zy-wcs.git - Gitblit

			@@ -1,6 +1,7 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			@@ -10,9 +11,7 @@
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.MapNode;
			import com.zy.common.model.NavigateNode;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.*;
			@@ -24,23 +23,27 @@
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.LiftAssignCommand;
			import com.zy.core.model.command.LiftCommand;
			import com.zy.core.model.command.ShuttleAssignCommand;
			import com.zy.core.model.command.ShuttleCommand;
			import com.zy.core.model.protocol.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.ForkLiftStaProtocol;
			import com.zy.core.model.protocol.LiftProtocol;
			import com.zy.core.model.protocol.ShuttleProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import com.zy.system.entity.Config;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.LiftThread;
			import com.zy.core.thread.ShuttleThread;
			import com.zy.core.thread.impl.FyDevpThread;
			import com.zy.core.thread.impl.NormalLedThread;
			import com.zy.system.service.ConfigService;
			import io.swagger.models.auth.In;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.HashMap;
			import java.util.List;
			import java.io.IOException;
			import java.util.*;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -73,11 +76,7 @@
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;
			@Autowired
			private NavigateMapData navigateMapData;
			@Autowired
			private NavigateUtils navigateUtils;
			@Autowired
			private ShuttleOperaUtils shuttleOperaUtils;
			@Autowired
			@@ -87,12 +86,24 @@
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private BasLiftOptService basLiftOptService;
			private TransportLiftInServiceImpl transportLiftInService;
			@Autowired
			private TransportLiftOutServiceImpl transportLiftOutService;
			@Autowired
			private ShuttleMoveServiceImpl shuttleMoveService;
			@Autowired
			private NoLiftInServiceImpl noLiftInService;
			@Autowired
			private NoLiftOutServiceImpl noLiftOutService;
			@Autowired
			private LiftAction liftAction;
			@Autowired
			private BasWrkStatusService wrkStatusService;
			@Value("${asrs.wmsUrl}")
			private String wmsUrl;


			private boolean isInEnable(DevpThread devpThread, Integer staNo) {
			public boolean isInEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}
			@@ -100,31 +111,27 @@
			switch (staNo) {
			case 1011:
			case 1012:
			devpThread.getStation().get(1012).isInEnable();
			break;
			return devpThread.getStation().get(1012).isInEnable();
			case 1021:
			case 1022:
			case 1023:
			devpThread.getStation().get(1022).isInEnable();
			break;
			return devpThread.getStation().get(1022).isInEnable();
			case 1031:
			case 1032:
			devpThread.getStation().get(1032).isInEnable();
			break;
			return devpThread.getStation().get(1032).isInEnable();
			case 1024:
			case 1025:
			case 1026:
			devpThread.getStation().get(1025).isInEnable();
			break;
			return devpThread.getStation().get(1025).isInEnable();
			case 1013:
			case 1014:
			case 1015:
			devpThread.getStation().get(1014).isInEnable();
			break;
			return devpThread.getStation().get(1014).isInEnable();
			}
			return false;
			}

			private boolean isOutEnable(DevpThread devpThread, Integer staNo) {
			public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}
			@@ -132,26 +139,22 @@
			switch (staNo) {
			case 1011:
			case 1012:
			devpThread.getStation().get(1012).isOutEnable();
			break;
			return devpThread.getStation().get(1012).isOutEnable();
			case 1021:
			case 1022:
			case 1023:
			devpThread.getStation().get(1022).isOutEnable();
			break;
			case 1031:
			case 1032:
			devpThread.getStation().get(1032).isOutEnable();
			break;
			return devpThread.getStation().get(1022).isOutEnable();
			case 1024:
			case 1025:
			case 1026:
			devpThread.getStation().get(1025).isOutEnable();
			break;
			return devpThread.getStation().get(1025).isOutEnable();
			case 1013:
			case 1014:
			case 1015:
			devpThread.getStation().get(1014).isOutEnable();
			break;
			return devpThread.getStation().get(1014).isOutEnable();
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isOutEnable();
			}
			return false;
			}
			@@ -162,105 +165,91 @@
			*/
			public synchronized void generateInboundWrk() {
			try {
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历入库口
			for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg + "前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg + "后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg + "高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg + "左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg + "右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg + "超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg + "扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			ledThread.error(errMsg);
			}
			continue;
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& isInEnable(devpThread, inSta.getStaNo())
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			&& staProtocol.isPakMk()
			) {
			String barcode = staProtocol.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			News.info("条码扫描器检测条码信息：{}", barcode);
			}
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("source_sta_no", inSta.getStaNo())
			.eq("wrk_sts", WrkStsType.NEW_INBOUND)
			.eq("barcode", barcode));
			if (wrkMast != null) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
			MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			}
			for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
			if (inSta.getStaNo() == 1014 \|\| inSta.getStaNo() == 1025) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			if (ledThread != null) {
			ledThread.error(errMsg);
			}
			}

			try {
			String wmsUrl = "127.0.0.1:8080/fyxcwms";
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(staProtocol.getLocType1().shortValue());
			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)) {
			MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();
			if (Cools.isEmpty(barcode) \|\| "?".endsWith(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			continue;
			}
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			//判断时提升机侧，还是无提升机测
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));

			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			} else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
			continue;
			}
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			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);
			// String wmsLocNo = dto.getLocNo();
			// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
			// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
			@@ -291,21 +280,107 @@
			// }catch (Exception e){
			//
			// }
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			log.error("调用wms报错1，{}", e.getMessage());
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			} else if (inSta.getStaNo() == 1012 \|\| inSta.getStaNo() == 1022) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			boolean back = false;
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {

			// led 异常显示
			if (ledThread != null) {
			ledThread.error(errMsg);
			}
			}

			Short workNo = staProtocol.getWorkNo();
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast == null) {
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			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)) {

			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			log.error("调用wms报错2，{}", e.getMessage());
			}
			}
			}
			}
			}
			@@ -314,81 +389,249 @@
			}
			}

			public synchronized void noLiftIn() {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) \|\| (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			continue;
			}
			}
			wrkMast.setLiftNo(1);
			}
			Short finishWorkNo = staProtocol.getFinishWorkNo();
			if (finishWorkNo == null) {
			continue;
			}

			/**
			* 出库到出库口
			*/
			public synchronized void stnToOutStn() {
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
			// if (wrkMast == null) {
			// continue;
			// }
			// // 判断工作档条件
			// if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			//
			// }

			// 判断输送线和小车状态状态等待确认
			// if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			// && crnProtocol.statusType == CrnStatusType.WAITING
			// && crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// log.info("堆垛机出库完成 - 开始执行");
			//
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 下发站点信息
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			// staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
			// if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			// log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发失败");
			// continue;
			// } else {
			// log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "输送线出库命令下发成功");
			// }
			//
			// // 更新工作档状态为14失败
			// wrkMast.setWrkSts(14L);
			// wrkMast.setCrnEndTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) != 0) {
			// // 复位堆垛机
			// log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
			// crnThread.setResetFlag(true);
			// } else {
			// News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			// }
			//
			// } else {
			// News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！"
			// + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO
			// + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue()
			// + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
			// + "、货叉位置：" + crnProtocol.forkPosType + "==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
			// }
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1026) {
			locNo = "1200305";
			}
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			continue;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

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


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


			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			continue;
			} else {
			News.info("{}任务，调度小车失成功", wrkMast.getWrkNo());
			}
			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
			wrkMast.setLiftNo(null);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(new Date());
			if (!wrkMastService.updateById(wrkMast)) {
			News.info("{}任务，更新工作档失败", wrkMast.getWrkNo());
			} else {
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			}
			}
			}
			}


			public void outFirst() {
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			Date now = new Date();
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024));
			for (WrkMast wrkMast : wrkSts) {
			if (devpThread == null) {
			continue;
			}
			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getStaNo());
			if (staProtocol == null) {
			continue;
			}

			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}
			if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1024) {
			locNo = "1200305";
			}

			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			continue;
			}
			WrkMast wrkMast2 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMast2 != null) {
			wrkMast.setShuttleNo(wrkMast2.getShuttleNo());
			}
			if (!wrkMastService.updateById(wrkMast)) {
			News.info("{}任务，更新工作档失败", wrkMast.getWrkNo());
			} else {
			WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
			News.info("{}任务，移动任务生成成功——1", wrkMast1.getWrkNo());
			}
			}
			}

			/**
			* 出库到出库口
			*/
			public synchronized void stnToOutStn() {
			ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
			ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
			ShuttleProtocol status1 = shuttleThread1.getStatus();
			ShuttleProtocol status2 = shuttleThread2.getStatus();
			List<String> loc = new ArrayList<>();
			if (status1 != null) {
			loc.add(status1.getCurrentLocNo());
			}
			if (status2 != null) {
			loc.add(status2.getCurrentLocNo());
			}
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
			if (outSta.getStaNo() == 1013 \|\| outSta.getStaNo() == 1024) {
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
			for (WrkMast wrkMast : wrkSts) {
			StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			// 查询工作档
			if (wrkMast == null) {
			continue;
			}

			String sourceLocNo = "1200305";
			String locNo = "1300105";
			if (wrkMast.getStaNo() == 1013) {
			sourceLocNo = "1200301";
			locNo = "1300101";
			if (loc.contains(locNo)) {
			locNo = "1100101";
			}
			} else {
			if (loc.contains(locNo)) {
			locNo = "1100105";
			}
			}

			boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false);
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}小车，挪车调度至取货点失败", wrkMast.getShuttleNo());
			continue;
			}

			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
			MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMast.setShuttleNo(null);
			wrkMastService.updateById(wrkMast);
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			}
			}
			}
			}
			}


			private void setLedData(Integer wrkNo, Integer staNo) {
			try {
			Map<String, Object> param = new HashMap<>();
			param.put("taskNo", wrkNo);
			String response = null;
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getTask2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			String data = jsonObject.getString("data");
			List<LedCommand> wrkDetls = JSONArray.parseArray(data, LedCommand.class);
			redisUtil.set("LED_" + staNo, wrkDetls, 30);
			log.info("电视机数据设置：{},{}", staNo, data);
			} else {
			log.info("电视机数据设置异常：{},{}", wrkNo, response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			//初始化配置
			// WrkStsType[] values = WrkStsType.values();
			// for (int i = 0; i < values.length; i++) {
			// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
			// if (basWrkStatus == null) {
			// basWrkStatus = new BasWrkStatus();
			// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
			// basWrkStatus.setWrkSts(values[i].sts);
			// basWrkStatus.setModiTime(new Date());
			// basWrkStatus.setAppeTime(new Date());
			// basWrkStatus.setAppeUser(9527L);
			// basWrkStatus.setModiUser(9527L);
			// wrkStatusService.insert(basWrkStatus);
			// }
			// }
			try {

			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			@@ -420,10 +663,7 @@
			*/
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
			));
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
			if (!step1) {
			@@ -450,7 +690,7 @@
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//调度小车到货物所在输送站点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}
			@@ -531,15 +771,191 @@
			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleOutExecute() {
			// public synchronized void shuttleOutExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			// for (WrkMast wrkMast : wrkMasts) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			// //101.生成出库任务 => 102.小车搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //通过输送线站号获取提升机号
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			// if (liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
			// return false;
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			//
			// //判断提升机是否处于出库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取源站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftSta == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// //强制预留一台小车给入库任务
			// int lev = Utils.getLev(wrkMast.getSourceLocNo());
			// //获取当前楼层有几台可用小车
			// int shuttleCount = shuttleDispatchUtils.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.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			// return false;
			// }
			// }
			// boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //判断小车是否到达货物库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// //获取小车到输送站点行走命令
			// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			// if (liftCommand == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			// if (liftCommand2 == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// commands.add(0, liftCommand.get(0));
			// commands.add(liftCommand2.get(0));
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			// wrkMast.setSourceStaNo(liftSta.getStaNo());
			// wrkMast.setModiTime(new Date());
			// wrkMast.setSystemMsg("");//清空消息
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			// return false;
			// }
			// return false;
			// }
			// return true;
			// }
			public synchronized void liftInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.NEW_OUTBOUND.sts
			));
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
			if (!step0) {
			continue;
			}

			boolean step1 = this.liftInExecuteStep1(wrkMast);//提升机搬运
			if (!step1) {
			continue;
			}

			boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
			if (!step2) {
			continue;
			}
			}
			@@ -548,159 +964,463 @@
			}
			}

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//101.生成出库任务 => 102.小车搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//通过输送线站号获取提升机号
			liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			if (liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			private boolean liftInExecuteStep0(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
			if (staProtocol == null) {
			return false;
			}
			int led = 1;
			if (wrkMast.getSourceStaNo() == 1022) {
			led = 3;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			}
			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led);
			String errMsg = "";
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, led, new Task(3, errMsg));
			ledThread.error(errMsg);
			}
			}
			String barcode = staProtocol.getBarcode();


			if (!staProtocol.isLoading()) {
			News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (wrkMast.getSourceStaNo() != 1031) {
			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
			return false;
			}
			if (Cools.isEmpty(barcode) \|\| "?".endsWith(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			return false;
			}

			wrkMast.setLiftNo(liftNo);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}

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

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

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

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

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			//强制预留一台小车给入库任务
			int lev = Utils.getLev(wrkMast.getSourceLocNo());
			//获取当前楼层有几台可用小车
			int shuttleCount = shuttleDispatchUtils.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.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			return false;
			}
			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return false;
			}
			}

			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			short staNo = 1012;
			if (wrkMast.getSourceStaNo() == 1022) {
			staNo = 1023;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			staNo = 1032;
			}

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(staNo);
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			wrkMast.setSourceStaNo(liftSta.getStaNo());
			wrkMast.setModiTime(new Date());
			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			return false;
			}
			return false;
			}

			return true;
			}

			private boolean liftInExecuteStep1(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}

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

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}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
			}

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

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

			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			Map<Integer, StaProtocol> station = devpThread.getStation();

			Integer sourceStaNo = wrkMast.getSourceStaNo();
			if (wrkMast.getSourceStaNo() == 1022) {
			sourceStaNo = 1023;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			sourceStaNo = 1032;
			}

			StaProtocol staProtocol = station.get(sourceStaNo);
			if (staProtocol == null) {
			return false;
			}

			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			if (!staProtocol.isLoading()) {
			News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (sourceStaNo == 1023) {
			if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
			News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			} else if (sourceStaNo == 1012) {
			if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
			News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			} else if (sourceStaNo == 1032) {
			if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
			News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			}

			String locNo = "0200305";
			if (wrkMast.getSourceStaNo() == 1012) {
			locNo = "0200301";
			} else if (wrkMast.getSourceStaNo() == 1032) {
			locNo = "0200308";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return false;
			}

			int lev = 101;
			if (wrkMast.getSourceStaNo() == 1021) {
			lev = 100 + Utils.getLev(wrkMast.getLocNo());
			} else if (wrkMast.getSourceStaNo() == 1031) {
			lev = 100 + Utils.getLev(wrkMast.getLocNo());
			}
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			private boolean liftInExecuteStep2(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}

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

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

			//判断提升机内是否有托盘
			if (!liftProtocol.getHasTray()) {
			News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			// String locNo = "0200305";
			// if (wrkMast.getStaNo() == 1011) {
			// locNo = "0200301";
			// }
			// boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
			// if (!dispatchShuttle) {
			// News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			// return false;
			// }

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
			// TODO 测试中发现不能解禁，因为提升机里存在托盘，就不能解禁，不然另一辆小车可能会近提升机
			//wrkMast.setLiftNo(null);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}

			return true;
			}

			public synchronized void liftOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021, 1031));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
			if (!step1) {
			continue;
			}

			boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运
			if (!step2) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			private boolean liftOutExecuteStep1(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getStaNo());
			if (staProtocol == null) {
			return false;
			}

			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (wrkMast.getStaNo() == 1031) {
			// if (staProtocol.getOutInModel() != 1) {
			// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			// return false;
			// }
			} else {
			if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			}

			String locNo = "0200305";
			if (wrkMast.getStaNo() == 1011) {
			locNo = "0200301";
			} else if (wrkMast.getStaNo() == 1031) {
			locNo = "0200308";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return false;
			} else {
			News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo());
			}

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}
			return true;
			}

			private boolean liftOutExecuteStep2(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			return false;
			}

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

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}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
			}

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

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

			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getStaNo());
			if (staProtocol == null) {
			return false;
			}

			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			Integer sourceLev = liftThread.getLevToStaNo(Utils.getLev(wrkMast.getSourceLocNo()));

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
			LiftCommand liftCommand = liftCommands.get(0);
			// if (wrkMast.getMainWrkNo() != null) {
			liftCommand.setTaskNo(wrkMast.getWrkNo());
			// } else {
			// int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			// liftCommand.setTaskNo(deviceWrk);//更换随机任务号
			// }

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

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			@@ -719,8 +1439,7 @@

			//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.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			@@ -783,6 +1502,54 @@
			} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			//204.小车充电中 ==> 205.小车充电完成
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			}
			// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
			// shuttleThread.setSyncTaskNo(0);
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			// }
			else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else {
			@@ -859,7 +1626,7 @@
			//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			@@ -961,439 +1728,6 @@
			return true;
			}

			// /**
			// * 货叉提升机任务
			// */
			// public synchronized void forkLiftIoExecute() {
			// try {
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			// .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			// if (wrkMasts.isEmpty()) {
			// return;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //未分配提升机
			// Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			// if(liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// continue;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			// if (!stepIn) {
			// continue;
			// }
			//
			// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			// if (!stepOut) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 提升机入库
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
			// //--------------------------------------提升机入库-----------------------------------------//
			// Date now = new Date();
			//
			// //1.生成入库任务 ==> 3.提升机搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			// //获取目标输送站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			// if (liftSta == null) {
			// return false;//找不到站点
			// }
			//
			// if (liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			// if (!forkLiftThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			// return false;
			// }
			//
			// //判断提升机是否处于入库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// //检测楼层是否有可用穿梭车
			// boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
			// if (!checkLevHasShuttle) {
			// if (wrkMast.getShuttleNo() != null) {
			// return false;
			// }
			//
			// //获取小车待机位
			// String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			// if (standbyLocNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //调度小车去待机位
			// boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
			// if (!dispatchShuttle) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
			// return false;
			// }
			// return false;
			// }
			//
			// //请求上级系统，是否允许入库
			// boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
			// if (!inMission) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取提升机命令
			// List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
			// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			// commands.addAll(liftCommands);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
			//
			// wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// }
			// return false;
			// }
			// return true;
			// }

			// /**
			// * 提升机任务
			// */
			// public synchronized void liftIoExecute() {
			// try {
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			// .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			// if (wrkMasts.isEmpty()) {
			// return;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //未分配提升机
			// Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			// if(liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// continue;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// continue;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// continue;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// continue;
			// }
			//
			// if (!forkLiftThread.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftNo);
			// continue;
			// }
			//
			// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			// if (!stepIn) {
			// continue;
			// }
			//
			// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			// if (!stepOut) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 提升机出库
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			// //--------------------------------------提升机出库-----------------------------------------//
			// //103.小车搬运完成 ==> 104.提升机搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if(shuttleProtocol == null) {
			// return false;
			// }
			//
			// //获取源站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			// if (liftSta == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			// return false;//找不到站点
			// }
			//
			// if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			// //小车还在输送站点
			// //获取小车待机位
			// String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			// if(standbyLocNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			// return false;
			// }
			// //调度小车去待机位
			// boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
			// if (!dispatchShuttle) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
			// return false;
			// }
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (!liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			// if (!forkLiftThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			// return false;
			// }
			//
			// //判断提升机是否处于出库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// //请求上级系统，是否允许出库
			// boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
			// if (!outMission) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取提升机命令
			// List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
			// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			// commands.addAll(liftCommands);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
			//
			// wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中
			// wrkMast.setShuttleNo(null);//释放小车
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMast.setModiTime(new Date());
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// }
			// return false;
			// }
			// return true;
			// }

			/**
			* 货叉提升机任务完成
			*/
			public synchronized void forkLiftFinished() {
			try {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			//获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
			&& forkLiftProtocol.getWrkNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			wrkMast.setLiftNo(null);//释放提升机
			forkLiftThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setLiftNo(null);//释放提升机
			forkLiftThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			forkLiftThread.setSyncTaskNo(0);
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			forkLiftThread.reset();
			News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 提升机任务完成
			*/
			@@ -1411,19 +1745,20 @@
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			) {
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			if (wrkMast.getStaNo() == 1031) {
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
			} else {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			}
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			@@ -1437,8 +1772,19 @@
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			liftThread.setSyncTaskNo(0);
			@@ -1456,12 +1802,62 @@
			}

			/**
			* 输送线任务完成
			*/
			public synchronized void devpFinished() {
			try {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Map<Integer, StaProtocol> station = devpThread.getStation();
			WrkMast wrkMast = null;
			for (StaProtocol staProtocol : station.values()) {
			if ((staProtocol.getSiteId() == 1013 \|\| staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
			if (wrkMast != null) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			} else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
			if (wrkMast != null) {
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 异常信息记录
			*/
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 2);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 4);
			ledThread.errorReset();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -1496,8 +1892,7 @@
			int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
			String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			@@ -1569,8 +1964,7 @@
			BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
			String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			@@ -1939,9 +2333,9 @@
			if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportLift(wrkMast);
			} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {

			this.shuttleMoveExecuteTransportNoLift(wrkMast);
			} else {
			this.shuttleMoveExecuteMove(wrkMast);
			shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
			}
			}
			} catch (Exception e) {
			@@ -1949,2079 +2343,69 @@
			}
			}

			private void shuttleMoveExecuteMove(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			return;
			}

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

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

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

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

			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			LiftThread liftThread;
			if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			} else {
			liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}
			}

			//liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			this.shuttleMoveExecuteTransportLiftTake(wrkMast);
			transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
			} else {
			//放货位置是提升机
			this.shuttleMoveExecuteTransportLiftPut(wrkMast);
			transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
			}
			}

			private void shuttleMoveExecuteTransportLiftTake(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			return;
			}

			boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(wrkMast);//提升机到小车层
			if (!stepLiftToShuttleLev) {
			return;
			}

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

			boolean stepLiftToTargetLev = this.shuttleMoveExecuteTransportLiftStepLiftToTargetLev(wrkMast);//提升机到放货层
			if (!stepLiftToTargetLev) {
			return;
			}

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

			boolean stepMoveLoc = this.shuttleMoveExecuteTransportLiftStepMoveLoc(wrkMast);//小车移动到目标库位中
			if (!stepMoveLoc) {
			return;
			private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
			WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (mainWrk != null && mainWrk.getIoType() == 1) {
			//入库
			noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
			} else if (mainWrk != null && mainWrk.getIoType() == 101) {
			//出库
			noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
			}
			}


			/**
			* 小车迁移-呼叫小车至取货点
			* 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
			* 入出库模式切换函数
			*/
			private boolean shuttleMoveExecuteTransportLiftStepCallShuttle(WrkMast wrkMast) {
			Date now = new Date();
			//小车移动至站点 301.生成小车移库任务 ==> 呼叫小车至取货点
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车在取货点
			wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			public synchronized void ioConvert() {
			for (LedSlave led : slaveProperties.getLed()) {
			NormalLedThread ledThread = (NormalLedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			ledThread.reset();
			}
			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftOutStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点呼叫小车至取货点 ==> 小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.CALL_SHUTTLE_TO_TAKE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达取货点", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.DFX.id;

			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(0, liftCommand);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中呼叫小车至取货点 ==> 小车移动至站点中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-提升机到小车层
			* 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 shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}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
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			} else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

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

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

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

			//判断提升机楼层
			if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机在小车楼层
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层完成
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftOutStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

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

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

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

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

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机不在小车楼层
			News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//等待提升机到小车楼层
			}

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

			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(liftCommand);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftOutStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车迁入提升机完成 ==> 小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，提升机未绑定，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}任务，{}号提升机，提升机对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

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

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

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

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

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

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

			//获取小车到提升机待机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return false;
			}

			return true;
			}

			private void shuttleMoveExecuteTransportLiftPut(WrkMast wrkMast) {
			boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//呼叫小车至取货点
			if (!stepMoveSta) {
			return;
			}

			boolean stepTransportLiftOutStepMoveSta = this.shuttleMoveExecuteTransportLiftOutStepMoveSta(wrkMast);//小车移动到站点
			if (!stepTransportLiftOutStepMoveSta) {
			return;
			}

			boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(wrkMast);//提升机到小车层
			if (!stepLiftToShuttleLev) {
			return;
			}

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

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

			/**
			* 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 shuttleMoveExecuteTransportLiftStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 301.生成小车移库任务 ==> 小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.NORMAL.id;

			if (shuttleProtocol.getCurrentLocNo().equals(liftStandByLocNo)) {
			//小车在待机位，直接移动完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);// 小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 322.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-提升机到小车层
			* 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 shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}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
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			} else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

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

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

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

			//判断提升机楼层
			if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机在小车楼层
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层完成
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts);//小车移动到提升机中小车移动至站点完成 ==> 提升机至小车层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

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

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

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

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

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//提升机不在小车楼层
			News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//等待提升机到小车楼层
			}

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

			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts);//小车移动到提升机中提升机至小车层完成 ==> 小车迁入提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 小车迁移-提升机到放货层
			* 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 shuttleMoveExecuteTransportLiftStepLiftToTargetLev(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中小车迁入提升机完成 ==> 提升机至放货层
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务未绑定提升机", wrkMast.getWrkNo());
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

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

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

			//判断提升机内是否有小车
			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
			}

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

			if (liftProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);// 小车迁入提升机完成 ==> 提升机至放货层完成
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度提升机
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveWithShuttleCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(wrkMast.getLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts);//小车移动到提升机中小车迁入提升机完成 ==> 提升机至放货层
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 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 shuttleMoveExecuteTransportLiftStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，提升机未绑定，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}任务，{}号提升机，提升机对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

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

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

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

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

			//判断提升机楼层
			if (liftProtocol.getLev() != Utils.getLev(wrkMast.getLocNo())) {
			//提升机不在放货层
			News.info("{}任务，{}号提升机，不在放货层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);

			assignCommand.setCommands(commands);
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}

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

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

			//获取小车到提升机待机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			if (liftCommand == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			commands.addAll(0, liftCommand);
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts);//小车移动到提升机中提升机至放货层完成 ==> 小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			/**
			* 小车迁移-小车移动到目标库位中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteTransportLiftStepMoveLoc(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小车迁出提升机完成 ==> 小车放货中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.DFX.id;

			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径计算失败
			}
			commands.addAll(moveCommands);

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

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts);//小车移动到目标库位中小车迁出提升机完成 ==> 小车放货中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			}

			/**
			* 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 shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			//获取穿梭车最近且空闲的提升机
			LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//获取提升机待机位
			String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

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

			List<ShuttleCommand> commands = new ArrayList<>();
			Integer mapType = NavigationMapType.NORMAL.id;

			if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			//获取小车到提升机待机位行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			commands.addAll(moveCommands);
			} else {
			//小车在待机位，直接移动完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);// 302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			}
			return false;
			}
			return true;
			}

			// /**
			// * 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 shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			// //--------------------------------------小车移动至站点-----------------------------------------//
			// Date now = new Date();
			//
			// //小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			//
			// //小车处于空闲状态
			// if (!shuttleThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //获取穿梭车最近且空闲的提升机
			// LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			// if (liftThread == null) {
			// News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			// return false;//没有可用且空闲的提升机
			// }
			//
			// LiftProtocol liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //获取提升机位
			// String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			// //获取提升机待机位
			// String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			//
			// if (!liftLocNo.equals(wrkMast.getLocNo()) && !liftLocNo.equals(shuttleProtocol.getCurrentLocNo())) {
			// if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			// //目标库位和小车库位处于同一楼层，不需要通过提升机调度
			// wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			// }
			// return false;
			// }
			// }
			//
			// if (liftLocNo.equals(shuttleProtocol.getCurrentLocNo())) {
			// //小车在提升机内
			// wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);// 301.生成小车移库任务 ==> 310.提升机搬运完成
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			// }
			// return false;
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// List<ShuttleCommand> commands = new ArrayList<>();
			// Integer mapType = NavigationMapType.NORMAL.id;
			// //搬运货物任务
			// if ("TRANSPORT".equals(wrkMast.getMk())) {
			// mapType = NavigationMapType.DFX.id;
			//
			// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			// if (liftCommand == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// commands.addAll(liftCommand);
			// }
			//
			// if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
			// //获取小车到提升机待机位行走命令
			// List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
			// if (moveCommands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//路径解锁失败
			// }
			// commands.addAll(moveCommands);
			// }else {
			// //小车在待机位，直接移动完成
			// wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);// 302.小车移动至站点 ==> 303.小车移动至站点完成
			// wrkMast.setModiTime(now);
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }
			//
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			// wrkMast.setModiTime(now);
			// wrkMast.setSystemMsg("");//清空消息
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			// return false;
			// }
			// return false;
			// }
			// return true;
			// }

			/**
			* 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 shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			LiftThread liftThread = null;
			LiftProtocol liftProtocol = null;
			if (wrkMast.getLiftNo() == null) {
			//获取穿梭车最近且空闲的提升机
			liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			if (liftThread == null) {
			News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			return false;//没有可用且空闲的提升机
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}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
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			} else {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}号提升机不存在", wrkMast.getLiftNo());
			return false;
			}

			liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			return false;
			}
			}

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

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

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

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

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

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;//等待提升机到小车楼层
			}

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

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

			//获取小车到提升机行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			return false;
			}
			return false;
			}

			return true;
			}

			// /**
			// * 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 shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			// //--------------------------------------小车迁入提升机-----------------------------------------//
			// Date now = new Date();
			//
			// //小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			// if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// LiftThread liftThread = null;
			// LiftProtocol liftProtocol = null;
			// if (wrkMast.getLiftNo() == null) {
			// //获取穿梭车最近且空闲的提升机
			// liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
			// if (liftThread == null) {
			// News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
			// return false;//没有可用且空闲的提升机
			// }
			//
			// liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
			// if (liftWrkMast != null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}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
			// }
			//
			// wrkMast.setModiTime(now);
			// wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			// wrkMast.setSystemMsg("");//清空消息
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }else {
			// liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			// if (liftThread == null) {
			// News.info("{}号提升机不存在", wrkMast.getLiftNo());
			// return false;
			// }
			//
			// liftProtocol = liftThread.getStatus();
			// if (liftProtocol == null) {
			// News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
			// return false;
			// }
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			// }
			//
			// if (!liftThread.isIdle()) {
			// News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			// return false;
			// }
			//
			// //小车处于空闲状态
			// if (!shuttleThread.isIdle()) {
			// News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //判断提升机内是否有小车
			// if (liftProtocol.getHasCar()) {
			// News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机内无小车
			// }
			//
			// //判断提升机楼层
			// if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			// //提升机不在小车楼层
			// //调度提升机
			//
			// //获取提升机命令
			// List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
			// LiftCommand liftCommand = liftCommands.get(0);
			//
			// int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			// liftCommand.setTaskNo(deviceWrk);//更换随机任务号
			//
			// ArrayList<LiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
			//
			// //下发任务
			// liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			// return false;//等待提升机到小车楼层
			// }
			//
			// if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			// //跨层锁定路径
			// //***********尝试锁定目标站路径*************
			// List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
			// if (targetNodes == null) {
			// return false;//未获取到节点
			// }
			// boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
			// if (!checkPathIsAvailable) {
			// News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//检测目标站点路径是否未被占用
			// }
			// //尝试锁定目标站路径
			// boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
			// if (!result2) {
			// News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//路径锁定失败
			// }
			// //***********尝试锁定目标站路径*************
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// //获取小车到提升机行走命令
			// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
			// wrkMast.setModiTime(now);
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
			// return false;
			// }
			// return false;
			// }
			//
			// return true;
			// }

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

			//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，数据异常，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

			//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
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), Utils.getLev(wrkMast.getSourceLocNo()), Utils.getLev(wrkMast.getLocNo()), LiftCommandModeType.MOVE);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			liftCommand.setTaskNo(deviceWrk);//更换随机任务号

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

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.LIFT_MOVE_SHUTTLE);
			}
			}
			return true;
			}

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

			//提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
			if (wrkMast.getLiftNo() == null) {
			News.info("{}任务，未绑定提升机，数据异常，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

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

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

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);

			assignCommand.setCommands(commands);
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}

			//需要将前两个节点作为白名单节点传入
			List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));

			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			return false;//小车未到达目标层
			}

			//需要将前两个节点作为白名单节点传入
			if (targetNodes == null) {
			return false;//未获取到节点
			}


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

			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			int targetLev = Utils.getLev(wrkMast.getLocNo());
			//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()});
			}

			//获取小车出提升机行走命令
			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(liftThread.getLiftLocNo(targetLev), liftThread.getLiftStandByLocNo(targetLev), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			commands.addAll(moveCommands);
			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_OUT_LIFT);
			}
			}
			return true;
			}

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

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

			List<NavigateNode> targetNodes = null;
			if (wrkMast.getLiftNo() != null) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			try {
			// 根据输送线plc遍历
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			WrkMast pakout = wrkMastService.selectWorkingPakout(1031);
			if (pakout != null) {
			if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			WrkMast pakin = wrkMastService.selectWorkingPakin(1032);
			if (pakin == null && !devpThread.getStation().get(1031).isLoading()
			&& !devpThread.getStation().get(1032).isLoading()) {
			// 出库模式
			devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE;
			}
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}

			//小车目标就是提升机位置，直接认定小车移动任务完成
			if (liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())).equals(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

			// //需要将前两个节点作为白名单节点传入
			// targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
			} else {
			// 入库模式
			devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
			}

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

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

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

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

			List<ShuttleCommand> commands = new ArrayList<>();
			List<ShuttleCommand> liftCommand = null;
			Integer mapType = NavigationMapType.NORMAL.id;

			List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
			if (moveCommands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径计算失败
			}

			commands.addAll(moveCommands);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return true;
			}

			}