zy-wcs.git - Gitblit

			@@ -2,7 +2,10 @@

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			@@ -23,6 +26,8 @@
			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;
			@@ -69,6 +74,8 @@
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasLiftErrLogService basLiftErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@@ -96,6 +103,17 @@
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastLogMapper wrkMastLogMapper;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;
			@Autowired
			private WrkDetlLogService wrkDetlLogService;


			/**
			* 组托
			@@ -190,12 +208,12 @@
			// 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));
			}
			// // 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;
			}

			@@ -218,10 +236,10 @@
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setPath("/rpc/pakin/loc/v2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			@@ -232,14 +250,14 @@
			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");
			}
			// 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());
			@@ -257,19 +275,21 @@
			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);
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			} else if (code == 700) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setRollback102(1);//102站回退信号
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
			// 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) {
			@@ -381,221 +401,557 @@
			}

			/**
			* 拣料、并板、盘点再入库
			* 拣料、并板再入库
			*/
			@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) {
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			String barcode = barcodeThread.getBarcode();
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// && (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()) {

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

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

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

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

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

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

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

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

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

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

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {//找不到工作档
			continue;
			}

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

			// //*******************同库位组校验*******************
			// boolean flag = false;
			// String th = "";
			// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			// for (String loc : innerLoc) {
			// LocMast locMast = locMastService.selectById(loc);
			// if (locMast == null) {
			// continue;
			// }
			//
			// if (!locMast.getLocSts().equals("F")) {
			// flag = true;
			// th = loc + "库位存在未回库任务";
			// break;
			// }
			// }
			// if (flag) {
			// News.info(th);
			// continue;
			// }
			// //*******************同库位组校验*******************

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

			try {
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLiftNo(pickSta.getLiftNo());
			param.setLocType1(locMast.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// //获取回库提升机目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			// if (liftStaProtocol == null) {
			// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			// continue;
			// }
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// continue;
			// }
			} else if (code == 500) {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			}
			}

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

			/**
			* 拣料、并板再入库(325、331、333、339)
			*/
			@Transactional
			public synchronized void stnToCrnStnPick2(){
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta2()) {
			// 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) {
			continue;
			}
			if (wrkMast.getSteNo() == null) {
			wrkMast.setSteNo(1);
			wrkMastMapper.updateById(wrkMast);
			staProtocol.setStaNo((short) 341);//写入目标站
			staProtocol.setPakMk(false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			}

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

			/**
			* 盘点再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPlate(){
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// && (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()) {

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

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

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

			//盘点找新库位
			try {
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(107);//盘点
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLiftNo(pickSta.getLiftNo());
			param.setLocType1(locMast.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// //获取回库提升机目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			// if (liftStaProtocol == null) {
			// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			// continue;
			// }
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// continue;
			// }

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

			} else if (code == 500) {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

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

			// /**
			// * 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();
			//// }
			//
			// }
			// }
			//
			// }
			// }

			/**
			* 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("realtimeBasMap_" + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			//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)
			try {
			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
			//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)

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

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

			@@ -605,7 +961,7 @@
			public synchronized void restartTaskFromRedis() {
			HashMap<Object, Object> map = redisUtil.getRedis();
			for (Object key : map.keySet()) {
			if (key.toString().contains("lift_wrk_no_")) {//提升机任务
			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;
			@@ -628,18 +984,18 @@
			liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态

			}else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
			}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();
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			@@ -648,7 +1004,7 @@
			}

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
			}
			}
			@@ -659,79 +1015,130 @@
			* 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
			try {
			List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			for (WrkMast wrkMast : wrkMasts) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			continue;//站点不存在
			}

			// 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())) {
			//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;
			}

			WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}

			boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
			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, BasDevp basDevp) {
			public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			if (wrkMast.getWrkSts() == 4) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo());//调度小车到货物所在输送站点进行取货
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

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

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

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

			//小车已抵达输送站点位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo(), wrkMast.getLocNo());
			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());
			return false;
			}

			@@ -746,6 +1153,7 @@

			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));
			@@ -756,210 +1164,19 @@
			return true;
			}

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

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

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

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

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

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

			return commands;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			return commands;
			}

			/**
			* 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 {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			@@ -971,40 +1188,122 @@
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//21.生成出库任务 => 22.小车搬运中
			if (wrkMast.getWrkSts() == 21) {
			EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (staDesc == null) {
			News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
			return false;//出库路径不存在
			}

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

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

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

			//同库位组校验
			List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
			List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
			if (!outerLocMasts.isEmpty()) {
			News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
			return false;//浅库位存在未执行任务
			}

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

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

			if (wrkMast.getStaNo() == 300) {
			//出300站，检测300站任务数量
			List<WrkMast> wrkMasts = wrkMastMapper.select300Wrk();
			if (wrkMasts.size() >= 20) {
			News.info("{}任务，输送线任务过载{}", wrkMast.getWrkNo(), wrkMasts.size());
			return false;
			}
			}

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

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getLiftNo());
			if (targetBasDevp == null) {
			return false;//缺少站点信息
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//小车已被独占，禁止再派发任务
			}

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

			//小车已抵达货物位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), targetBasDevp.getLocNo());
			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());
			return false;
			}

			@@ -1019,6 +1318,7 @@

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			@@ -1029,189 +1329,113 @@
			}

			/**
			* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
			*/
			public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
			HashMap<String, Object> map = new HashMap<>();
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
			int lev = Utils.getLev(locNo);//当前工作档库位层高
			ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程

			ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

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

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

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

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

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

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

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

			}

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

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

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

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

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

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

			/**
			* 四向穿梭车任务完成
			*/
			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;
			}
			try {
			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().intValue());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 5://5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			//任务号清零
			shuttleProtocol.setTaskNo(0);
			break;
			case 22://22.小车搬运中 ==> 23.小车搬运完成
			wrkMast.setWrkSts(23L);
			break;
			case 102://102.小车到提升机中 ==> 103.小车到提升机完成
			wrkMast.setWrkSts(103L);
			break;
			case 106://106.小车迁出提升机中 ==> 107.小车迁出提升机完成
			wrkMast.setWrkSts(107L);
			break;
			case 108://108.小车移动中 ==> 109.小车移动完成
			wrkMast.setWrkSts(109L);
			break;
			default:
			}
			//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) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}

			//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 {
			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());
			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());
			}
			}

			}

			}

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

			@@ -1219,44 +1443,56 @@
			* 提升机任务
			*/
			public synchronized void liftIoExecute() {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

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

			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			if (wrkMasts.isEmpty()) {
			continue;
			}

			for (WrkMast wrkMast : wrkMasts) {
			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			try {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			if (!liftProtocol.isIdle()) {
			News.info("{}号提升机，忙碌中", liftSlave.getId());
			continue;
			}

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

			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			if (wrkMasts.isEmpty()) {
			continue;
			}

			for (WrkMast wrkMast : wrkMasts) {
			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
			continue;
			}

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

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

			}

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

			@@ -1271,7 +1507,56 @@

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

			if (!sourceBasDevp.getInEnable().equals("Y")) {
			News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			return false;//站点不可入
			}

			Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
			if (barcodeId == null) {
			News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			return false;//站点不可入
			}

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

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

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			@@ -1279,26 +1564,62 @@
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			if (!liftProtocol.isIdle()) {
			News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机已被独占，禁止再派发任务
			}

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

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

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

			//获取源站对应的输送站点
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (sourceBasDevp == null \|\| targetBasDevp == null) {
			return false;//缺少站点信息
			//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
			}

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
			if (targetStaProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
			return false;//提升机站点有托盘，禁止派发
			}

			Integer targetSta = targetStaProtocol.getStaNo();

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			if (wrkMast.getIoType() == 53 \|\| wrkMast.getIoType() == 57) {
			//拣料再回库，重新分配设备工作号
			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			if (basLiftOpt != null) {
			News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			liftCommand.setTaskNo((short) deviceWrk);
			}
			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

			@@ -1312,6 +1633,7 @@
			wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			@@ -1333,7 +1655,53 @@

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

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

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

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

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

			if (basDevp.getLoading().equals("Y")) {
			News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			return false;//出库站点不可出
			}

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			@@ -1341,25 +1709,34 @@
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {

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

			//获取源站对应的输送站点
			BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null \|\| targetBasDevp == null) {
			return false;//缺少站点信息
			//获目标站源站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (targetBasDevp == null) {
			News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo());
			return false;//站点不存在
			}
			//获取牛眼提升机站点编号(目标编号)
			Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());

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

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);
			@@ -1374,6 +1751,7 @@
			wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			@@ -1388,49 +1766,93 @@
			* 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()
			) {

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(4L);
			wrkMast.setLiftNo(null);//释放提升机
			break;
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			break;
			case 104://104.提升机搬运中 ==> 105.提升机搬运完成
			wrkMast.setWrkSts(105L);
			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());
			}
			try {
			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()
			) {
			int taskNo = liftProtocol.getTaskNo().intValue();
			if (taskNo >= 20000 && taskNo <= 30000) {
			//提升机设备工作号，需要查询对应任务号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId());
			if (basLiftOpt != null) {
			taskNo = basLiftOpt.getWrkNo();
			}
			}

			//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);
			wrkMast.setLiftNo(null);//释放提升机
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}
			break;
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			if (wrkMast.getIoType() == 11) {//库位移转
			wrkMast.setWrkSts(4L);//4.提升机搬运完成
			} else {
			if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			//不需要用到机械臂，直接转29.出库完成
			wrkMast.setWrkSts(29L);
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(new Date());
			}
			}

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

			@@ -1438,116 +1860,45 @@
			* 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;
			}
			try {
			//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) {
			//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 step1 = this.locToLocExecuteStep1(wrkMast);//绑定小车
			if (!step1) {
			continue;
			}
			boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
			if (!step3) {
			continue;
			}

			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度小车到目标楼层
			if (!step2) {
			continue;
			}
			boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
			if (!step4) {
			continue;
			}

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

			}
			}

			/**
			* 绑定小车并调度车
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getShuttleNo() == null) {//给库位移转绑定穿梭车号
			//寻找最近且空闲的四向穿梭车
			HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			if (shuttleThread == null) {
			//没有找到空闲穿梭车
			return false;
			}
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			}
			return true;
			}

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

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

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

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

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

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

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

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

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

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

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

			/**
			@@ -1555,108 +1906,285 @@
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			if (wrkMast.getShuttleNo() == null) {
			return false;
			}
			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;
			}

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

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

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

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

			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 8) {
			//调度小车执行同楼层移库任务
			//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());//入出库模式
			assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
			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

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

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

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

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

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

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

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

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

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

			@@ -1666,6 +2194,7 @@
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -1677,27 +2206,27 @@
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			// 获取四向穿梭车信息
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			@@ -1713,14 +2242,15 @@
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			shuttleProtocol.getErrCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(shuttleProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			@@ -1728,7 +2258,7 @@
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			if (shuttleProtocol.getErrState() == null \|\| shuttleProtocol.getErrState() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			@@ -1738,50 +2268,135 @@
			}
			}
			}else {
			//无任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// //无任务
			// BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// // 有异常
			// if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// shuttleSlave.getId(), // 四向穿梭车
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int)shuttleProtocol.getStatusErrorCode(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basShuttleErrLogService.updateById(latest)) {
			// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			// }
			// }
			// }
			}
			}
			}

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

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

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

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			null, // 工作号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			liftSlave.getId(), // 提升机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)shuttleProtocol.getStatusErrorCode(), // 异常码
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			null, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
			}
			}
			}
			@@ -1795,87 +2410,493 @@
			* 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;
			}
			}
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 站点条件判断
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.isEmptyMk()
			&& (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo() >= 9990 \|\| staProtocol.getWorkNo() <= 9999))
			&& staProtocol.isPakMk()) {

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

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			if (!Cools.isEmpty(barcode)) {
			param.setBarcode(barcode);
			}
			param.setSourceStaNo(emptyInSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			// 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;
			}
			}
			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();

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

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

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			if (!Cools.isEmpty(barcode)) {
			param.setBarcode(barcode);
			}
			param.setSourceStaNo(emptyInSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			barcodeThread.setBarcode("");
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


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

			/**
			* AGV补货 => 生成入库通知档
			*/
			public void robotGenerateAgvTask() {
			try {
			//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;
			// }
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* AGV补货 => 机械臂拣料
			*/
			public void agvRestockByRobot() {
			try {
			//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) {
			boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
			if (result) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			wrkMastMapper.updateById(wrkMast);
			}
			}
			}

			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) {
			boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
			if (result) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			wrkMastMapper.updateById(wrkMast);
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* AGV补货(通知AGV取货)
			*/
			public void agvRestockInto() {
			try {
			//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);
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			//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);
			News.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;
			}

			//通知WMS当前拣料站点信息
			private boolean agvCureentCall(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/current/containerCode")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			News.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() {
			try {
			//检测350和351扫码器
			int[] barcodeStaNo = {11, 12,14,16,18,20};//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 if(staNo == 12){
			agvStaNo = "304-1";
			} else if(staNo == 14){
			agvStaNo = "311-1";
			} else if(staNo == 16){
			agvStaNo = "313-1";
			} else if(staNo == 18){
			agvStaNo = "315-1";
			} else if(staNo == 20){
			agvStaNo = "317-1";
			}
			//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);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* AGV拣料站点信息
			*/
			public void agvCurrentContainerCodeInfoWire() {
			try {
			//检测350和351扫码器
			int[] barcodeStaNo = {13, 15,17,19};//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 == 13) {
			agvStaNo = "CS-310";
			} else if(staNo == 15){
			agvStaNo = "CS-311";
			} else if(staNo == 17){
			agvStaNo = "CS-312";
			} else if(staNo == 19){
			agvStaNo = "CS-313";
			}
			//通知WMS当前容器码
			boolean result = agvCureentCall(agvStaNo, barcode);
			if (result) {
			barcodeThread.setBarcode("");
			}
			log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			// 300站拣料
			public void pick300() {
			try {
			//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();
			}
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			@@ -1883,104 +2904,236 @@
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			ledCommand.setIoType(wrkMast.getIoType());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setLocNo(wrkMast.getLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (led.getId()>3){
			if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort());
			try {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			List<WrkMastLog> wrkMastLogs = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			}else {
			ledThread.setLedMk(false);
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			Integer wrkNo = staProtocol.getWorkNo().intValue();
			Integer ioType = null;
			String sourceLocNo = null;
			String locNo = null;
			Integer wrkStaNo = null;
			String barcode = null;
			if (wrkMast == null) {
			//查询历史档
			WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMastLog == null) {
			continue;
			}
			ioType = wrkMastLog.getIoType();
			sourceLocNo = wrkMastLog.getSourceLocNo();
			locNo = wrkMastLog.getLocNo();
			wrkStaNo = wrkMastLog.getStaNo();
			barcode = wrkMastLog.getBarcode();
			wrkMastLogs.add(wrkMastLog);
			}else {
			if (wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) {
			continue;
			}
			ioType = wrkMast.getIoType();
			sourceLocNo = wrkMast.getSourceLocNo();
			locNo = wrkMast.getLocNo();
			wrkStaNo = wrkMast.getStaNo();
			barcode = wrkMast.getBarcode();
			wrkMasts.add(wrkMast);
			}
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkNo);
			ledCommand.setIoType(ioType);
			// 出库模式
			switch (ioType) {
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
			break;
			}
			ledCommand.setSourceLocNo(sourceLocNo);
			ledCommand.setLocNo(locNo);
			ledCommand.setStaNo(wrkStaNo);
			ledCommand.setBarcode(barcode);
			if (ioType != 110 && ioType != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			wrkDetls.forEach(wrkDetl -> {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
			});

			if (wrkDetls.isEmpty()) {//从历史档查询
			List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
			for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
			}
			}

			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// if (ioType == 101) {
			// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			// wrkDetls.forEach(wrkDetl -> {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
			// });
			//// locDetls.forEach(locDetl -> {
			//// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
			//// 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
			//// List<WrkDetl> detl = wrkDetlService.selectList(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 {
			//// //出库数量累计
			//// Double conut = 0.0;
			//// for (WrkDetl wrkDetl : detl) {
			//// conut = conut + wrkDetl.getAnfme();
			//// }
			////
			//// for (WrkDetl wrkDetl : detl) {
			//// String suppCode = "";
			//// if (wrkDetl.getSuppCode() != null) {
			//// suppCode = wrkDetl.getSuppCode();
			//// }
			//// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
			//// }
			//// }
			////
			//// });
			// } else {
			// locDetls.forEach(locDetl -> {
			// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
			// 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
			// List<WrkDetl> detl = wrkDetlService.selectList(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 {
			// //出库数量累计
			// Double conut = 0.0;
			// for (WrkDetl wrkDetl : detl) {
			// conut = conut + wrkDetl.getAnfme();
			// }
			//
			// for (WrkDetl wrkDetl : detl) {
			// String suppCode = "";
			// if (wrkDetl.getSuppCode() != null) {
			// suppCode = wrkDetl.getSuppCode();
			// }
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
			// }
			// }
			//
			// });
			// }
			//
			//
			// if (ioType == 107) {
			// locDetls = new ArrayList<>();
			// ledCommand.setMatDtos(new ArrayList<>());
			// }
			//
			// if (locDetls.isEmpty() && ioType != 101) {
			// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			// wrkDetls.forEach(wrkDetl -> {
			// if (wrkDetl.getAnfme() > 0D) {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
			// }
			// });
			//
			// if (wrkDetls.isEmpty()) {//从历史档查询
			// List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
			// for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
			// if (wrkDetlLog.getAnfme() > 0D) {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
			// }
			// }
			// }
			// }
			}

			commands.add(ledCommand);
			}
			Set<Integer> workNos = null;
			if (!wrkMasts.isEmpty()) {
			workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			}else {
			workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
			}
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			}else {
			} 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");
			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();
			}

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

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

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

			@@ -1988,58 +3141,65 @@
			* 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;
			try {
			// for (LedSlave led : slaveProperties.getLed()) {
			//
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// }
			// if (staProtocol.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;
			}
			}
			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.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());
			}
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) { continue; }
			if (staProtocol.getWorkNo() != 0) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			@@ -2047,53 +3207,84 @@
			* 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;
			}

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

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

			ShuttleChargeType shuttleCharge = null;
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			break;
			try {
			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;
			}
			}

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

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

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			//小车所在楼层
			int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
			ShuttleChargeType shuttleCharge = null;

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

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

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

			shuttleCharge = chargeType;
			break;
			}
			}
			}

			if (shuttleCharge == null) {
			continue;
			}

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

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

			@@ -2101,124 +3292,181 @@
			* 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.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
			try {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			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
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			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) {
			if (wrkCharge.getWrkSts() == 51) {
			if (!shuttleProtocol.isIdleNoCharge()) {
			continue;
			}

			if (shuttleProtocol.getSuspendState() == 1) {
			continue;//管制中
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			//小车不在充电桩位置
			shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			continue;
			}

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

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

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

			if (shuttleProtocol.getPowerPercent() < maxPower) {
			continue;
			}

			//*************判断是否满充校准*************
			EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
			wrapper.eq("code", "shuttleMaxPowerVerify");
			Config config1 = configService.selectOne(wrapper1);
			if (config1 != null) {
			if (config1.getValue().equals("true")) {
			if (shuttleProtocol.getVoltage() < 5630) {
			continue;//电压不够继续充电
			}
			}
			}
			//*************判断是否满充校准*************

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

			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			} else if (wrkCharge.getWrkSts() == 52) {
			//检测小车是否满电
			if (shuttleProtocol.getPowerPercent() < 100) {
			continue;
			try {
			Thread.sleep(3000);
			} catch (Exception e) {
			e.printStackTrace();
			}

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

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

			}
			}
			}

			//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

			wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			} else if (wrkCharge.getWrkSts() == 53) {
			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());
			wrkChargeMapper.updateById(wrkCharge);
			}

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

			}

			/**
			* 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 step1 = this.shuttleMoveExecuteStep1(wrkMast);//小车移动到提升机中
			if (!step1) {
			continue;
			}
			try {
			//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 step2 = this.shuttleMoveExecuteStep2(wrkMast);//提升机搬运中
			if (!step2) {
			continue;
			}
			boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//小车迁入提升机
			if (!stepIntoLift) {
			continue;
			}

			boolean step3 = this.shuttleMoveExecuteStep3(wrkMast);//小车迁出提升机中
			if (!step3) {
			continue;
			}
			boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
			if (!stepLiftMove) {
			continue;
			}

			boolean step4 = this.shuttleMoveExecuteStep4(wrkMast);//小车移动到目标库位中
			if (!step4) {
			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-小车移动到提升机中
			* 小车迁移-小车移动到站点
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStep1(WrkMast wrkMast) {
			//--------------------------------------小车移动到提升机中-----------------------------------------//
			private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动到提升机中 101.生成小车移库任务 ==> 102.小车到提升机中
			//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());
			@@ -2231,76 +3479,74 @@
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			News.info("{}任务，{}小车，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", 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，需要通过提升机调度
			return true;//直接进入108.小车移动中
			//目标库位和小车库位处于同一楼层，不需要通过提升机调度
			wrkMast.setWrkSts(109L);// 109.小车迁出提升机完成 ==> 110.小车移动中
			wrkMast.setModiTime(now);
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			return true;//直接进入109.小车迁出提升机完成 ==> 110.小车移动中
			}
			return false;
			}

			//计算距离小车最近的提升机站点
			//查询小车所在楼层提升机输送站点
			int recentAllDistance = 9999999;//默认最近距离
			BasDevp recentDevp = null;//最近站点
			List<BasDevp> basDevps = basDevpService.selectHasLiftNoByLev(shuttleProtocol.getPoint().getZ());
			for (BasDevp basDevp : basDevps) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			if (!liftProtocol.isIdle()) {
			continue;
			}

			//计算路径
			List<NavigateNode> calc = NavigateUtils.calc(shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(shuttleProtocol.getCurrentLocNo())));
			if (calc == null) {
			continue;//计算失败，找下一个站点
			}

			Integer allDistance = NavigateUtils.getOriginPathAllDistance(calc);//根据原始节点结果，计算总行走距离
			if (recentAllDistance > allDistance) {
			recentAllDistance = allDistance;//更新距离
			recentDevp = basDevp;//更新输送站点
			}
			//获取源输送站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			if (recentDevp == null) {
			//没有找到可用输送站点
			return false;//等待下一次轮询
			}

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(recentDevp.getLiftNo());
			if (basLift == null) {
			return false;//没有提升机数据
			}
			if (basLift.getPoint() == null) {
			return false;//没有设置提升机点位坐标
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
			//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
			}
			NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
			liftNode.setZ(basLift.getPoint().getZ());

			//***********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
			}
			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()), shuttleProtocol.getShuttleNo().intValue(), 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(), recentDevp.getLocNo());
			//获取小车进提升机行走命令
			NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), NavigatePositionConvert.locNoToNode(recentDevp.getLocNo()), liftNode, true);
			if (result.getCommands() == null) {
			return false;//路径计算失败
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
			if (result == null) {
			//路径获取失败，需要解锁上面锁定的路径
			//尝试解锁目标站路径
			boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//所使用的路径进行解锁
			if (!result3) {
			News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();
			commands.add(moveCommand);//添加小车迁入提升机命令

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			@@ -2310,30 +3556,64 @@
			assignCommand.setCommands(commands);
			assignCommand.setNodes(result.getNodes());

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

			/**
			* 小车迁移-提升机搬运中
			* 小车迁移-小车迁入提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStep2(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();

			//提升机搬运中 103.小车到提升机完成 ==> 104.提升机搬运中
			//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
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			//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;
			}
			@@ -2341,7 +3621,9 @@
			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;
			}

			@@ -2356,20 +3638,193 @@
			}

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

			//获取源站对应的输送站点
			BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
			if (sourceBasDevp == null \|\| targetBasDevp == null) {
			//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
			}

			//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());

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			if (basLiftOpt != null) {
			News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

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

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

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

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

			//判断提升机令牌是否为当前小车
			if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
			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());
			return false;
			}

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

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

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

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

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

			return true;
			}

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

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			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());
			return false;
			}

			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			News.info("{}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, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), wrkMast.getWrkNo());

			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);
			@@ -2381,7 +3836,7 @@
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

			wrkMast.setWrkSts(104L);//提升机搬运中 103.小车到提升机完成 ==> 104.提升机搬运中
			wrkMast.setWrkSts(106L);//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			@@ -2394,16 +3849,15 @@
			}

			/**
			* 小车迁移-小车迁出提升机中
			* 小车迁移-小车迁出提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStep3(WrkMast wrkMast) {
			//--------------------------------------小车迁出提升机中-----------------------------------------//
			private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁出提升机-----------------------------------------//
			Date now = new Date();

			//小车迁出提升机中 105.提升机搬运完成 ==> 106.小车迁出提升机中
			if (wrkMast.getWrkSts() == 105) {
			//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) {
			@@ -2414,7 +3868,23 @@
			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
			}

			//获取四向穿梭车线程
			@@ -2429,29 +3899,42 @@

			//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());
			return false;
			}

			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
			if (targetBasDevp == null) {
			return false;//缺少站点信息
			//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());
			return false;
			}

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

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

			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(targetBasDevp.getLocNo()), false);
			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();
			@@ -2462,12 +3945,14 @@
			assignCommand.setCommands(commands);
			assignCommand.setNodes(null);

			wrkMast.setWrkSts(106L);//小车迁出提升机中 105.提升机搬运完成 ==> 106.小车迁出提升机中
			wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}
			@@ -2477,12 +3962,12 @@
			* 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 shuttleMoveExecuteStep4(WrkMast wrkMast) {
			private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
			//--------------------------------------小车移动到目标库位中-----------------------------------------//
			Date now = new Date();

			//小车移动到目标库位中 107.小车迁出提升机完成 ==> 108.小车移动中
			if (wrkMast.getWrkSts() == 107) {
			//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			if (wrkMast.getWrkSts() == 109) {

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			@@ -2495,30 +3980,92 @@
			}

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

			//获取目标站对应的输送站点
			BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
			if (targetBasDevp == null) {
			return false;//缺少站点信息
			//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;
			}

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

			//获取小车从输送站到目标库位命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
			if (result.getCommands() == null) {
			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			wrkMast.setWrkSts(111L);//111.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastMapper.updateById(wrkMast);

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

			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}
			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();
			@@ -2530,10 +4077,27 @@
			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

			wrkMast.setWrkSts(108L);//小车移动到目标库位中 107.小车迁出提升机完成 ==> 108.小车移动中
			if (wrkMast.getLiftNo() != null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
			liftProtocol.setToken(0);//释放提升机令牌
			}
			}

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			@@ -2542,63 +4106,36 @@
			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;
			}
			}
			//扫描设备PakMk标记是否超时
			public synchronized void scanDevicePakMk() {
			//扫描小车
			for (ShuttleSlave slave : slaveProperties.getShuttle()) {
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			} catch (Exception e) {
			e.printStackTrace();
			if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000605)) && shuttleProtocol.getPakMk()) {
			//设备超过5分钟还没复位标记
			shuttleProtocol.setPakMk(false);//复位标记
			}
			}
			}

			//扫描提升机
			for (LiftSlave slave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000605)) && liftProtocol.getPakMk()) {
			//设备超过5分钟还没复位标记
			liftProtocol.setPakMk(false);//复位标记
			}
			}

			}

			}