1

zhangc

2025-04-14 710deccd42576ad2dcbdc22e75f18b455d5ce2ff

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -2,7 +2,6 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
@@ -13,6 +12,7 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -22,11 +22,17 @@
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
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.properties.SlaveProperties;
import com.zy.core.thread.*;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.impl.FyDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -36,6 +42,7 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;

/**
 * 立体仓库WCS系统主流程业务
@@ -87,6 +94,10 @@
    private NoLiftInServiceImpl noLiftInService;
    @Autowired
    private NoLiftOutServiceImpl noLiftOutService;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private BasWrkStatusService wrkStatusService;


    public static List<Integer> staNosIn = new ArrayList<Integer>() {{
@@ -102,26 +113,21 @@
        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 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;
    }
@@ -134,26 +140,21 @@
        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;
                return devpThread.getStation().get(1022).isOutEnable();
            case 1031:
            case 1032:
                devpThread.getStation().get(1032).isOutEnable();
                break;
                return devpThread.getStation().get(1032).isOutEnable();
            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();
        }
        return false;
    }
@@ -164,85 +165,41 @@
     */
    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()) {
                            //判断时提升机侧，还是无提升机测
                            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                                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.INBOUND_DEVICE_RUN.sts);
                                wrkMast.setModiTime(new Date());
                                wrkMastService.updateById(wrkMast);
                            } else {

                            }
                        }
            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();
                    }
                    try {
                    Short workNo = staProtocol.getWorkNo();

//                        // led 异常显示
//                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//                        if (ledThread != null) {
//                            ledThread.error(errMsg);
//                        }
                    // 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();
                        // 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.sts).eq("barcode", barcode));
                        if (wrkMast != null) {
                            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));
                            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                            wrkMast.setModiTime(new Date());
                            wrkMastService.updateById(wrkMast);
                        }
                        try {
                        /*String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
@@ -303,9 +260,11 @@
                                    .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) {
                        e.printStackTrace();
                        } catch (Exception e) {
                            e.printStackTrace();
                        }
                    }

                }
            }
        } catch (Exception e) {
@@ -313,38 +272,112 @@
        }
    }

    public synchronized void generateInboundWrk2() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(inSta);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            Short finishWorkNo = staProtocol.getFinishWorkNo();
            WrkMast wrkMast = wrkMastService.selectByWorkNo(Integer.valueOf(finishWorkNo));
            if (wrkMast != null) {
                if (wrkMast.getSourceStaNo() == 1015 || wrkMast.getSourceStaNo() == 1026) {

                    //调度车辆
//                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(null, staProtocol.getLocNo(), wrkMast.getLocNo(), param.getShuttleNo(), "TRANSPORT_DEVP");
//                    if (!dispatchShuttle) {
//                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                        return;
//                    }
    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 {
                    //判断提升机
                    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.selectLiftWrkMast(1);
                    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;
                        }
                    }
                    wrkMast.setLiftNo(1);
                }
                Short finishWorkNo = staProtocol.getFinishWorkNo();
                if (finishWorkNo == null) {
                    continue;
                }


                String locNo = "1200301";
                if (wrkMast.getStaNo() == 1025) {
                    locNo = "1200305";
                }
                boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
                if (!dispatchShuttle) {
                    News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                    return;
                }
                wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
                wrkMast.setLiftNo(null);
                wrkMast.setSystemMsg("");//清空消息
                wrkMast.setModiTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    return;
                }
            }
        }


        }
    }


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

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

            if (!staProtocol.isOutEnable()) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return;
            }
            if ((Utils.getLev(wrkMast.getSourceLocNo()) != 1 && wrkMast.getStaNo() == 1013) || (Utils.getLev(wrkMast.getSourceLocNo()) != 5 && wrkMast.getStaNo() == 1024)) {
                //判断提升机是否有其他任务
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(1);
                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;
                    }
                }
                wrkMast.setLiftNo(1);
            }
            String locNo = "1200301";
            if (wrkMast.getStaNo() == 1024) {
                locNo = "1200305";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return;
            }

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);

            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                return;
            }
        }
    }

    /**
     * 出库到出库口
@@ -352,18 +385,19 @@
    public synchronized void stnToOutStn() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts));
        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(inSta.getStaNo());
                    StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {

                    if (staProtocol.isAutoing() && staProtocol.isLoading()) {
                        // 查询工作档
                        if (wrkMast == null) {
                            continue;
@@ -372,14 +406,12 @@
                        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.COMPLETE_OUTBOUND.sts);
                        wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
                        wrkMast.setModiTime(new Date());
                        wrkMastService.updateById(wrkMast);

                    }
                }
            } else {

            }
        }
    }
@@ -389,8 +421,22 @@
     * 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].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();
@@ -449,7 +495,7 @@
            }

            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;
            }
@@ -628,7 +674,7 @@
                        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
                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;
            }
@@ -697,6 +743,399 @@
            }
            return false;
        }
        return true;
    }

    public synchronized void liftInExecute() {
        try {
            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));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
                if (!step0) {
                    return;
                }

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

                boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
                if (!step2) {
                    return;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    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;
            }

            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 (!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;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(1);
            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;
                }
            }

            short staNo = 1012;
            if (wrkMast.getSourceStaNo() == 1022) {
                staNo = 1023;
            }

            staProtocol = staProtocol.clone();
            staProtocol.setStaNo(staNo);
            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
            wrkMast.setLiftNo(1);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                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.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
            }

            //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;
            }

            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 (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                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;
            }

            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), 101);
            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);
            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));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
                if (!step1) {
                    return;
                }

                boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运
                if (!step2) {
                    return;
                }
            }
        } 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 (!staProtocol.isOutEnable()) {
                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";
            }
            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;
            }

            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.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
            }

            //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);

            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)) {
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                return false;
            }
            return false;
        }

        return true;
    }

@@ -796,6 +1235,7 @@
                            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) {
@@ -808,6 +1248,7 @@
                            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) {
@@ -900,7 +1341,7 @@
        //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) {
@@ -1074,6 +1515,33 @@
    }

    /**
     * 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() == 1014) {
                    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());
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 异常信息记录
     */
    public void recErr() {