy("appe_time", true)
			);
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			Thread.sleep(100);
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//101.生成出库任务 => 102.小车搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//通过输送线站号获取提升机号
			liftNo = LiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			if (liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			return false;
			}
			}

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

			//判断提升机是否处于出库模式
			if (!liftProtocol.getIOModeType().equals(LiftIoModeType.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;
			}

			//获取源站
			LiftStaProtocol liftSta = LiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", 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.getSiteId());
			return false;
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
			return false;
			}

			List<WrkMast> shuttleMoveList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("io_type", 200)
			);
			for (WrkMast moveWrkMast : shuttleMoveList) {
			if(Utils.getLev(moveWrkMast.getLocNo()) != Utils.getLev(wrkMast.getSourceLocNo())) {
			continue;
			}

			//四向穿梭车状态为等待确认、小车处于空闲状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
			&& shuttleProtocol.getTaskNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			// case 5://5.小车搬运中 ==> 9.入库完成
			// wrkMast.setWrkSts(9L);
			// shuttleProtocol.setTaskNo(0);
			// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			// //释放小车令牌
			// shuttleProtocol.setToken(0);
			// }
			// break;
			// case 22://22.小车搬运中 ==> 23.小车搬运完成
			// wrkMast.setWrkSts(23L);
			// shuttleProtocol.setTaskNo(0);
			// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			// //释放小车令牌
			// shuttleProtocol.setToken(0);
			// }
			// break;
			case 302://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);
			break;
			case 110://310.小车移动中 ==> 311.小车移动完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setTaskNo(0);
			break;
			default:
			}
			if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) {
			continue;
			}

			if (wrkMastService.updateById(wrkMast)) {
			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}
			//存在换层任务，出库任务暂时不执行
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在换层任务，出库任务等待中", wrkMast.getWrkNo());
			return false;
			}

			//设置四向穿梭车为空闲状态
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			} else {
			Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
			if(object != null){
			ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleThread.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}
			boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo());
			if(!checkLocPathIsAvailable) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo());
			return false;
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			//强制预留一台小车给入库任务
			int lev = Utils.getLev(wrkMast.getSourceLocNo());
			//获取当前楼层有几台可用小车
			int shuttleCount = shuttleDispatchUtils.getShuttleEnableUseCountByLev(lev);
			if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			int shuttleWrkInObligateCount = 1;//预留小车数量
			Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			if (config != null) {
			shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			}
			//可用出库小车数量(给入库任务预留一台车)
			int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			//查询楼层已分配车辆的出库任务数量
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			if (wrkMasts.size() >= useShuttleCount) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			return false;
			}
			}
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			//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;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//检测障碍物车
			int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
			add(shuttleProtocol.getShuttleNo());
			}}, new ArrayList<>());
			if (checkObstacle > 0) {
			News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
			return false;
			}

			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//检测是否存在移动任务
			WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (moveWorking != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo());
			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.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(liftSta.getLocNo());//目标库位
			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(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.getDfxWithDevice(), 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.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			wrkMast.setSourceStaNo(liftSta.getSiteId());
			wrkMast.setModiTime(new Date());
			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_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 执行移库任务
			*/
			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)
			.orderBy("io_pri", false)
			.orderBy("appe_time", true)
			);
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点
			if (!stepToTarget) {
			continue;
			}

			}
			@@ -904,386 +468,464 @@
			}
			}

			// /**
			// * 提升机任务
			// */
			// public synchronized void liftIoExecute() {
			// try {
			// for (LiftSlave liftSlave : slaveProperties.getLift()) {
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			// if (liftThread == null) {
			// continue;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// continue;
			// }
			//
			// if (!liftProtocol.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftSlave.getId());
			// continue;
			// }
			//
			// //判断提升机令牌是否被占用
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}号提升机，令牌已被独占", liftSlave.getId());
			// continue;
			// }
			//
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			// if (wrkMasts.isEmpty()) {
			// continue;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			// WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			// if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			// News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
			// 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();
			//
			// //2.设备上走 ==> 3.提升机搬运中
			// if (wrkMast.getWrkSts() == 2) {
			// //获取源站
			// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			// if (sourceBasDevp == null) {
			// return false;//找不到站点
			// }
			//
			// if (!sourceBasDevp.getInEnable().equals("Y")) {
			// News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			// return false;//站点不可入
			// }
			//
			// Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
			// if (barcodeId == null) {
			// News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			// return false;//站点不可入
			// }
			//
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
			// if (barcodeThread == null) {
			// News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
			// return false;//站点不可入
			// }
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// if(!("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode))) {
			// //存在条码值，判断是否和当前工作档一致
			// if (!barcode.equals(wrkMast.getBarcode())) {
			// News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
			// return false;//站点不可入
			// }
			// }
			// }else {
			// return false;
			// }
			//
			// //判断提升机整个三楼是否都处于入库模式
			// Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
			// Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
			// Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
			// if (outInModel1 == null \|\| outInModel2 == null \|\| outInModel3 == null) {
			// News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
			// return false;//不存在出入库模式
			// }
			//
			// if (outInModel1 == 2 \|\| outInModel2 == 2 && outInModel3 == 2) {
			// News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo());
			// return false;//只要有一个处于出库模式，禁止入库
			// }
			//
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			// if (liftThread == null) {
			// return false;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// return false;
			// }
			// if (!liftProtocol.isIdle()) {
			// News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// //判断提升机令牌是否未被占领
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机已被独占，禁止再派发任务
			// }
			//
			// //判断提升机内是否有小车
			// if (liftProtocol.getHasCar()) {
			// News.info("{}任务，{}号提升机，提升机内部有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//有小车，禁止派发
			// }
			//
			// //判断提升机内是否有托盘
			// if (liftProtocol.getHasTray()) {
			// News.info("{}任务，{}号提升机，提升机内部有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//有托盘，禁止派发
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			// if (liftWrkMast != null) {
			// News.info("{}任务，{}号提升机，当前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
			// }
			//
			// //获取源站对应的牛眼提升机站点编号(起点编号)
			// Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
			// //获取提升机站点
			// LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
			// if (targetStaProtocol == null) {
			// return false;//站点不存在
			// }
			//
			// if (targetStaProtocol.getHasTray()) {
			// News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
			// return false;//提升机站点有托盘，禁止派发
			// }
			//
			// Integer targetSta = targetStaProtocol.getStaNo();
			//
			// //获取提升机命令
			// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			// if (wrkMast.getIoType() == 53 \|\| wrkMast.getIoType() == 57) {
			// //拣料再回库，重新分配设备工作号
			// int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			// BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			// if (basLiftOpt != null) {
			// News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// liftCommand.setTaskNo((short) deviceWrk);
			// }
			// ArrayList<NyLiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(liftProtocol.getLiftNo());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			//
			// wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
			// wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			// wrkMast.setModiTime(now);
			// liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }
			//
			// /**
			// * 提升机出库
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			// //--------------------------------------提升机出库-----------------------------------------//
			// Date now = new Date();
			//
			// //23.小车搬运完成 ==> 24.提升机搬运中
			// if (wrkMast.getWrkSts() == 23) {
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			//
			// //获取出库站点(目标站)
			// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (basDevp == null) {
			// News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
			// return false;//出库站点不存在
			// }
			//
			// //获取源站对应的牛眼提升机站点编号(起点编号)
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftStaProtocol == null) {
			// News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			// return false;//找不到站点
			// }
			// Integer startSta = liftStaProtocol.getStaNo();
			//
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			// //小车还在输送站点
			// //调度小车避让
			// boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			// if (!result) {
			// News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// }
			//
			// if (!basDevp.getAutoing().equals("Y")) {
			// News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// if (basDevp.getLoading().equals("Y")) {
			// News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// if (!basDevp.getOutEnable().equals("Y")) {
			// News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			// if (liftThread == null) {
			// return false;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// return false;
			// }
			//
			// if (!liftProtocol.isIdle()) {
			// News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// //判断提升机令牌是否未被占领
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机已被独占，禁止再派发任务
			// }
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			// if (liftWrkMast != null) {
			// News.info("{}任务，{}号提升机，当前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
			// }
			//
			// //获目标站源站对应的输送站点
			// BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (targetBasDevp == null) {
			// News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo());
			// return false;//站点不存在
			// }
			// //获取牛眼提升机站点编号(目标编号)
			// Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());
			//
			// //获取提升机命令
			// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			//
			// ArrayList<NyLiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(liftProtocol.getLiftNo());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			//
			// wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			// wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			// wrkMast.setModiTime(now);
			// liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }
			//
			/**
			* 货叉提升机任务完成
			* 移库任务-小车去目标点
			* 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
			*/
			public synchronized void forkLiftFinished() {
			private boolean shuttleLocMoveExecuteToTarget(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
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), wrkMast.getLocNo());
			if(!checkLocPathIsAvailable) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo());
			return false;
			}

			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");
			return false;
			}

			//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;
			}

			if (shuttleProtocol.getCurrentLocNo() == null) {
			return false;
			}

			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//任务被避障取消
			Object cancelLock = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + wrkMast.getShuttleNo());
			if(cancelLock != null) {
			return false;
			}

			//小车未到达取货位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return false;
			}

			//检测是否存在移动任务
			WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (moveWorking != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo());
			return false;
			}

			//检测障碍物车
			int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
			add(shuttleProtocol.getShuttleNo());
			}}, new ArrayList<>());
			if (checkObstacle > 0) {
			News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
			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.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
			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(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.DFX), 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;
			}
			return false;
			}
			return true;
			}

			/**
			* 提升机任务
			*/
			public synchronized void liftIoExecute() {
			try {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			//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) {
			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) {
			//获取源输送站
			LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (sourceLiftSta == null) {
			return false;//找不到站点
			}

			if (!sourceLiftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站无托盘", wrkMast.getWrkNo());
			return false;
			}

			//获取目标输送站
			LiftStaProtocol liftSta = LiftUtils.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;
			}

			//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;
			}

			String targetLocNo = navigateUtils.calcEndLocation(wrkMast.getLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 2);
			if (targetLocNo == null) {//出输送线站点计算失败
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车去入库层近点计算失败", wrkMast.getWrkNo());
			return false;
			}

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

			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//未分配提升机
			Integer staNo = wrkMast.getSourceStaNo();
			liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
			if(liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			return false;
			}

			//申请提升机资源
			boolean applyLift = liftAction.applyLift(liftNo, wrkMast.getWrkNo());
			if(!applyLift) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止入库", wrkMast.getWrkNo());
			return false;
			}
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftThread.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 (!liftProtocol.getIOModeType().equals(LiftIoModeType.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;
			}

			//请求上级系统，是否允许入库
			boolean inMission = LiftUtils.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
			LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getSiteId());
			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(liftNo);
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);

			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
			liftAction.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) {
			//获取源站
			LiftStaProtocol liftSta = LiftUtils.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(wrkMast.getShuttleNo() != null) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if(shuttleProtocol == null) {
			return false;
			}

			if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			//小车还在输送站点
			//小车出提升机近点距离
			int shuttleOutLiftLocationDistance = 2;
			Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
			if (shuttleOutLiftLocationDistanceConfig != null) {
			shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
			}

			String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
			if (targetLocNo == null) {//出输送线站点计算失败
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，出输送线站点计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//调度小车去待机位
			boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetLocNo, 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;
			}
			} else {
			//小车已不在输送站点位置，释放小车
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}
			return false;
			}

			if (!liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
			return false;
			}

			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//未分配提升机
			Integer staNo = wrkMast.getStaNo();
			liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
			if(liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			return false;
			}
			//申请提升机资源
			boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
			if(!applyLift) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止执行出库", wrkMast.getWrkNo());
			return false;
			}
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftThread.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 (!liftProtocol.getIOModeType().equals(LiftIoModeType.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;
			}

			//请求上级系统，是否允许出库
			boolean outMission = LiftUtils.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
			LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getSiteId(), wrkMast.getStaNo());
			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(liftNo);
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);

			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
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			}
			return false;
			}
			return true;
			}

			/**
			* 提升机任务完成
			*/
			public synchronized void liftFinished() {
			try {
			List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Lift)));
			for (DeviceConfig device : liftList) {
			//获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
			if(liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (!liftThread.isDeviceIdle()) {
			continue;
			}

			//提升机为等待确认且空闲
			if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
			&& forkLiftProtocol.getWrkNo() != 0
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			// case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			// wrkMast.setWrkSts(4L);
			// wrkMast.setLiftNo(null);//释放提升机
			// if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			// //释放提升机令牌
			// liftProtocol.setToken(0);
			// }
			// break;
			// case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			// wrkMast.setWrkSts(25L);
			// if (wrkMast.getIoType() == 11) {//库位移转
			// wrkMast.setWrkSts(4L);//4.提升机搬运完成
			// } else {
			// if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			// //不需要用到机械臂，直接转29.出库完成
			// wrkMast.setWrkSts(29L);
			// wrkMast.setShuttleNo(null);//释放小车
			// wrkMast.setLiftNo(null);//释放提升机
			// wrkMast.setModiTime(new Date());
			// }
			// }
			// break;
			case 306://306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			//货叉提升机需要跳过迁出提升机流程
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
			break;
			default:
			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.MOVE_NEARBY_COMPLETE.sts) {
			//303.小车移动至近点完成 -- 调度提升机到小车层
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//304.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 {
			News.error("提升机确认失败，提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			return;
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			forkLiftThread.reset();
			News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo());
			liftThread.reset();
			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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}else {
			boolean checkPreviewDispatchLift = commonService.checkWorkNoContainMk(liftProtocol.getTaskNo(), WrkIoType.PREVIEW_LIFT_MOVE.id);
			if (checkPreviewDispatchLift) {
			//属于提升机预调度移动任务
			//无工作档支撑，直接确认完成
			liftThread.setSyncTaskNo(0);
			liftThread.reset();
			News.info("已确认提升机预调度移动任务。提升机号={}", liftProtocol.getLiftNo());
			}
			}
			}
			@@ -1293,521 +935,165 @@
			}
			}

			// /**
			// * 异常信息记录
			// */
			// public void recErr() {
			// try {
			// this.recShuttleErr();
			// this.recLiftErr();
			// } catch (Exception e) {
			// News.error("recErr fail", e);
			// }
			// }

			// /**
			// * 四向穿梭车异常信息记录
			// */
			// private void recShuttleErr() {
			// Date now = new Date();
			// for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// // 获取四向穿梭车信息
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			// if (shuttleThread == null) {
			// continue;
			// }
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null) {
			// continue;
			// }
			//
			// if (shuttleProtocol.getTaskNo() != 0) {
			// //有任务
			// BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
			// // 有异常
			// if (latest == null) {
			// if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
			// WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			// if (wrkMast == null) {
			// continue;
			// }
			// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
			// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			// null, // 编号
			// wrkMast.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// wrkMast.getWrkSts(), // 工作状态
			// wrkMast.getIoType(), // 入出库类型
			// shuttleSlave.getId(), // 四向穿梭车
			// null, // plc
			// wrkMast.getLocNo(), // 目标库位
			// wrkMast.getStaNo(), // 目标站
			// wrkMast.getSourceStaNo(), // 源站
			// wrkMast.getSourceLocNo(), // 源库位
			// wrkMast.getBarcode(), // 条码
			// shuttleProtocol.getErrCode(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常", // 备注
			// JSON.toJSONString(shuttleProtocol) // 系统状态数据
			// );
			// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (shuttleProtocol.getErrState() == null \|\| shuttleProtocol.getErrState() == 0) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basShuttleErrLogService.updateById(latest)) {
			// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			// }
			// }
			// }
			// }else {
			//// //无任务
			//// BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			//// // 有异常
			//// if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			//// // 记录新异常
			//// if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			//// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			//// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			//// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			//// null, // 编号
			//// null, // 工作号
			//// now, // 发生时间
			//// null, // 结束时间
			//// null, // 工作状态
			//// null, // 入出库类型
			//// shuttleSlave.getId(), // 四向穿梭车
			//// null, // plc
			//// null, // 目标库位
			//// null, // 目标站
			//// null, // 源站
			//// null, // 源库位
			//// null, // 条码
			//// (int)shuttleProtocol.getStatusErrorCode(), // 异常码
			//// errName, // 异常
			//// 1, // 异常情况
			//// now, // 添加时间
			//// null, // 添加人员
			//// now, // 修改时间
			//// null, // 修改人员
			//// "无任务异常" // 备注
			//// );
			//// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			//// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			//// }
			//// }
			//// // 无异常
			//// } else {
			//// // 异常修复
			//// if (latest != null && latest.getStatus() == 1) {
			//// latest.setEndTime(now);
			//// latest.setUpdateTime(now);
			//// latest.setStatus(2);
			//// if (!basShuttleErrLogService.updateById(latest)) {
			//// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			//// }
			//// }
			//// }
			// }
			// }
			// }
			//
			// /**
			// * 提升机异常信息记录
			// */
			// private void recLiftErr() {
			// Date now = new Date();
			// for (LiftSlave liftSlave : slaveProperties.getLift()) {
			// // 获取提升机信息
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			// if (liftThread == null) {
			// continue;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// continue;
			// }
			//
			// if (liftProtocol.getTaskNo() != 0) {
			// //有任务
			// BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
			// // 有异常
			// if (latest == null) {
			// if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
			// WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// String errName = "";
			// if (liftProtocol.getFrontOverrun()) {
			// errName = "前超限";
			// } else if (liftProtocol.getBackOverrun()) {
			// errName = "后超限";
			// } else if (liftProtocol.getLeftOverrun()) {
			// errName = "左超限";
			// } else if (liftProtocol.getRightOverrun()) {
			// errName = "右超限";
			// } else if (liftProtocol.getOverHeight()) {
			// errName = "超高";
			// } else if (liftProtocol.getOverWeight()) {
			// errName = "超重";
			// }
			//
			// BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			// null, // 编号
			// wrkMast.getWrkNo(), // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// wrkMast.getWrkSts(), // 工作状态
			// wrkMast.getIoType(), // 入出库类型
			// liftSlave.getId(), // 提升机
			// null, // plc
			// wrkMast.getLocNo(), // 目标库位
			// wrkMast.getStaNo(), // 目标站
			// wrkMast.getSourceStaNo(), // 源站
			// wrkMast.getSourceLocNo(), // 源库位
			// wrkMast.getBarcode(), // 条码
			// null, // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "任务中异常", // 备注
			// 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:{}]", liftSlave.getId(), errName);
			// }
			// }
			// } else {
			// // 异常修复
			// if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			// 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:{}]", liftSlave.getId(), latest.getId());
			// }
			// }
			// }
			// }
			// }
			// }

			// -------------------------------------------------------------------------------

			// /**
			// * 空栈板初始化入库,叉车入库站放货
			// */
			// public void storeEmptyPlt(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历空板入库口
			// for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// // 获取空板入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// // 站点条件判断
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && staProtocol.isEmptyMk()
			// && (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo() >= 9990 \|\| staProtocol.getWorkNo() <= 9999))
			// && staProtocol.isPakMk()) {
			//
			// // 获取条码扫描仪信息
			// String barcode = null;
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
			// if (barcodeThread != null) {
			// String barcode0 = barcodeThread.getBarcode();
			// if (!Cools.isEmpty(barcode0)) {
			//// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
			// if (!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
			// barcode = barcode0;
			// }
			// }
			// }
			//
			// if (!Cools.isEmpty(barcode)) {
			// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档
			// if (wrkMast != null) {
			// continue;
			// }
			// }
			//
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			//
			// try {
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			//
			// SearchLocParam param = new SearchLocParam();
			// param.setIoType(10);
			// if (!Cools.isEmpty(barcode)) {
			// param.setBarcode(barcode);
			// }
			// param.setSourceStaNo(emptyInSta.getStaNo());
			//// param.setLocType1(locTypeDto.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// barcodeThread.setBarcode("");
			//// // 更新站点信息且下发plc命令
			//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			//// staProtocol.setStaNo(dto.getStaNo().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//// if (!result) {
			//// throw new CoolException("更新plc站点信息失败");
			//// }
			// } else {
			// if (ledThread != null) {
			// String errorMsg = jsonObject.getString("msg");
			// if (!Cools.isEmpty(errorMsg)) {
			// MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			// }
			// }
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			//
			// }
			//
			//
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 出库 ===>> 工作档信息写入led显示器
			* 异常信息记录
			*/
			public void ledExecute() {
			// try {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// List<LedCommand> commands = new ArrayList<>();
			// // 工作档集合
			// List<WrkMast> wrkMasts = new ArrayList<>();
			// List<WrkMastLog> wrkMastLogs = new ArrayList<>();
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// // 获取工作档数据
			// WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			// Integer wrkNo = staProtocol.getWorkNo().intValue();
			// Integer ioType = null;
			// String sourceLocNo = null;
			// String locNo = null;
			// Integer wrkStaNo = null;
			// String barcode = null;
			// if (wrkMast == null) {
			// //查询历史档
			// WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
			// if (wrkMastLog == null) {
			// continue;
			// }
			// ioType = wrkMastLog.getIoType();
			// sourceLocNo = wrkMastLog.getSourceLocNo();
			// locNo = wrkMastLog.getLocNo();
			// wrkStaNo = wrkMastLog.getStaNo();
			// barcode = wrkMastLog.getBarcode();
			// wrkMastLogs.add(wrkMastLog);
			// }else {
			// if (wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) {
			// continue;
			// }
			// ioType = wrkMast.getIoType();
			// sourceLocNo = wrkMast.getSourceLocNo();
			// locNo = wrkMast.getLocNo();
			// wrkStaNo = wrkMast.getStaNo();
			// barcode = wrkMast.getBarcode();
			// wrkMasts.add(wrkMast);
			// }
			// // 组装命令
			// LedCommand ledCommand = new LedCommand();
			// ledCommand.setWorkNo(wrkNo);
			// ledCommand.setIoType(ioType);
			// // 出库模式
			// switch (ioType) {
			// case 101:
			// ledCommand.setTitle("全板出库");
			// break;
			// case 103:
			// ledCommand.setTitle("拣料出库");
			// break;
			// case 104:
			// ledCommand.setTitle("并板出库");
			// break;
			// case 107:
			// ledCommand.setTitle("盘点出库");
			// break;
			// case 110:
			// ledCommand.setTitle("空板出库");
			// ledCommand.setEmptyMk(true);
			// break;
			// default:
			// News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
			// break;
			// }
			// ledCommand.setSourceLocNo(sourceLocNo);
			// ledCommand.setLocNo(locNo);
			// ledCommand.setStaNo(wrkStaNo);
			// ledCommand.setBarcode(barcode);
			// if (ioType != 110 && ioType != 10) {
			// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			// if (!wrkDetls.isEmpty()) {
			// wrkDetls.forEach(wrkDetl -> {
			// double remainNum = wrkDetl.getStock() - wrkDetl.getAnfme();//剩余数量
			// if (remainNum < 0) {
			// remainNum = 0;
			// }
			// String matnr = wrkDetl.getMatnr();
			// Mat mat = matService.selectByMatnr(wrkDetl.getMatnr());
			// if (mat != null) {
			// if (!mat.getMatnr().equals(mat.getMatnr2())) {
			// matnr += " - " + mat.getMatnr2();
			// }
			// }
			// ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetl.getMaktx(), wrkDetl.getAnfme(), remainNum, wrkDetl.getSpecs(), wrkDetl.getSuppCode(), wrkDetl.getOrderNo()));
			// });
			// }else {
			// List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
			// for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
			// double remainNum = wrkDetlLog.getStock() - wrkDetlLog.getAnfme();//剩余数量
			// if (remainNum < 0) {
			// remainNum = 0;
			// }
			// String matnr = wrkDetlLog.getMatnr();
			// Mat mat = matService.selectByMatnr(wrkDetlLog.getMatnr());
			// if (mat != null) {
			// if (!mat.getMatnr().equals(mat.getMatnr2())) {
			// matnr += " - " + mat.getMatnr2();
			// }
			// }
			// ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), remainNum, wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
			// }
			// }
			// commands.add(ledCommand);
			// }
			// Set<Integer> workNos = null;
			// if (!wrkMasts.isEmpty()) {
			// workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			// }else {
			// workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
			// }
			// // 获取LED线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// // 相同工作号集合则过滤
			// if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			// continue;
			// }
			// // 命令下发 -------------------------------------------------------------------------------
			// if (!commands.isEmpty()) {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			// log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// continue;
			// } else {
			// ledThread.setLedMk(false);
			// }
			// }
			//
			// try {
			// // 修改主档led标记
			// for (WrkMast wrkMast : wrkMasts) {
			// wrkMast.setOveMk("Y");
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// throw new CoolException("更新工作档失败");
			// }
			// }
			//
			// // 更新线程当前工作号集合
			// ledThread.setWorkNos(workNos);
			//
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			//
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			* 四向穿梭车异常信息记录
			*/
			public void ledReset() {
			// try {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// }
			// if (staProtocol.isLoading()) {
			// reset = false;
			// break;
			// }
			// }
			// // 获取led线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// // led显示默认内容
			// if (reset) {
			// ledThread.setLedMk(true);
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			// log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// }
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			private void recShuttleErr() {
			Date now = new Date();
			List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Shuttle)));
			for (DeviceConfig device : shuttleList) {
			// 获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			device.getDeviceNo(), // 四向穿梭车
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			errorCode, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常", // 备注
			JSON.toJSONString(shuttleProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName);
			}
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getErrorCode() == null \|\| Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
			}
			}
			}
			}
			}
			}

			/**
			* 提升机异常信息记录
			*/
			private void recLiftErr() {
			Date now = new Date();
			List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Lift)));
			for (DeviceConfig device : liftList) {
			// 获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(device.getDeviceNo(), liftProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (liftProtocol.getErrorCode() != null && liftProtocol.getErrorCode() != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}

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

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			device.getDeviceNo(), // 提升机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			null, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常", // 备注
			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:{}]", device.getDeviceNo(), errName);
			}
			}
			} else {
			// 异常修复
			if (liftProtocol.getErrorCode() == null \|\| liftProtocol.getErrorCode() == 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:{}]", device.getDeviceNo(), latest.getId());
			}
			}
			}
			}
			}
			}

			/**
			@@ -1815,16 +1101,52 @@
			*/
			public synchronized void loopShuttleCharge() {
			try {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {

			List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
			if (charges.isEmpty()) {
			return;//无充电桩
			}

			List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Shuttle)));
			for (DeviceConfig device : shuttleList) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			//判断当前小车是否满足需要充电要求
			if (!shuttleThread.isRequireCharge()) {
			if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
			continue;//无需充电
			}

			boolean forceCharge = true;
			if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.SUGGEST_CHARGE)) {
			BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", device.getDeviceNo()));
			if (basShuttle != null) {
			Integer suggestChargeLine = basShuttle.getSuggestChargeLine();
			boolean chargeSuggestResult = Integer.parseInt(shuttleProtocol.getBatteryPower()) < suggestChargeLine;
			if (chargeSuggestResult) {
			//检测系统是否有任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 1, 101, 201));
			if (wrkMasts.isEmpty()) {
			forceCharge = false;
			}else {
			continue;
			}
			}
			}
			}

			WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
			if (wrkMast1 != null) {
			continue;
			}

			WrkMast wrkMast2 = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
			if (wrkMast2 != null) {
			continue;
			}

			@@ -1835,195 +1157,316 @@

			//小车所在楼层
			int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
			// ShuttleChargeType shuttleCharge = null;
			//
			// //搜索小车所在楼层有没有充电桩
			// for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			// if (lev != Utils.getLev(chargeType.locNo)) {
			// continue;//小车和充电桩不在同一层
			// }
			//
			// //小车和充电桩在同一层
			// if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			// shuttleCharge = chargeType;
			// break;
			// }
			// }
			//
			// if (shuttleCharge == null) {
			// //同楼层没有找到充电桩，找可用充电桩
			// //小车同楼层没有充电桩，只要充电桩可用就生成充电任务
			// for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			// if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			// //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
			// int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
			// boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
			// if (checkLevHasShuttle) {
			// //当前充电桩楼层有穿梭车，不分配该充电桩
			// continue;
			// }
			//
			// shuttleCharge = chargeType;
			// break;
			// }
			// }
			// }
			//
			// if (shuttleCharge == null) {
			// continue;
			// }
			//
			// String chargeLocNo = shuttleCharge.locNo;
			// wrkCharge = new WrkCharge();
			// wrkCharge.setShuttleNo(shuttle.getId());
			// wrkCharge.setCharge(shuttleCharge.id);
			// wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			// wrkCharge.setWrkSts(51L); // 51.准备充电
			// wrkCharge.setIoPri((double) 10);
			// wrkCharge.setLocNo(chargeLocNo);
			// wrkCharge.setMemo("charge");
			// wrkCharge.setAppeTime(new Date());
			// if (!wrkChargeService.insert(wrkCharge)) {
			// News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			// continue;
			// }
			BasShuttleCharge shuttleCharge = null;

			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			//搜索小车所在楼层有没有充电桩
			for (BasShuttleCharge charge : charges) {
			if (lev != Utils.getLev(charge.getLocNo())) {
			continue;//小车和充电桩不在同一层
			}

			if (charge.getStatus() == 0) {
			continue;//充电桩被禁用
			}

			//小车和充电桩在同一层
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			shuttleCharge = charge;
			break;
			}
			}

			if (shuttleCharge == null) {
			//同楼层没有找到充电桩，找可用充电桩
			//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
			for (BasShuttleCharge charge : charges) {
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			//判断当前充电桩是否有小车，如有小车，不分配该充电桩
			ArrayList<String> locs = new ArrayList<>();
			locs.add(charge.getLocNo());
			Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
			if(checkHasShuttle != null) {
			//当前充电桩有穿梭车，不分配该充电桩
			continue;
			}

			if (charge.getStatus() == 0) {
			continue;//充电桩被禁用
			}

			shuttleCharge = charge;
			break;
			}
			}
			}

			if (shuttleCharge == null) {
			continue;
			}

			String chargeLocNo = shuttleCharge.getLocNo();
			wrkMast = new WrkMast();
			wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
			wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
			wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
			wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
			wrkMast.setIoPri((double) 999);
			wrkMast.setLocNo(chargeLocNo);
			wrkMast.setShuttleNo(device.getDeviceNo());
			wrkMast.setMemo(forceCharge ? "forceCharge" : "suggestCharge");
			wrkMast.setAppeTime(new Date());
			if (!wrkMastService.insert(wrkMast)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
			continue;
			}

			News.info("保存{}号四向穿梭车充电任务成功!!!", device.getDeviceNo());
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			// /**
			// * 执行四向穿梭车充电任务
			// */
			// public synchronized void executeShuttleCharge() {
			// try {
			// for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			// WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			// if (wrkCharge == null) {
			// continue;
			// }
			//
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			// if (shuttleThread == null) {
			// continue;
			// }
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null) {
			// continue;
			// }
			//
			// if (wrkCharge.getWrkSts() == 51) {
			// if (!shuttleProtocol.isIdleNoCharge()) {
			// continue;
			// }
			//
			// if (shuttleProtocol.getSuspendState() == 1) {
			// continue;//管制中
			// }
			//
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			// //小车不在充电桩位置
			// shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			// continue;
			// }
			//
			// //小车已经在充电桩位置，下发充电命令
			// NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
			// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			// commands.add(chargeCommand);
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(commands);//运行命令
			//
			// wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
			// wrkCharge.setModiTime(new Date());
			// if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			// } else if (wrkCharge.getWrkSts() == 52) {
			// //检测小车是否满电
			//
			// //获取满电阈值
			// int maxPower = 95;
			// EntityWrapper<Config> wrapper = new EntityWrapper<>();
			// wrapper.eq("code", "chargeMaxValue");
			// Config config = configService.selectOne(wrapper);
			// if (config != null) {
			// maxPower = Integer.parseInt(config.getValue());
			// }
			//
			// if (shuttleProtocol.getPowerPercent() < maxPower) {
			// continue;
			// }
			//
			// //*************判断是否满充校准*************
			// EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
			// wrapper.eq("code", "shuttleMaxPowerVerify");
			// Config config1 = configService.selectOne(wrapper1);
			// if (config1 != null) {
			// if (config1.getValue().equals("true")) {
			// if (shuttleProtocol.getVoltage() < 5630) {
			// continue;//电压不够继续充电
			// }
			// }
			// }
			// //*************判断是否满充校准*************
			//
			// //小车满电，结束充电任务
			// NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
			// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			// commands.add(chargeCommand);
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(commands);//运行命令
			//
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// try {
			// Thread.sleep(3000);
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			//
			// wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
			// wrkCharge.setModiTime(new Date());
			// if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
			// shuttleProtocol.setTaskNo(0);
			// shuttleProtocol.setPakMk(false);
			// }
			// } else if (wrkCharge.getWrkSts() == 53) {
			// if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
			// boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
			// if (!result) {
			// continue;
			// }
			//
			// wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
			// wrkCharge.setModiTime(new Date());
			// if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//
			// }
			// }
			// }
			//
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			/**
			* 执行四向穿梭车充电任务
			*/
			public synchronized void executeShuttleCharge() {
			try {
			//查询小车充电任务
			List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Shuttle)));
			for (DeviceConfig device : shuttleList) {
			WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo());
			if(wrkMast == null) {
			continue;
			}

			boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
			if (!result1) {
			continue;
			}

			boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩
			if (!result2) {
			continue;
			}

			boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
			if (!result3) {
			continue;
			}

			boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
			if (!result4) {
			continue;
			}

			boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩
			if (!result5) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 小车前往充电桩
			*/
			private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			if (wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
			//小车在充电桩位置
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度小车去充电桩
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
			if (!dispatched) {
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}
			return true;
			}

			/**
			* 小车到达充电桩
			*/
			private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//判断是否存在未完成的移动任务
			WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if(moveWrk != null) {
			return false;
			}

			if (!wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
			return false;
			}

			//小车在充电桩位置
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);

			return false;
			}
			return true;
			}

			//小车开始充电
			private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_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;
			}

			//小车已经在充电桩位置，下发充电命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_ON.id);//充电开
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

			List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
			assignCommand.setCommands(commands);//运行命令

			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_START_CHARGING.sts);
			wrkMast.setModiTime(new Date());
			if (!wrkMastService.updateById(wrkMast)) {
			return false;
			}

			//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_POWER_START);//触发通知
			return false;
			}
			return true;
			}

			//小车停止充电
			private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			boolean stopCharge = false;
			if (wrkMast.getMemo().equals("suggestChargeTaskStop")) {
			stopCharge = true;
			}else {
			if (shuttleThread.isChargingCompleted()) {
			stopCharge = true;
			}
			}

			if (!stopCharge) {
			return false;
			}

			Object limitObj = redisUtil.get(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo());
			if (limitObj != null) {
			return false;
			}

			//小车已经在充电桩位置，下发停止充电命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_OFF.id);//充电关
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

			List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
			assignCommand.setCommands(commands);//运行命令

			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			redisUtil.set(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo(), "limit", 10);
			return false;
			}
			return true;
			}

			//小车离开充电桩
			private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING_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;
			}

			BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
			if(basShuttleCharge == null) {
			return false;
			}

			//检测障碍物车
			int checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
			add(shuttleProtocol.getShuttleNo());
			}}, new ArrayList<>());
			if (checkObstacle > 0) {
			News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
			return false;
			}

			//调度小车去待机位
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
			if (!dispatched) {
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 执行小车移库任务
			@@ -2033,13 +1476,23 @@
			//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) {
			boolean stepMoveNearby = this.shuttleMoveExecuteStepMoveNearby(wrkMast);//小车移动到近点
			if (!stepMoveNearby) {
			continue;
			}

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

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

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

			@@ -2055,15 +1508,15 @@
			}

			/**
			* 小车迁移-小车移动到站点
			* 小车迁移-小车移动到近点中
			* 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 shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			private boolean shuttleMoveExecuteStepMoveNearby(WrkMast wrkMast) {
			//--------------------------------------小车移动到近点中-----------------------------------------//
			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
			//小车移动到近点 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());
			@@ -2077,7 +1530,7 @@

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

			@@ -2092,59 +1545,204 @@
			return false;
			}

			//获取源输送站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			//搜索最近且无故障提升机
			LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			if(recentLiftStation == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲输送站点", shuttleProtocol.getShuttleNo(), wrkMast.getLocNo());
			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(liftSta.getLiftNo());
			if (liftWrkMast != null) {
			News.info("{}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
			LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByLev(recentLiftStation.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if(targetLiftSta == null) {
			return false;
			}

			//计算近点位置
			String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), recentLiftStation.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
			if (endLocation == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车近点位置计算失败", wrkMast.getWrkNo());
			return false;
			}

			//小车已在近点位置无需前往
			if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
			wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 303.小车移动至近点完成
			wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
			wrkMast.setStaNo(targetLiftSta.getSiteId());
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return true;
			}

			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.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(endLocation);
			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);
			//获取小车到近点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.SHUTTLE), assignCommand, shuttleThread);
			if (commands == null) {
			News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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
			}

			assignCommand.setCommands(commands);

			//***********尝试锁定目标站路径*************
			List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			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*************

			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_NEARBY.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至近点中
			wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
			wrkMast.setStaNo(targetLiftSta.getSiteId());
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			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
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-小车迁入提升机中
			* 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 shuttleMoveExecuteStepMoveInLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机中-----------------------------------------//
			Date now = new Date();

			//小车迁入提升机 303.小车移动至近点完成 ==> 304.小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.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;
			}

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

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

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

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

			if (wrkMast.getLiftNo() == null) {
			//申请提升机资源
			boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
			if(!applyLift) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动", wrkMast.getWrkNo());
			return false;
			}
			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;
			}

			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;
			}

			Object object = redisUtil.get(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo());
			int targetLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
			if (object == null \|\| liftProtocol.getLev() != targetLev) {
			//获取提升机命令
			LiftStaProtocol startSta = LiftUtils.getLiftStaByLev(liftProtocol.getLiftNo(), liftProtocol.getLev());
			LiftStaProtocol targetSta = LiftUtils.getLiftStaByLev(liftProtocol.getLiftNo(), targetLev);
			if (startSta == null \|\| targetSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，站点数据不存在", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}
			LiftCommand liftCommand = liftThread.getMoveCommand(commonService.getWorkNo(WrkIoType.PREVIEW_LIFT_MOVE.id), startSta.getSiteId(), targetSta.getSiteId());
			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());
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机在{}层，提升机不在小车层，调度移动中", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
			redisUtil.set(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo(), "lift_moving", 60 * 3);
			redisUtil.set(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo(), "lock", 8);
			return false;
			}

			Object limitObj = redisUtil.get(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo());
			if (limitObj != null) {
			return false;
			}

			String liftLocNo = liftThread.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.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(liftLocNo);
			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(), liftLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread, "inLift");
			if (commands == 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
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//303.小车移动至近点完成 ==> 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
			return false;
			}
			return false;
			@@ -2161,56 +1759,146 @@
			//--------------------------------------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) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}
			if (!forkLiftThread.isIdle()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			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;
			}
			//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
			}
			}

			//获取源站
			ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			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
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车，禁止派发", wrkMast.getWrkNo());
			return false;//有托盘跳过
			}

			//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);
			LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getSiteId(), liftSta.getSiteId());
			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.setLiftNo(wrkMast.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);

			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);
			}
			}
			return true;
			}

			/**
			* 小车迁移-提升机搬运完成更新小车坐标
			* 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 shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

			//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) {
			//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;
			}

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			Object object = redisUtil.get(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo());
			if(object != null) {
			return false;
			}

			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);
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			redisUtil.set(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo(), "update", 10);
			return false;
			}

			//小车出提升机近点距离
			int shuttleOutLiftLocationDistance = 2;
			Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
			if (shuttleOutLiftLocationDistanceConfig != null) {
			shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
			}

			String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
			if (targetLocNo == null) {//出提升机近点计算失败
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，出提升机近点计算失败", 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(targetLocNo);//目标库位

			//获取小车到近点命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), targetLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), 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;//路径计算失败
			}
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			@@ -2240,7 +1928,7 @@

			//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());
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			@@ -2250,17 +1938,6 @@
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);

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

			@@ -2272,56 +1949,19 @@
			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())) {
			// //需要将前两个节点作为白名单节点传入
			// //获取目标站
			// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			// if (liftSta == null) {
			// return false;//找不到站点
			// }
			//
			// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.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, assignCommand, shuttleThread, whiteList);
			}else {
			//获取小车到目标库位命令
			commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			}

			//获取小车到目标库位命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), 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;//路径计算失败
			}

			assignCommand.setCommands(commands);

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

			wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//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
			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);
			@@ -2330,40 +1970,75 @@
			return true;
			}

			// //扫描设备PakMk标记是否超时
			// public synchronized void scanDevicePakMk() {
			// try {
			// //扫描小车
			// for (ShuttleSlave slave : slaveProperties.getShuttle()) {
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null) {
			// continue;
			// }
			//
			// if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000 * 60 * 5)) && shuttleProtocol.getPakMk()) {
			// //设备超过5分钟还没复位标记
			// shuttleProtocol.setPakMk(false);//复位标记
			// }
			// }
			//
			// //扫描提升机
			// for (LiftSlave slave : slaveProperties.getLift()) {
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// continue;
			// }
			//
			// if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000 * 60 * 5)) && liftProtocol.getPakMk()) {
			// //设备超过5分钟还没复位标记
			// liftProtocol.setPakMk(false);//复位标记
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			//
			// }
			//自动切换出入库模式
			public void autoSwitchLiftIOMode() {
			List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Lift)));
			for (DeviceConfig device : liftList) {
			Integer liftNo = device.getDeviceNo();
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			List<Integer> liftAllStaNo = LiftUtils.getLiftAllStaNo(liftNo);
			if (liftAllStaNo.isEmpty()) {
			continue;
			}

			List<Integer> conveyorBindLiftAllStaNo = LiftUtils.getConveyorBindLiftAllStaNo(liftNo);
			if (conveyorBindLiftAllStaNo.isEmpty()) {
			continue;
			}

			//获取入库任务
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("sta_no", liftAllStaNo)
			.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>()
			.in("sta_no", conveyorBindLiftAllStaNo)
			.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 (liftProtocol.getIOModeType().equals(LiftIoModeType.NONE)) {
			//未知模式
			if (!inWrkMasts.isEmpty()) {
			liftThread.switchIOMode(LiftIoModeType.IN);
			} else if (!outWrkMasts.isEmpty()) {
			liftThread.switchIOMode(LiftIoModeType.OUT);
			}else {
			liftThread.switchIOMode(LiftIoModeType.IN);
			}
			} else if (liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) {
			//入库模式
			if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
			liftThread.switchIOMode(LiftIoModeType.OUT);
			}
			} else if (liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
			//出库模式
			if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
			liftThread.switchIOMode(LiftIoModeType.IN);
			}
			}
			}
			}

			}