zy-wcs.git - Gitblit

			@@ -1,42 +1,33 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.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.model.enums.WrkChargeType;
			import com.zy.common.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			import com.zy.common.utils.*;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.News;
			import com.zy.core.cache.MessageQueue;
			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 org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.stream.Collectors;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -44,2208 +35,904 @@
			*/
			@Slf4j
			@Service("mainService")
			@Transactional
			public class MainServiceImpl {

			@Value("${wms.url}")
			private String wmsUrl;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasErrLogService basErrLogService;
			@Autowired
			private BasSteErrLogService basSteErrLogService;
			@Autowired
			private BasShuttleService basShuttleService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasLiftErrLogService basLiftErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private BasSteService basSteService;
			@Autowired
			private WrkChargeService wrkChargeService;
			@Autowired
			private BasSteErrService basSteErrService;
			private BasLiftErrService basLiftErrService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private WrkChargeMapper wrkChargeMapper;
			@Autowired
			private BasMapService basMapService;
			@Autowired
			private ErpService erpService;
			@Autowired
			private OrderMapper orderMapper;
			@Autowired
			private OrderDetlMapper orderDetlMapper;
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;

			/**
			* 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() {
			// 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/v1")
			.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));
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else if (code == 700) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.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));
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			}

			/**
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			@Deprecated
			public void generateStoreWrkFile0() {
			// 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();
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			&& staProtocol.isPakMk()) {

			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			back = true;
			}

			// 退回
			if (back) {
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			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) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }

			// 命令下发区 --------------------------------------------------------------------------

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

			/**
			* 拣料、并板、盘点再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPick(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			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.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
			&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			&& staProtocol.isPakMk()){

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

			WrkMast wrkMast = null;
			wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {
			continue;
			}
			// if (staProtocol.getWorkNo() == 9996) {
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			// }
			// continue;
			// }
			// } else {
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			// }
			// continue;
			// }
			// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (null == wrkMast) {
			// News.error("{}条码错误，暂无拣料任务！", barcode);
			// }
			// }

			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			continue;
			}

			try {
			// 访问 WMS 获取入库库位
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// // 获取目标站
			// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			// .eq("type_no", wrkMast.getIoType() - 50)
			// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (Cools.isEmpty(staDesc)) {
			// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// continue;
			// }
			// // 堆垛机站点(目标站)
			// Integer staNo = staDesc.getCrnStn();

			// 保存工作明细档历史档
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			}

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

			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(sourceLocNo);
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}

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

			} else if (code == 500){
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			}

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}
			}

			}
			}
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapData navigateMapData;
			@Autowired
			private NavigateUtils navigateUtils;
			@Autowired
			private ShuttleOperaUtils shuttleOperaUtils;
			@Autowired
			private ShuttleAction shuttleAction;
			@Autowired
			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() {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			Object data = redisUtil.get("realtimeBasMap_" + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			try {

			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
			NavigateMapData mapData = new NavigateMapData(i);
			List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
			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)

			//存入数据库
			basMap = new BasMap();
			basMap.setData(JSON.toJSONString(lists));
			basMap.setCreateTime(new Date());
			basMap.setUpdateTime(new Date());
			basMap.setLev(i);

			if (!basMapService.insert(basMap)) {
			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 + lev, lists);
			}

			//将数据库地图数据存入redis
			redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 从redis中重启任务
			*/
			public synchronized void restartTaskFromRedis() {
			HashMap<Object, Object> map = redisUtil.getRedis();
			for (Object key : map.keySet()) {
			if (key.toString().contains("lift_wrk_no_")) {//提升机任务
			LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
			if (redisCommand == null) {
			continue;
			}

			Short liftNo = redisCommand.getLiftNo();
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			if (!liftProtocol.isIdle()) {
			continue;
			}

			//提升机处于空闲状态，进行任务的恢复
			liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态

			}else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
			ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
			if (redisCommand == null) {
			continue;
			}

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

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
			}
			}

			}

			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleIoInExecute() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库站
			for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			if (staProtocol == null) {
			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;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();

			// 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			ShuttleProtocol shuttleProtocol = null;
			HashMap<String, Object> searchIdleShuttle = null;

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 4) {
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle()) {
			continue;
			}
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}
			}else if(wrkMast.getWrkSts() == 8){//状态8，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号
			//状态8，等待命令进行入库搬运动作

			//判断提升机是否空闲
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			String locNo = wrkMast.getLocNo();
			int lev = Utils.getLev(locNo);//目标二维码所在楼层
			int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
			if (liftLev != lev) {
			continue;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			if (staProtocol1 == null) {
			continue;//站点信息不存在
			}
			if (!staProtocol1.isLiftArrival()) {
			continue;//站点提升机到位信号false
			}

			Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}

			if (shuttleThread == null) {
			continue;
			}

			if (shuttleProtocol == null) {
			continue;
			}

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

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

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

			String locNo = wrkMast.getLocNo();//当前工作档库位号
			Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//小车当前层高

			//提升机口站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			if (wrkMast.getWrkSts() == 4) {
			if (currentLev == Utils.getLev(locNo)) {
			//小车和目标在同一楼层
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//小车和目标不在同一楼层
			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 8) {
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}

			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}

			// if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层直接取货无需经过提升机
			// //直接计算车到提升机取货再到库位路径指令
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//找不到路径等待下一次
			// }
			// if (wrkMast.getWrkSts() == 8) {
			// //此时车在提升机内部，下达一步指令让车移动到提升机口
			// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			// BasDevp basDevp = basDevpService.selectById(staNo);
			//
			// short startCode = liftProtocol.getBarcode();//提升机内部二维码
			// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			// //获取命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
			// commands.add(0, moveCommand);//将该指令添加到队头
			// }
			// assignCommand.setCommands(commands);
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// assignCommand.setLocNo(wrkMast.getLocNo());
			// wrkMast.setWrkSts(9L);//小车入库中
			// }else {
			// //不同层，将目标库位分配成提升机库位号
			//
			// //小车移动到提升机口，计算路径
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//未找到路径
			// }
			//
			// //获取当前小车所在楼层的站点信息
			// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
			//
			// //增加移动进提升机命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
			// commands.add(moveCommand);
			//
			// //分配目标库位
			// shuttleProtocol.setLocNo(liftSiteLocNo);
			// //目标库位
			// assignCommand.setLocNo(liftSiteLocNo);
			// assignCommand.setCommands(commands);
			// wrkMast.setWrkSts(5L);//小车迁移状态
			// }

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

			}
			}

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

			}

			//获取起点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			// if (basShuttle != null) {
			// Integer runSpeed1 = basShuttle.getRunSpeed();
			// if (runSpeed1 != null) {
			// runSpeed = runSpeed1;
			// }
			// }

			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
			List<ShuttleCommand> commands = new ArrayList<>();
			if (calc == null) {
			return null;
			}
			if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			}
			List<NavigateNode> allNode = new ArrayList<>();
			allNode.addAll(calc);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			/**
			* 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;
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(command);
			}

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

			return commands;
			}

			//获取起点-中点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			// if (basShuttle != null) {
			// Integer runSpeed1 = basShuttle.getRunSpeed();
			// if (runSpeed1 != null) {
			// runSpeed = runSpeed1;
			// }
			// }

			List<NavigateNode> allNode = new ArrayList<>();

			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道
			List<ShuttleCommand> commands = new ArrayList<>();

			if (calc != null) {
			if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			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;
			}

			allNode.addAll(calc);
			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(command);
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			}

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

			//计算小车中点到终点所需命令
			List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道
			if (calc2 == null) {
			return null;
			}
			if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			}
			allNode.addAll(calc2);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
			for (ArrayList<NavigateNode> nodes : data2) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			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;
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			//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
			}

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

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

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

			return commands;
			return true;
			}

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

			}

			if (wrkMast.getWrkSts() == 21
			\|\| wrkMast.getWrkSts() == 25
			\|\| wrkMast.getWrkSts() == 31) {
			ShuttleThread shuttleThread = null;
			HashMap<String, Object> searchIdleShuttle = null;

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 21) {
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			if (shuttleThread == null) {
			continue;
			}
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}
			}else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

			//判断提升机是否空闲
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			String locNo = wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//目标二维码所在楼层
			Short liftLev = liftProtocol.getLev();//提升机所在楼层
			if (liftLev == null) {//提升机可能在输送线楼层
			continue;
			}
			if (liftLev.intValue() != lev) {
			continue;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			if (staProtocol1 == null) {
			continue;//站点信息不存在
			}
			if (!staProtocol1.isLiftArrival()) {
			continue;//站点提升机到位信号false
			}

			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			} else if (wrkMast.getWrkSts() == 31) {
			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}

			if (shuttleThread == null) {
			continue;
			}

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

			if (outStaLocNo == null) {
			continue;
			}

			if (wrkMast.getWrkSts() == 21) {

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

			//源库位(小车当前位置)
			String currentLocNo = shuttleProtocol.getCurrentLocNo();

			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);
			//当前楼层提升机输送站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

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

			//判断小车和库位是否在同一层
			if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
			//同一层(将小车移动到货物位置)

			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (commands == null) {
			//未找到路径，等待下一次
			continue;
			}

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(currentLocNo);
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

			//小车到提升机口指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			if (commands == null) {
			if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口
			continue;//未找到路径
			}
			commands = new ArrayList<>();
			}
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(currentLocNo);

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(22L);//小车迁移状态

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;
			}

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

			//当前楼层提升机输送站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());

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

			List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			//获取移动命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中

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

			public synchronized void shuttleOutExecute() {
			try {
			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();
			}
			}

			/**
			* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
			HashMap<String, Object> map = new HashMap<>();
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
			int lev = Utils.getLev(locNo);//当前工作档库位层高
			ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
			public 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;
			}
			}

			ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}

			//判断其他空闲穿梭车是否离任务最近
			String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
			if (wrkMast.getIoType() < 101 && wrkMast.getIoType() != 11) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else if(wrkMast.getIoType() >= 101){
			//出库
			distLocNo = locNo;
			} else if (wrkMast.getIoType() == 11) {
			//库位移转
			distLocNo = wrkMast.getSourceLocNo();
			}
			//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;
			}

			//判断当前任务所在楼层是否有其他任务已经分配了小车，如有则直接用该小车(一层楼仅分配一台车)
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//判断当前穿梭车楼层是否已有分配车辆的任务，如果有则分配这辆车
			if (wrkMasts.size() > 0) {
			//存在其他任务，分配这辆车
			WrkMast wrkMast1 = wrkMasts.get(0);
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
			//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;
			}

			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}
			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;
			}

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			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;
			}

			if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) {
			continue;
			}

			//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;
			}

			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, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			continue;
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			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;
			}

			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
			if (shuttleLocNo == null) {
			continue;
			//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;
			}

			if (shuttleLocNo.equals(distLocNo)) {
			//车辆当前位置已经是目标库位，无需计算
			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			//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;
			}

			int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
			if (lev == shuttleLocNoLey) {
			//工作档楼层相同的穿梭车
			sameLev.add(shuttleThread);
			}else {
			//工作档不同楼层的穿梭车
			diffLev.add(shuttleThread);
			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;
			}

			Integer recentAllDistance = 9999999;
			if (sameLev.size() > 0) {
			//同一楼层有空闲穿梭车，则只在工作档楼层寻找
			//寻找离任务最近的穿梭车
			for (ShuttleThread shuttleThread : sameLev) {
			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			//当前穿梭车线程到目标地点距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
			if (currentShuttlePath == null) {
			continue;
			}
			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}

			map.put("sameLay", true);//同层
			map.put("result", recentShuttle);
			}else {
			//同一楼层，没有空闲穿梭车，只能从其他楼层调度
			//寻找离任务最近的穿梭车
			for (ShuttleThread shuttleThread : diffLev) {

			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			int currentLev = Utils.getLev(currentLocNo);
			List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
			if (wrkMasts1.size() > 0) {
			//存在其他任务，跳过这辆车
			continue;
			}

			//当前穿梭车线程到当前车子所在楼层的提升机口距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
			if (currentShuttlePath == null) {
			continue;
			}

			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}

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

			/**
			* 四向穿梭车任务完成
			* 执行移库任务
			*/
			public synchronized void shuttleFinished() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			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
			&& shuttleProtocol.getBusyStatus() == 0
			) {
			//标记复位
			shuttleProtocol.setPakMk(true);

			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			ShuttleAssignCommand moveAssignCommand = null;//避让命令
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			break;
			case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
			wrkMast.setWrkSts(23L);
			break;
			case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			//搜索一条没有小车的空巷道，并调度小车
			int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
			String startLocNo = "180020" + distLev;
			moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
			if (moveAssignCommand == null) {//调度小车命令为空
			continue;
			}

			wrkMast.setWrkSts(27L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			default:
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			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());

			if (wrkMast.getWrkSts() == 27) {
			if (moveAssignCommand != null) {
			try {
			Thread.sleep(4000);
			//下发任务
			shuttleProtocol.setPakMk(true);
			MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			}
			}

			} 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());
			}
			}

			if (assignCommand != null) {
			if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
			//避让任务
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			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;
			}

			}

			//四向穿梭车状态为充电状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
			&& shuttleProtocol.getTaskNo() != 0) {
			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			switch (wrkCharge.getWrkSts().intValue()) {
			case 52://四向穿梭车迁移到提升机口
			wrkCharge.setWrkSts(53L);//迁移完成
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			break;
			case 56://小车去充电桩中
			wrkCharge.setWrkSts(57L);//到达充电桩
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			if (wrkCharge.getWrkSts() == 60) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			}
			if (wrkCharge.getWrkSts() != 57) {
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			}
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}
			}

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

			/**
			* 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
			*/
			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() {
			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()) {
			// continue;
			// }

			//判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
			if (!liftProtocol.isIdleNoTask()) {
			continue;
			}

			try {
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
			if (wrkMasts.size() == 0) {
			continue;
			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) {
			//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()) {
			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			}

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

			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			}

			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			if (liftProtocol.getTaskNo().intValue() != 0) {
			//存在未完成任务号
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//获取目标站
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
			if (staProtocol.isLoading() \|\| !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			Integer levTmp = wrkMastLocNoLey;
			if (wrkMastLocNoLey >= 2) {
			levTmp += 1;
			}
			Integer distStaNo = Utils.levToOutInStaNo(levTmp);

			if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
			//提升机不在输送线楼层，获取到输送线层的提升机命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
			commands.add(command1);//将命令添加进list
			}

			//输送线将货物运进来(无货正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
			command2.setOperaStaNo((short) 102);//操作102站
			command2.setRotationDire(1);//给输送线下发链条转动信号，正转
			command2.setDevpId(devpId);
			command2.setStaNo(distStaNo.shortValue());//设置目标站
			commands.add(command2);//将命令添加进list

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

			//提升机到达指定楼层，输送线将货物移出去(正转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
			command4.setRotationDire(1);//给输送线下发链条转动信号，正转
			command4.setDevpId(devpId);
			command4.setStaNo(distStaNo.shortValue());//设置目标站
			commands.add(command4);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
			if (wrkMastLocNoLey >= 2) {
			wrkMastLocNoLey++;
			}

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
			if (wrkMastLocNoLey >= 2) {
			wrkMastLocNoLey++;
			}

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//工作档源库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档源库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();

			//判断提升机是否到位
			StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
			if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
			//提升机不在工作档源库位楼层，调度提升机
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list
			}

			//输送线将货物运进来(无货反转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
			command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号
			command2.setRotationDire(2);//给输送线下发链条转动信号，反转
			command2.setDevpId(devpId);//输送线ID
			command2.setStaNo((short) 104);//写入出库目标站104
			commands.add(command2);//将命令添加进list

			//提升机前往出库口，输送线楼层
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
			command3.setDevpId(devpId);//输送线ID
			commands.add(command3);//将命令添加进list

			//提升机到达指定楼层，输送线将货物移出去(反转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			command4.setOperaStaNo((short) 102);//操作102站
			command4.setRotationDire(2);//给输送线下发链条转动信号，反转
			command4.setDevpId(devpId);//输送线ID
			commands.add(command4);//将命令添加进list

			//提升机链条执行完毕后，给102站写入资料
			LiftCommand command5 = liftThread.getResetCommand();
			command5.setDevpId(devpId);//输送线ID
			command5.setOperaStaNo((short) 102);//操作102站
			command5.setStaNo((short) 104);//写入出库目标站104
			command5.setRotationDire(0);//链条转动停止
			commands.add(command5);

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(28L);//28.提升机搬运中
			}

			//所需命令组合完毕，更新数据库，提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			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() {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			&& !liftProtocol.getRunning()
			) {

			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			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
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
			if(liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			//判断提升机是否到达任务楼层
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//任务目标楼层
			if (!liftThread.isDeviceIdle()) {
			continue;
			}

			//标记复位
			liftProtocol.setPakMk(true);
			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			wrkMast.setLiftNo(null);//释放提升机
			}else if (wrkMast.getWrkSts() == WrkStsType.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;
			}

			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			//给目标站设置工作号
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			wrkMast.setWrkSts(4L);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(25L);
			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
			continue;//提升机是否达到输送线楼层
			}
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			default:
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			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={}", 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());
			}
			}
			}

			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkCharge.getWrkSts().intValue()) {
			case 54://提升机搬运中
			wrkCharge.setWrkSts(55L);//提升机搬运完成
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

			//不是入出库调度任务、工作档任务，进行提升机的复位
			if (liftProtocol.getAssignCommand() != null) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//判断是否为四向穿梭车调度提升机，如是则无需清理任务号
			if (!liftProtocol.getSecurityMk()) {
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			}
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			}

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

			/**
			* 库位移转
			*/
			public synchronized void locToLocExecute() {
			//获取出入库工作档
			List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
			if (wrkMasts.size() > 0) {
			//有出入库任务，必须等待任务执行完毕再执行库位移转
			return;
			}

			//查询库位移转工作档
			List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
			for (WrkMast wrkMast : wrkMasts1) {

			boolean step1 = this.locToLocExecuteStep1(wrkMast);//绑定小车
			if (!step1) {
			continue;
			}

			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度小车到目标楼层
			if (!step2) {
			continue;
			}

			boolean step3 = this.locToLocExecuteStep3(wrkMast);//同楼层库位移转
			if (!step3) {
			continue;
			}

			}
			}

			/**
			* 绑定小车并调度车
			* 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 locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getShuttleNo() == null) {//给库位移转绑定穿梭车号
			//寻找最近且空闲的四向穿梭车
			HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			if (shuttleThread == null) {
			//没有找到空闲穿梭车
			return false;
			}
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			}
			return true;
			}

			/**
			* 调度小车到目标楼层
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep2(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 1 && wrkMast.getShuttleNo() != null) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;//小车处于不空闲状态
			}

			String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
			int shuttleLev = Utils.getLev(currentLocNo);//小车所在楼层

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			//判断小车是否再目标楼层
			if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
			//小车和目标不在同一楼层

			//提升机口站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(shuttleLev);

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

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(shuttleProtocol.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			return false;//未找到路径
			}

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态

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

			/**
			* 同楼层库位移转
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			if (wrkMast.getShuttleNo() == null) {
			return false;
			}

			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;//小车处于不空闲状态
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			DevpThread devpThread = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			}

			//判断小车是否在工作档任务目标楼层
			String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
			int shuttleLev = Utils.getLev(currentLocNo);//小车所在楼层
			if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
			return false;//不在同一楼层
			}

			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 8) {
			//调度小车执行同楼层移库任务

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

			List<ShuttleCommand> commands = new ArrayList<>();

			if (wrkMast.getWrkSts() == 8) {//8.提升机迁移小车完成，需要将小车移出提升机
			//判断提升机是否空闲
			if (!liftProtocol.isIdleNoTask()) {
			return false;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			return false;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			String locNo = wrkMast.getLocNo();
			int lev = Utils.getLev(locNo);//目标二维码所在楼层
			int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
			if (liftLev != lev) {
			return false;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			if (staProtocol1 == null) {
			return false;//站点信息不存在
			}
			if (!staProtocol1.isLiftArrival()) {
			return false;//站点提升机到位信号false
			}

			BasDevp basDevp = basDevpService.selectById(staNo);
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			currentLocNo = basDevp.getLocNo();//使用输送站点口作为起点坐标
			}

			//直接计算车到源库位到目标库位路径
			List<ShuttleCommand> commands1 = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), wrkMast.getLocNo(), assignCommand, shuttleThread);
			if (commands1 == null) {
			return false;//找不到路径等待下一次
			}
			commands.addAll(commands1);

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

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			return true;
			}

			/**
			@@ -2254,6 +941,7 @@
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -2264,28 +952,31 @@
			*/
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			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.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			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
			@@ -2294,82 +985,35 @@
			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
			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
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			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
			"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);
			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.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			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:{}]", 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());
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
			}
			}
			}
			@@ -2377,255 +1021,76 @@
			}
			}

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

			/**
			* 空栈板初始化入库,叉车入库站放货
			* 提升机异常信息记录
			*/
			public void storeEmptyPlt(){
			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;
			}
			}
			}

			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/v1")
			.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);

			// 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/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			}
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public void ledExecute() {
			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<>();
			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());
			if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			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：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::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)) {
			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;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (led.getId()>3){
			if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}else {
			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);
			}
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			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");
			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);
			}
			}
			}

			// 更新线程当前工作号集合
			ledThread.setWorkNos(workNos);

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public void ledReset() {
			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.getWorkNo() != 0 && 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.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			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.getWorkNo() != 0) {
			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.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// 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());
			}
			}
			}
			}
			}
			@@ -2635,53 +1100,130 @@
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			public synchronized void loopShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			try {

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

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

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

			ShuttleChargeType shuttleCharge = null;
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			break;
			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, device.getDeviceNo());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}
			}

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

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

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
			if (wrkMast1 != null) {
			continue;
			}

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

			WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
			if (wrkMast != null) {//已有充电任务
			continue;
			}

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

			//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();
			}
			}

			@@ -2689,313 +1231,814 @@
			* 执行四向穿梭车充电任务
			*/
			public synchronized void executeShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			continue;
			}

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

			//获取提升机
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			//充电库位号
			String chargeLocNo = wrkCharge.getLocNo();
			//充电库位层高
			Integer chargeLocNoLev = Utils.getLev(chargeLocNo);

			if (wrkCharge.getWrkSts() == 51) {
			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			if (currentLocNo == null) {
			continue;
			}
			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);

			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//获取小车到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}
			//进行充电中
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

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

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

			wrkCharge.setWrkSts(56L);//充电中状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，调度小车到充电桩目标层

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//获取小车当前楼层的站点号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			//小车移动到提升机口站点，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			if (basDevp == null) {
			continue;//找不到站点信息
			}
			Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(chargeLocNo);
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务
			//目标库位
			assignCommand.setLocNo(chargeLocNo);
			//源库位
			assignCommand.setSourceLocNo(currentLocNo);
			assignCommand.setCommands(commands);
			wrkCharge.setWrkSts(52L);//小车迁移状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			}else if(wrkCharge.getWrkSts() == 53){
			//小车已经达到提升机内

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

			//判断小车是否在提升机内
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			//小车不在提升机内
			continue;
			}

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

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

			//提升机前往目标楼层
			//获取充电库位目标楼层命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
			commands.add(command1);//将命令添加进list

			wrkCharge.setWrkSts(54L);//提升机搬运中
			//所需命令组合完毕，更新数据库，提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			}else if(wrkCharge.getWrkSts() == 55){//55.提升机迁移小车完成
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			Short liftLev = liftProtocol.getLev();
			if (liftLev == null) {
			continue;
			}
			//判断提升机楼层是否到达目标楼层
			if (liftLev.intValue() != chargeLocNoLev) {
			continue;//没有到达目标楼层
			}

			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//站点不存在
			}

			//获取提升机口到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			//进行充电中
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

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

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

			wrkCharge.setWrkSts(56L);//充电中状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() == null \|\| shuttleProtocol.getCurrentVoltage() == null) {
			continue;
			}
			if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
			//充满，断开充电
			// List<ShuttleCommand> commands = new ArrayList<>();
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			// assignCommand.setTaskMode((short) 0);
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			// assignCommand.setCharge(true);
			//
			// //创建充电指令
			// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			// commands.add(command);
			//
			// //指令集分配
			// assignCommand.setCommands(commands);
			//
			// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

			//将小车移动到空闲的巷道
			ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
			if (assignCommand == null) {
			continue;
			}

			wrkCharge.setWrkSts(60L);//60.充电任务完成
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

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

			}


			/**
			* 出入库模式切换
			*/
			public synchronized void outAndIn() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			Thread.sleep(500);
			boolean a=true,b=true;
			List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
			if (Cools.isEmpty(wrkMasts)){
			b=false;
			}else {
			for (WrkMast wrkMast:wrkMasts){
			if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
			a=false;
			break;
			}
			}
			}
			switch (inSta.getStaNo()) {
			case 102://1F
			if (a && b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
			}else if (b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
			}else {
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
			}
			break;
			case 202://2F
			if (a && b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
			}else if (b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
			}else {
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
			}
			break;
			case 302://3F
			if (a && b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
			}else if (b){
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
			}else {
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
			}
			break;
			}
			//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
			*/
			public synchronized void shuttleMoveExecute() {
			try {
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			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;
			}

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

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

			/**
			* 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 shuttleMoveExecuteStepMoveNearby(WrkMast wrkMast) {
			//--------------------------------------小车移动到近点中-----------------------------------------//
			Date now = new Date();

			//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());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//目标库位和小车库位处于同一楼层，不需要通过提升机调度
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			}
			return false;
			}

			//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;
			}

			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.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_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.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;
			}
			return true;
			}

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

			//提升机搬运中 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;
			}
			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;
			}

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

			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
			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());
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);

			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
			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;
			}

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

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

			//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;
			}

			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

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

			//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);

			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);
			}
			}
			return true;
			}

			//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);
			}
			}
			}
			}

			}