zy-wcs.git - Gitblit

			@@ -1,41 +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.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.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			import com.zy.common.utils.*;
			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
			@@ -43,33 +35,10 @@
			*/
			@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
			@@ -77,1016 +46,193 @@
			@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;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastLocMapper wrkMastLocMapper;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;


			/**
			* 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));
			ledThread.setLedMk(false);
			}
			}
			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));
			ledThread.setLedMk(false);
			}
			}
			} 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()) {
			if (pickSta.getStaNo() == 325 \|\| pickSta.getStaNo() == 331 \|\| pickSta.getStaNo() == 333 \|\| pickSta.getStaNo() == 339) {
			continue;
			}

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// && (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()){

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(Cools.isEmpty(barcode)) {
			continue;
			}
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}

			WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {//找不到工作档
			continue;
			}

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

			//*******************同库位组校验*******************
			boolean flag = false;
			String th = "";
			List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			for (String loc : innerLoc) {
			LocMast locMast = locMastService.selectById(loc);
			if (locMast == null) {
			continue;
			}

			if (!locMast.getLocSts().equals("F")) {
			flag = true;
			th = loc + "库位存在未回库任务";
			break;
			}
			}
			if (flag) {
			News.info(th);
			continue;
			}
			//*******************同库位组校验*******************

			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			continue;
			}

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

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

			// 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)) {
			News.info("修改库位状态失败");
			continue;
			}
			}
			}

			}
			}

			/**
			* 拣料、并板、盘点再入库(325、331、333、339)
			*/
			@Transactional
			public synchronized void stnToCrnStnPick2(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			if (!(pickSta.getStaNo() == 325 \|\| pickSta.getStaNo() == 331 \|\| pickSta.getStaNo() == 333 \|\| pickSta.getStaNo() == 339)) {
			continue;
			}

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()){

			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {//找不到工作档
			continue;
			}

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

			//*******************同库位组校验*******************
			boolean flag = false;
			String th = "";
			List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			for (String loc : innerLoc) {
			LocMast locMast = locMastService.selectById(loc);
			if (locMast == null) {
			continue;
			}

			if (!locMast.getLocSts().equals("F")) {
			flag = true;
			th = loc + "库位存在未回库任务";
			break;
			}
			}
			if (flag) {
			News.info(th);
			continue;
			}
			//*******************同库位组校验*******************

			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			continue;
			}

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

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

			// 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)) {
			News.info("修改库位状态失败");
			continue;
			}

			staProtocol.setStaNo(pickSta.getBackSta().shortValue());//写入目标站
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}

			}
			}

			// /**
			// * 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;
			// }
			//
			// // 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();
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
			// if (liftStaProtocol == null) {
			// continue;
			// }
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			//// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			//// wrkMast.setCrnNo(dto.getCrnNo());
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// 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");
			// }
			// barcodeThread.setBarcode("");//清理条码
			//
			//// 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();
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
			//// if (liftStaProtocol == null) {
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			////// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			////// wrkMast.setCrnNo(dto.getCrnNo());
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// 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());
			////// }
			////
			//// barcodeThread.setBarcode("");//清理条码
			////
			//// } 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();
			//// }
			//
			// }
			// }
			//
			// }
			// }
			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 <= 10; i++) {//总共四层楼
			Object data = redisUtil.get(RedisKeyType.MAP.key + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			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(RedisKeyType.MAP.key + 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(RedisKeyType.LIFT.key)) {//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(RedisKeyType.SHUTTLE.key)){//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();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//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 shuttleInExecute() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			for (WrkMast wrkMast : wrkMasts) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			continue;//站点不存在
			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;
			}
			}

			//获取目标站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if (liftStaProtocol == null) {
			continue;//站点不存在
			}

			// 判断是否满足入库条件，自动、空闲、有物
			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
			continue;
			}

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

			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库站
			// for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			// if (basDevp == null) {
			// continue;//站点信息不存在
			// }
			//
			// // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			// if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
			// continue;
			// }
			//
			// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			//
			// }
			// }
			//
			// }

			/**
			* 入库-小车搬入库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			if (wrkMast.getWrkSts() == 4) {
			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;
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			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;
			}

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

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

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

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

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

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			//获取小车到目标库位命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			@@ -1096,11 +242,23 @@
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleOutExecute() {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			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();
			}
			}

			@@ -1109,115 +267,178 @@
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//21.生成出库任务 => 22.小车搬运中
			if (wrkMast.getWrkSts() == 21) {
			EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (staDesc == null) {
			News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
			return false;//出库路径不存在
			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;
			}
			}

			//获取出库站点
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			return false;//出库站点不存在
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}

			if (!basDevp.getAutoing().equals("Y")) {
			News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
			return false;//不是自动状态
			}

			if (!basDevp.getOutEnable().equals("Y")) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
			return false;//出库站点不可出
			}

			Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
			List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
			if (!liftWrkMasts.isEmpty()) {
			News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo);
			return false;//存在入库任务，禁止出库
			}

			//同库位组校验
			List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
			List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
			if (!outerLocMasts.isEmpty()) {
			News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
			return false;//浅库位存在未执行任务
			//判断提升机是否处于出库模式
			if (!liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			return false;
			}

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

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
			return false;//站点必须自动、空闲、没有托盘
			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
			return false;
			}

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

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

			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.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//小车已被独占，禁止再派发任务
			}

			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//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.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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;
			}

			//小车已抵达货物位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
			if (result == null) {//出库路径计算失败
			News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			//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;
			}

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

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			//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());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			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;
			}
			@@ -1225,151 +446,154 @@
			}

			/**
			* 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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			//四向穿梭车状态为等待确认、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.getFree() == ShuttleStatusType.IDLE.id
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 5://5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			case 22://22.小车搬运中 ==> 23.小车搬运完成
			wrkMast.setWrkSts(23L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			case 102://102.小车移动至站点 ==> 103.小车移动至站点完成
			wrkMast.setWrkSts(103L);
			break;
			case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
			wrkMast.setWrkSts(105L);
			shuttleProtocol.setTaskNo(0);//清理工作号
			break;
			case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
			wrkMast.setWrkSts(109L);
			break;
			case 110://110.小车移动中 ==> 111.小车移动完成
			wrkMast.setWrkSts(111L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			default:
			}

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

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

			}

			} 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()) {
			News.info("{}号提升机，忙碌中", liftSlave.getId());
			continue;
			}

			//判断提升机令牌是否被占用
			if (liftProtocol.getToken() != 0) {
			News.info("{}号提升机，令牌已被独占", liftSlave.getId());
			continue;
			}

			try {
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			if (wrkMasts.isEmpty()) {
			continue;
			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()) {
			News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
			continue;
			}

			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			@@ -1380,7 +604,8 @@
			continue;
			}
			}

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

			@@ -1393,134 +618,116 @@
			//--------------------------------------提升机入库-----------------------------------------//
			Date now = new Date();

			//2.设备上走 ==> 3.提升机搬运中
			if (wrkMast.getWrkSts() == 2) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			//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 (!sourceBasDevp.getInEnable().equals("Y")) {
			News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			return false;//站点不可入
			if (!sourceLiftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站无托盘", wrkMast.getWrkNo());
			return false;
			}

			Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
			if (barcodeId == null) {
			News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			return false;//站点不可入
			//获取目标输送站
			LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
			if (barcodeThread == null) {
			News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
			return false;//站点不可入
			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
			return false;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if(!("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode))) {
			//存在条码值，判断是否和当前工作档一致
			if (!barcode.equals(wrkMast.getBarcode())) {
			News.info("{}任务，条码器{}值{}与工作档条码值不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode);
			return false;//站点不可入
			}

			//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;
			}

			//判断提升机整个三楼是否都处于入库模式
			Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
			Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
			Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
			if (outInModel1 == null \|\| outInModel2 == null \|\| outInModel3 == null) {
			News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
			return false;//不存在出入库模式
			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;
			}

			if (outInModel1 == 2 \|\| outInModel2 == 2 && outInModel3 == 2) {
			News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo());
			return false;//只要有一个处于出库模式，禁止入库
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle()) {
			News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			if (!liftThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机已被独占，禁止再派发任务

			//判断提升机是否处于入库模式
			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;
			}

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

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

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

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

			if (targetStaProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
			return false;//提升机站点有托盘，禁止派发
			}

			Integer targetSta = targetStaProtocol.getStaNo();

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			if (wrkMast.getIoType() == 53 \|\| wrkMast.getIoType() == 57) {
			//拣料再回库，重新分配设备工作号
			Random random = new Random();
			int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
			liftCommand.setTaskNo((short) deviceWrk);
			}
			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			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(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			assignCommand.setLiftNo(liftNo);
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);

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

			return false;
			}
			return true;
			@@ -1533,102 +740,125 @@
			*/
			private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			//--------------------------------------提升机出库-----------------------------------------//
			Date now = new Date();
			//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
			}

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

			//获取出库站点(目标站)
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
			return false;//出库站点不存在
			if (!liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
			return false;
			}

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

			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车还在输送站点
			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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;
			}

			if (!basDevp.getOutEnable().equals("Y")) {
			News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			return false;//出库站点不可出
			}

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

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

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

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

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

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			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(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			assignCommand.setLiftNo(liftNo);
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);

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

			return false;
			}
			return true;
			@@ -1638,414 +868,71 @@
			* 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.getBusy()
			) {
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
			int taskNo = liftProtocol.getTaskNo().intValue();
			if (basLiftOpt != null) {
			taskNo = basLiftOpt.getWrkNo();
			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.selectByWorkNo324104(taskNo);
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(4L);
			if (!liftThread.isDeviceIdle()) {
			continue;
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			wrkMast.setLiftNo(null);//释放提升机
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}
			break;
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			if (wrkMast.getIoType() == 11) {//库位移转
			wrkMast.setWrkSts(4L);//4.提升机搬运完成
			}else {
			if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			//不需要用到机械臂，直接转29.出库完成
			wrkMast.setWrkSts(29L);
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setLiftNo(null);//释放提升机
			}
			}
			}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;
			}

			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}

			break;
			case 106://106.提升机搬运中 ==> 107.提升机搬运完成
			wrkMast.setWrkSts(107L);
			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());
			}
			}else {
			LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
			if (assignCommand != null) {
			if (!assignCommand.getAuto()) {
			//手动操作
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
			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());
			}
			}
			}
			}
			} 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) {
			if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
			boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
			if (!step1) {
			continue;
			}
			}else {
			//跨楼层库位移转
			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
			if (!step2) {
			continue;
			}

			boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
			if (!step3) {
			continue;
			}

			boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
			if (!step4) {
			continue;
			}

			}

			}
			}

			/**
			* 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 locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

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

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

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

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

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

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-调度车辆取货并运送到出库口
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep2(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

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

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

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

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

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

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

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-提升机搬运货物
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
			//源站
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			//目标站
			Integer staNo = wrkMast.getStaNo();
			if (sourceStaNo == null \|\| staNo == null) {
			return false;//源站或目标站为空
			}

			int liftNo = staNo / 100;//获取提升机号

			//获取提升机线程
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}

			//获取源站对应的输送站点
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			return false;//站点必须自动、空闲、有托盘
			}
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车还在输送站点
			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			return false;
			}
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			return false;
			}
			return true;
			}

			/**
			@@ -2065,28 +952,31 @@
			*/
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol 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());
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
			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.getErrCode());
			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
			@@ -2095,14 +985,14 @@
			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
			shuttleProtocol.getErrCode(), // 异常码
			errorCode, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -2113,68 +1003,20 @@
			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.getErrState() == null \|\| shuttleProtocol.getErrState() == 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());
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), 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());
			// }
			// }
			// }
			}
			}
			}
			@@ -2184,42 +1026,32 @@
			*/
			private void recLiftErr() {
			Date now = new Date();
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			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, liftSlave.getId());
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

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

			String errName = "";
			if (liftProtocol.getFrontOverrun()) {
			errName = "前超限";
			} else if (liftProtocol.getBackOverrun()) {
			errName = "后超限";
			} else if (liftProtocol.getLeftOverrun()) {
			errName = "左超限";
			} else if (liftProtocol.getRightOverrun()) {
			errName = "右超限";
			} else if (liftProtocol.getOverHeight()) {
			errName = "超高";
			} else if (liftProtocol.getOverWeight()) {
			errName = "超重";
			}
			BasLiftErr basLiftErr = basLiftErrService.queryByCode(liftProtocol.getErrorCode());
			String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			@@ -2228,7 +1060,7 @@
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			liftSlave.getId(), // 提升机
			device.getDeviceNo(), // 提升机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			@@ -2246,627 +1078,19 @@
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName);
			}
			}
			} else {
			// 异常修复
			if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			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:{}]", liftSlave.getId(), latest.getId());
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
			}
			}
			}
			}
			}
			}

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

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			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;
			}
			}
			}

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

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

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			if (!Cools.isEmpty(barcode)) {
			param.setBarcode(barcode);
			}
			param.setSourceStaNo(emptyInSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/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);
			barcodeThread.setBarcode("");
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			}
			}

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

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

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

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

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

			/**
			* AGV补货 => 机械臂拣料
			*/
			public void agvRestockByRobot() {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303 == null \|\| staProtocol317 == null) {
			continue;
			}

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

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

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

			if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("301-1", barcode);
			log.info("通知AGV取货，条码号：" + barcode);
			}
			}

			if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("302-1", barcode);
			log.info("通知AGV取货，条码号：" + barcode);
			}
			}
			}
			}

			//通知AGV取货
			private boolean agvRestockCall(String staNo, String barcode) {
			try {
			HashMap<String, Object> param = new HashMap<>();
			param.put("devNo", staNo);
			param.put("containerCode", barcode);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/start")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			log.info("悬挂线，wms返回结果：" + jsonObject);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {//呼叫AGV
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return false;
			}

			/**
			* AGV补货(悬挂线通知AGV取货)
			*/
			public void agvRestockIntoByHangingWire() {
			//检测350和351扫码器
			int[] barcodeStaNo = {11, 12};//11 => 350站扫码器,12 => 351站扫码器
			for (int staNo : barcodeStaNo) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if (barcode.contains("NoRead")) {
			continue;
			}

			String agvStaNo = null;
			if (staNo == 11) {
			agvStaNo = "303-1";
			}else {
			agvStaNo = "304-1";
			}
			//通知AGV取货
			boolean result = agvRestockCall(agvStaNo, barcode);
			if (result) {
			barcodeThread.setBarcode("");
			}
			log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
			}
			}
			}

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

			if (wrkMast.getWrkSts() != 29) {//29.出库完成
			continue;
			}

			if (wrkMast.getMk() == null) {
			Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
			Integer staNo = wrkMast.getStaNo();//目标站
			//覆盖工作档目标站
			wrkMast.setStaNo(sourceStaNo);
			wrkMast.setSourceStaNo(staNo);
			wrkMast.setMk("N");
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			}
			}
			}
			}

			/**
			* 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) {
			//for (WrkDetl wrkDetl : wrkDetls) {
			// LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			//
			// locDetls.forEach(locDetl1 -> {
			// //工作档中存在该物料则跳过
			// String suppCode = "";
			//
			// if (wrkDetl.getMatnr().equals(locDetl1.getMatnr())) {
			// Double anfme = 0D;
			// if (locDetl != null) {
			// anfme = locDetl.getAnfme();
			// }
			// if (wrkDetl.getSuppCode() != null) {
			// suppCode = wrkDetl.getSuppCode();
			// }
			// ledCommand.getMatDtos()
			// .add(new MatDto(wrkDetl.getMatnr()
			// , wrkDetl.getMaktx()
			// , wrkDetl.getAnfme()
			// , (wrkDetl.getAnfme()-anfme)
			// , wrkDetl.getSpecs()
			// , suppCode));
			// } else {
			// if (locDetl1.getSuppCode() != null) {
			// suppCode = locDetl1.getSuppCode();
			// }
			// ledCommand.getMatDtos()
			// .add(new MatDto(locDetl1.getMatnr()
			// , locDetl1.getMaktx()
			// , 0D
			// , locDetl1.getAnfme()
			// , locDetl1.getSpecs()
			// , suppCode));
			// }
			// });
			// //LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
			//}
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
			locDetls.forEach(locDetl -> {
			Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no",wrkMast.getWrkNo());
			Utils.wapperSetCondition(wrapper,"batch",locDetl.getBatch());
			Utils.wapperSetCondition(wrapper,"three_code",locDetl.getThreeCode());
			Utils.wapperSetCondition(wrapper,"dead_time",locDetl.getDeadTime());
			Utils.wapperSetCondition(wrapper,"supp_code",locDetl.getSuppCode());//料箱码
			WrkDetl detl = wrkDetlService.selectOne(wrapper);
			if (Cools.isEmpty(detl)) {
			String suppCode = "";
			if (locDetl.getSuppCode() != null) {
			suppCode = locDetl.getSuppCode();
			}
			ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
			} else {
			String suppCode = "";
			if (detl.getSuppCode() != null) {
			suppCode = detl.getSuppCode();
			}
			ledCommand.getMatDtos().add(new MatDto(detl.getMatnr(), detl.getMaktx(), detl.getAnfme(), (locDetl.getAnfme() - detl.getAnfme()), detl.getSpecs(), suppCode));
			}
			});
			}
			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)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档失败");
			}
			}

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

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

			}
			}

			/**
			* 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 {
			// News.error("{}号LED命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// ledThread.setLedMk(false);
			// }
			// }
			// }
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			}
			@@ -2876,80 +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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol 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;
			}

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

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

			//小车和充电桩在同一层
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			break;
			//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
			}
			}

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

			shuttleCharge = chargeType;
			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) {
			continue;
			}
			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;
			}

			String chargeLocNo = shuttleCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setShuttleNo(shuttle.getId());
			wrkCharge.setCharge(shuttleCharge.id);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(51L); // 51.准备充电
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			continue;
			}
			if (charge.getStatus() == 0) {
			continue;//充电桩被禁用
			}

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

			@@ -2957,246 +1231,236 @@
			* 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;
			}

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

			if (wrkCharge.getWrkSts() == 51) {
			if (!shuttleProtocol.isIdleNoCharge()) {
			try {
			//查询小车充电任务
			List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
			.eq("device_type", String.valueOf(SlaveType.Shuttle)));
			for (DeviceConfig device : shuttleList) {
			WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo());
			if(wrkMast == null) {
			continue;
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			//小车不在充电桩位置
			shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
			if (!result1) {
			continue;
			}

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

			wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			} else if (wrkCharge.getWrkSts() == 52) {
			//检测小车是否满电

			//获取满电阈值
			int maxPower = 95;
			EntityWrapper<Config> wrapper = new EntityWrapper<>();
			wrapper.eq("code", "chargeMaxValue");
			Config config = configService.selectOne(wrapper);
			if (config != null) {
			maxPower = Integer.parseInt(config.getValue());
			}

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

			if (shuttleProtocol.getVoltage() < 5630) {
			continue;//电压不够继续充电
			boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
			if (!result3) {
			continue;
			}

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

			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			try {
			Thread.sleep(3000);
			} catch (Exception e) {
			e.printStackTrace();
			boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
			if (!result4) {
			continue;
			}

			wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
			shuttleProtocol.setTaskNo(0);
			shuttleProtocol.setPakMk(false);
			}
			} else if (wrkCharge.getWrkSts() == 53) {
			if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
			if (!result) {
			continue;
			}

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

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

			}

			}

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

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

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

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

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

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

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

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

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

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

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

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

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

			//***********尝试锁定目标站路径*************
			List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			if (!wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
			return false;
			}
			boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
			if (!checkPathIsAvailable) {
			News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//检测目标站点路径是否未被占用
			}
			//尝试锁定目标站路径
			boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//所使用的路径进行锁定禁用
			if (!result2) {
			News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径锁定失败
			}
			//***********尝试锁定目标站路径*************

			//获取小车到输送站点行走命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
			List<NyShuttleHttpCommand> commands = result.getCommands();
			//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()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(result.getNodes());
			assignCommand.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)

			wrkMast.setWrkSts(102L);//小车移动到提升机中 101.生成小车移库任务 ==> 102.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			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;
			@@ -3205,175 +1469,284 @@
			}

			/**
			* 小车迁移-小车迁入提升机
			* 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 shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			private boolean shuttleMoveExecuteStepMoveNearby(WrkMast wrkMast) {
			//--------------------------------------小车移动到近点中-----------------------------------------//
			Date now = new Date();

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

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

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

			if (basLift.getPoint() == null) {
			News.info("{}任务，{}号提升机，没有提升机点位坐标，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
			return false;//没有设置提升机点位坐标
			}

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

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

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

			//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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			//小车令牌是否被任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

			if (liftProtocol.getToken() != 0) {
			News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机令牌被占用
			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;
			}

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

			Random random = new Random();
			int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
			liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号
			LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByLev(recentLiftStation.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if(targetLiftSta == null) {
			return false;
			}

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			//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(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
			assignCommand.setAuto(false);

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

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

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

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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;
			}

			//站点节点
			NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());
			Object limitObj = redisUtil.get(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo());
			if (limitObj != null) {
			return false;
			}

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

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

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

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

			@@ -3386,203 +1759,147 @@
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

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

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

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

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

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，小车当前任务未被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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 = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;//缺少站点信息
			}

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

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			//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(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
			assignCommand.setLiftNo(wrkMast.getLiftNo());
			assignCommand.setTaskNo(wrkMast.getWrkNo());
			assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);

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

			}
			return true;
			}

			/**
			* 小车迁移-小车迁出提升机
			* 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 shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁出提升机-----------------------------------------//
			private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			if (wrkMast.getWrkSts() == 107) {

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}

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

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

			//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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			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;
			}

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

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
			if (basLift == null) {
			return false;//没有提升机数据
			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;
			}
			if (basLift.getPoint() == null) {
			News.info("{}任务，{}号提升机，缺少提升机点位坐标，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//没有设置提升机点位坐标
			}

			NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			liftNode.setZ(liftSta.getLev());

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

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

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

			wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			//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
			}
			return false;
			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;
			}
			@@ -3596,203 +1913,132 @@
			//--------------------------------------小车移动到目标库位中-----------------------------------------//
			Date now = new Date();

			//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			if (wrkMast.getWrkSts() == 109) {
			//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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			//判断小车令牌是否为当前任务
			if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			// //跨楼层移动任务
			// if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			// //获取目标站
			// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			// if (liftSta == null) {
			// return false;//找不到站点
			// }
			//
			// //***********尝试解锁目标站路径*************
			// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
			// if (targetNodes == null) {
			// return false;//未获取到节点
			// }
			// //尝试解锁目标站路径
			// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
			// if (!result) {
			// return false;//路径解锁失败
			// }
			// //***********尝试解锁目标站路径*************
			// }

			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			wrkMast.setWrkSts(111L);//111.小车移动完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastMapper.updateById(wrkMast);

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

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

			NyShuttleOperaResult result = null;
			//跨楼层移动任务
			if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			//需要将前两个节点作为白名单节点传入
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}

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

			if (result == null) {
			return false;//路径计算失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();

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

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

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			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
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			}

			/**
			* 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;
			}
			}
			//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;
			}

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


			}