zy-wcs.git - Gitblit

			@@ -4,12 +4,14 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			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.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.model.enums.WrkChargeType;
			import com.zy.common.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			@@ -50,6 +52,8 @@
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			@@ -569,7 +573,7 @@
			//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);//获取完整地图(包括入库出库)
			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();
			@@ -669,21 +673,46 @@
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			ShuttleProtocol shuttleProtocol = null;
			HashMap<String, Object> searchIdleShuttle = null;

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

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

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

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			@@ -694,7 +723,7 @@
			continue;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev);
			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) {
			@@ -706,14 +735,17 @@

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

			if (shuttleThread == null) {
			continue;
			}

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

			@@ -738,49 +770,118 @@
			//提升机口站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			//同一层直接取货无需经过提升机
			if (wrkMast.getWrkSts() == 4) {
			if (currentLev == Utils.getLev(locNo)) {
			//小车和目标在同一楼层
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//小车和目标不在同一楼层
			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

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

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 8) {
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (wrkMast.getWrkSts() == 8) {
			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(currentLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 1000);
			commands.add(0, moveCommand);//将该指令添加到队头
			if (commands == null) {
			continue;//找不到路径等待下一次
			}

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

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//不同层，将目标库位分配成提升机库位号

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);

			//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(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 1000);
			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 (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层直接取货无需经过提升机
			// //直接计算车到提升机取货再到库位路径指令
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//找不到路径等待下一次
			// }
			// if (wrkMast.getWrkSts() == 8) {
			// //此时车在提升机内部，下达一步指令让车移动到提升机口
			// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			// BasDevp basDevp = basDevpService.selectById(staNo);
			//
			// short startCode = liftProtocol.getBarcode();//提升机内部二维码
			// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			// //获取命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			// commands.add(0, moveCommand);//将该指令添加到队头
			// }
			// assignCommand.setCommands(commands);
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// assignCommand.setLocNo(wrkMast.getLocNo());
			// wrkMast.setWrkSts(9L);//小车入库中
			// }else {
			// //不同层，将目标库位分配成提升机库位号
			//
			// //小车移动到提升机口，计算路径
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//未找到路径
			// }
			//
			// //获取当前小车所在楼层的站点信息
			// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
			//
			// //增加移动进提升机命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 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
			@@ -796,7 +897,7 @@

			}

			//获取起点-终点指令。mapType：0=>无货物地图，1=》携带货物出入库地图
			//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());
			@@ -809,12 +910,14 @@
			}

			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
			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);

			@@ -824,16 +927,31 @@
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = nodes.get(nodes.size() - 2);
			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);//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);//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
			Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
			//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 middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.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
			@@ -864,10 +982,14 @@
			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, 1);//小车无货，走入库地图
			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);
			@@ -875,17 +997,32 @@
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = nodes.get(nodes.size() - 2);
			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);//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);//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
			Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离

			//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 middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.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
			@@ -898,11 +1035,13 @@
			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, 2);//小车有货，走出库地图(出库地图有专用货道)
			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
			@@ -967,25 +1106,47 @@
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

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

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

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

			Integer staNo = Utils.levToOutInStaNo(lev);
			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			@@ -1012,96 +1173,141 @@
			continue;
			}

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

			if (outStaLocNo == null) {
			continue;
			}

			wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
			//源库位(小车当前位置)
			String currentLocNo = shuttleProtocol.getCurrentLocNo();

			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);
			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//当前楼层提升机输送站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

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

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

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

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

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

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

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

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

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

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

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

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

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

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 1000);
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;
			}

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

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

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

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

			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
			short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机二维码
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			//获取移动命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection(), (short) 1, 0);
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

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

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			}
			}
			@@ -1120,11 +1326,33 @@
			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) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else {
			//出库
			distLocNo = locNo;
			}

			//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) {
			if (shuttleProtocol == null \|\| shuttleProtocol.getShuttleNo() == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			@@ -1132,6 +1360,17 @@
			}

			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
			@@ -1140,82 +1379,21 @@
			//工作档不同楼层的穿梭车
			diffLev.add(shuttleThread);
			}
			//
			// //更新当前最近的四向穿梭车
			// if (recentShuttle == null) {
			// recentShuttle = shuttleThread;
			// }else {
			// ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
			// String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//二维码对应库位号
			// String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高
			//
			// int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
			// int i = Math.abs(lev - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
			// int j = Math.abs(lev - shuttleLocNoLey);//工作档楼层减当前穿梭车楼层，取绝对值
			// if (i < j) {
			// //更新最近穿梭车
			// recentShuttle = shuttleThread;
			// } else if (i == j) {
			// //楼层相同情况
			// //找距离出库点最近的车
			//
			// if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
			// //只要有一辆车不是空闲则不进行调度
			// map.put("sameLay", false);//不同层
			// map.put("result", null);
			// return map;
			// }
			//
			// //获取提升机
			// LiftSlave liftSlave = slaveProperties.getLift().get(0);
			// //提升机库位号
			// String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
			// String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLey);
			//
			// //当前最近四向穿梭车到提升机路径
			// List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			// //当前楼层四向穿梭车到提升机路径
			// List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			// //判断哪一个路径最短
			// if (shuttlePath.size() < recentShuttlePath.size()) {
			// //如果当前楼层的车路径更小，则更新最近穿梭车
			// recentShuttle = 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) {
			if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
			recentShuttle = shuttleThread;
			}

			//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) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else {
			//出库
			distLocNo = locNo;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			//目前最近穿梭车库位号
			String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();

			//当前最近四向穿梭车到目标地点距离
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, ShuttleTaskModeType.PAK_IN.id);
			//当前穿梭车线程到目标地点距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, ShuttleTaskModeType.PAK_IN.id);
			if (recentShuttlePath == null \|\| currentShuttlePath == null) {
			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 recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离
			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
			@@ -1229,26 +1407,22 @@
			//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) {
			if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
			recentShuttle = shuttleThread;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			int currentLev = Utils.getLev(currentLocNo);
			//目前最近穿梭车库位号
			String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
			int recentLev = Utils.getLev(recentLocNo);

			//当前最近四向穿梭车到当前车子所在楼层的提升机口距离
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), ShuttleTaskModeType.PAK_IN.id);
			//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), ShuttleTaskModeType.PAK_IN.id);
			if (recentShuttlePath == null \|\| currentShuttlePath == null) {
			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;
			}

			Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离
			//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
			@@ -1279,12 +1453,20 @@
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getBusyStatus() == 0
			) {
			//标记复位
			shuttleProtocol.setPakMk(true);

			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			ShuttleAssignCommand moveAssignCommand = null;//避让命令
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			@@ -1293,12 +1475,54 @@
			wrkMast.setWrkSts(23L);
			break;
			case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			//搜索一条没有小车的空巷道，并调度小车
			int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
			String startLocNo = "180020" + distLev;
			moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
			if (moveAssignCommand == null) {//调度小车命令为空
			continue;
			}

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());

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

			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}

			if (assignCommand != null) {
			if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
			//避让任务
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			@@ -1307,13 +1531,9 @@
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}

			@@ -1330,10 +1550,8 @@
			wrkCharge.setWrkSts(53L);//迁移完成
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			break;
			case 56:
			if (shuttleProtocol.getBatteryPower() == 1000) {
			wrkCharge.setWrkSts(60L);//充电完成
			}
			case 56://小车去充电桩中
			wrkCharge.setWrkSts(57L);//到达充电桩
			break;
			default:
			}
			@@ -1343,16 +1561,18 @@
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			}
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			if (wrkCharge.getWrkSts() != 57) {
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			}
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			@@ -1377,205 +1597,264 @@
			continue;
			}

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {

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

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

			//搜索是否有待处理的任务
			WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
			if (wrkMast == null) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
			if (wrkMasts.size() == 0) {
			continue;
			}

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

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

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

			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
			LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
			commands.add(command);//将命令添加进list
			}

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

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

			Integer levTmp = wrkMastLocNoLey;
			if (wrkMastLocNoLey >= 2) {
			levTmp += 1;
			}

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

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

			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

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

			wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//找到四向穿梭车的线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			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()) {
			continue;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			//当前穿梭车楼层
			int currentLocNoLey = Utils.getLev(currentLocNo);
			//命令list
			ArrayList<LiftCommand> commands = new ArrayList<>();

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
			LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
			commands.add(command);//将命令添加进list
			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			}

			if (liftLev != currentLocNoLey) {
			//不同楼层
			//获取目标楼层(穿梭车所在楼层)命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLocNoLey);
			commands.add(command1);//将命令添加进list
			}
			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			if (liftProtocol.getTaskNo().intValue() != 0) {
			//存在未完成任务号
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//输送线将四向穿梭车移动进来(反转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
			commands.add(command2);//将命令添加进list
			//获取目标站
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
			if (staProtocol.isLoading() \|\| !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
			continue;
			}

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

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

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

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

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

			//提升机到达指定楼层，输送线将四向穿梭车移出去
			//输送线将四向穿梭车移动出去(正转)
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			commands.add(command4);//将命令添加进list
			//提升机到达指定楼层，输送线将货物移出去(正转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
			command4.setRotationDire(1);//给输送线下发链条转动信号，正转
			command4.setDevpId(devpId);
			command4.setStaNo(distStaNo.shortValue());//设置目标站
			commands.add(command4);//将命令添加进list

			wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
			//工作档源库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档源库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
			LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
			commands.add(command);//将命令添加进list
			}
			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断提升机是否到位
			StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey));//起始站点
			if (liftLev != wrkMastLocNoLey && wrkMastLocNoLey != 1 \|\| !staProtocol.isLiftArrival()) {
			//提升机不在工作档源库位楼层，调度提升机
			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			wrkMast.setWrkSts(28L);//28.提升机搬运中
			//所需命令组合完毕，更新数据库，提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			}

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

			@@ -1608,8 +1887,18 @@
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			//判断提升机是否到达任务楼层
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//任务目标楼层

			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			//给目标站设置工作号
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			@@ -1619,21 +1908,60 @@
			throw new CoolException("更新plc站点信息失败");
			}
			wrkMast.setWrkSts(4L);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(25L);
			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
			continue;//提升机是否达到输送线楼层
			}
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			default:
			}

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

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

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

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			@@ -1652,18 +1980,16 @@
			if (liftProtocol.getAssignCommand() != null) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//判断是否为四向穿梭车调度提升机，如是则无需清理任务号
			if (!liftProtocol.getSecurityMk()) {
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			}
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			// LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
			// if (!assignCommand.getAuto()) {
			// //手动命令
			//
			// }
			}

			}
			@@ -2339,111 +2665,244 @@
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			public synchronized void loopShuttleCharge() {
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

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

			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			if (wrkCharge != null) {//已有充电任务
			continue;
			}

			ShuttleChargeType shuttleCharge = null;
			String locNo;
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			switch (chargeType.id) {
			case 1:
			if (devpThread.charge0 == false) {
			ShuttleChargeType first = ShuttleChargeType.FIRST;
			locNo = first.locNo;
			if (wrkChargeService.selectWorkingOfCharge(first.id) == null) {
			shuttleCharge = first;
			}
			}
			break;
			default:
			}
			}

			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); // 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;
			}

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

			//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;
			}
			}

			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); // 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;
			}

			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());
			}


			}

			/**
			* 执行四向穿梭车充电任务
			*/
			public synchronized void executeShuttleCharge() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			if (wrkCharge == null) {
			return;
			}
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			continue;
			}

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

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

			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			//小车当前层高
			Integer currentLev = currentLocNo == null ? 0 : Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String liftLocNo = liftSlave.getLiftLocNo(currentLev);
			//充电库位号
			String chargeLocNo = wrkCharge.getLocNo();
			//充电库位层高
			Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length()));
			if (wrkCharge.getWrkSts() == 51) {
			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			if (currentLocNo == null) {
			continue;
			}
			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);

			if (wrkCharge.getWrkSts() == 51 \|\| wrkCharge.getWrkSts() == 55) {
			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

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

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

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

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

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

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

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

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

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

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(chargeLocNo);
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务
			//目标库位
			assignCommand.setLocNo(chargeLocNo);
			//源库位
			assignCommand.setSourceLocNo(currentLocNo);
			assignCommand.setCommands(commands);
			wrkCharge.setWrkSts(52L);//小车迁移状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

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

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

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

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

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

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

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

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

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//获取小车到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			Short liftLev = liftProtocol.getLev();
			if (liftLev == null) {
			continue;
			}
			//判断提升机楼层是否到达目标楼层
			if (liftLev.intValue() != chargeLocNoLev) {
			continue;//没有到达目标楼层
			}

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

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

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

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

			@@ -2464,337 +2923,49 @@
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，将目标库位分配成提升机库位号

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			//分配目标库位
			shuttleProtocol.setLocNo(liftLocNo);


			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务
			//目标库位
			assignCommand.setLocNo(liftLocNo);
			//源库位
			assignCommand.setSourceLocNo(currentLocNo);
			assignCommand.setCommands(commands);
			wrkCharge.setWrkSts(52L);//小车迁移状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() == null \|\| shuttleProtocol.getCurrentVoltage() == null) {
			continue;
			}
			}
			if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
			//充满，断开充电
			// List<ShuttleCommand> commands = new ArrayList<>();
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			// assignCommand.setTaskMode((short) 0);
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			// assignCommand.setCharge(true);
			//
			// //创建充电指令
			// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			// commands.add(command);
			//
			// //指令集分配
			// assignCommand.setCommands(commands);
			//
			// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

			}else if(wrkCharge.getWrkSts() == 53){
			//小车已经达到提升机口
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == null) {
			return;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return;
			}
			//将小车移动到空闲的巷道
			ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
			if (assignCommand == null) {
			continue;
			}

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {
			return;
			}
			wrkCharge.setWrkSts(60L);//60.充电任务完成
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

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

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

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();
			if (liftLev != currentLev) {
			//穿梭车和提升机处于不同楼层
			//获取目标楼层(穿梭车所在楼层)命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev);
			commands.add(command1);//将命令添加进list
			}

			//输送线将四向穿梭车移动进来(正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			commands.add(command2);//将命令添加进list

			//提升机前往目标楼层
			//获取充电库位目标楼层命令
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev);
			commands.add(command3);//将命令添加进list

			//提升机到达指定楼层，输送线将四向穿梭车移出去
			//输送线将四向穿梭车移动出去(反转)
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			commands.add(command4);//将命令添加进list

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

			} else if (wrkCharge.getWrkSts() == 56) {
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() >= 1000 \|\| shuttleProtocol.getCurrentVoltage() >= 540) {
			//充满，断开充电
			List<ShuttleCommand> commands = new ArrayList<>();
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 0);
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);

			//创建充电指令
			ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			commands.add(command);

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

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

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

			}

			/**
			* 轮询充电桩是否有空闲小车
			*/
			@Deprecated
			public synchronized void queryChargeLocOfComplete() {
			// 与充电任务不同步进行
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// 检索充电桩
			for (SteChargeType value : SteChargeType.values()) {
			Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
			if (steNo != null) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) {
			continue;
			}
			if (steProtocol.getCharge() < 99) {
			continue;
			}
			if (steProtocol.getMode() == 0) {
			continue;
			}
			if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			continue;
			}
			// // 1号充电桩
			// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			// continue;
			// }
			// // 2号充电桩
			// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			// continue;
			// }
			// // 3号充电桩
			// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			// continue;
			// }
			// // 小车是否处于充电状态
			// if (steProtocol.getChargeStatus() == 1) {
			// continue;
			// }
			// case 1 : 自动充电开馈电 ×
			// case 2 : 自动充电开满电 ✔
			// case 3 : 自动充电关馈电 ✔
			// case 4 : 自动充电关满电 ✔
			if (basSte.getAutoCharge().equals("Y")
			&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

			if (wrkCharge == null) {
			// 开始穿梭车复位任务
			wrkCharge = new WrkCharge();
			wrkCharge.setSteNo(steNo);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
			wrkCharge.setWrkSts(41L); // 41.小车准备复位
			wrkCharge.setCrnNo(2); // 固定2号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(value.locNo);
			wrkCharge.setLocNo(basSte.getIdleLoc());
			wrkCharge.setMemo("reset");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号穿梭车复位任务失败!!!", steNo);
			} else {
			break;
			}
			}
			}
			}
			}

			/**
			* 小车从充电桩至待机库位
			*/
			@Deprecated
			public synchronized void steFromChargeToIdleLoc() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
			if (wrkCharge == null) { return; }
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
			if (Cools.isEmpty(steProtocol, basSte)) {
			return;
			}
			// 搬运至固定通道
			if (wrkCharge.getWrkSts() == 41L) {
			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
			} else {
			// 固定堆垛机
			int crnNo = 1;
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
			// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(42L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			break;
			}

			}
			}
			} else if (wrkCharge.getWrkSts() == 43L) {
			// 小车行驶通道
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 43.小车到达 ===> 44.小车走行
			wrkCharge.setWrkSts(44L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 45L) {
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
			if (null != otherSte) {
			News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
			} else {
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { return; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
			// 修改工作档状态 45.小车待搬 => 46.放至待机位
			Date now = new Date();
			wrkCharge.setWrkSts(46L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改工作档状态 45.小车待搬 => 46.放至待机位失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}

			}
			}
			}

			public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";