zy-wcs.git - Gitblit

			@@ -3,8 +3,8 @@
			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			@@ -12,11 +12,9 @@
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.model.enums.WrkChargeType;
			import com.zy.common.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			import com.zy.common.utils.*;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.core.News;
			import com.zy.core.cache.MessageQueue;
			@@ -73,6 +71,8 @@
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasLiftErrLogService basLiftErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@@ -95,7 +95,14 @@
			@Autowired
			private OrderDetlMapper orderDetlMapper;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastLocMapper wrkMastLocMapper;


			/**
			* 组托
			@@ -200,16 +207,17 @@
			}

			// 过滤盘点/拣料/并板任务
			// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
			// continue;
			// }
			WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (null != wrkMast1) {
			continue;
			}

			// 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast != null) {
			// News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast.getWrkNo());
			// continue;
			// }
			WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast2 != null) {
			News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast2.getWrkNo());
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			@@ -217,7 +225,7 @@
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			@@ -231,14 +239,14 @@
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// plc 处理
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);

			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			@@ -260,10 +268,10 @@
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else if (code == 700) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setRollback102(1);//102站回退信号
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setRollback102(1);//102站回退信号
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			@@ -382,6 +390,7 @@
			/**
			* 拣料、并板、盘点再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPick(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			@@ -397,25 +406,20 @@
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// 0 - 9990 或者 9996
			&& (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
			&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			// && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
			// && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			&& staProtocol.isPakMk()){

			// 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();

			WrkMast wrkMast = null;
			if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (null == wrkMast) {
			continue;
			}
			} else {
			wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {
			continue;
			}
			// if (staProtocol.getWorkNo() == 9996) {
			@@ -455,6 +459,7 @@
			// News.error("{}条码错误，暂无拣料任务！", barcode);
			// }
			// }

			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			continue;
			@@ -503,14 +508,20 @@
			}

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

			// 更新工作档数据状态
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			wrkMast.setStaNo(dto.getStaNo()); // 目标站
			wrkMast.setCrnNo(dto.getCrnNo());
			wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			// wrkMast.setCrnNo(dto.getCrnNo());
			wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			wrkMast.setShuttleNo(null); // 穿梭车清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			@@ -519,14 +530,24 @@
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(sourceLocNo);
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}

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

			barcodeThread.setBarcode("");//清理条码

			} else if (code == 500){
			if (ledThread != null) {
			@@ -537,10 +558,10 @@
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			@@ -565,7 +586,7 @@
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			for (int i = 1; i <= 10; i++) {//总共四层楼
			Object data = redisUtil.get("realtimeBasMap_" + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			@@ -629,11 +650,11 @@
			}

			Short shuttleNo = redisCommand.getShuttleNo();
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			@@ -642,7 +663,7 @@
			}

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
			}
			}
			@@ -652,806 +673,247 @@
			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleIoInExecute() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库站
			for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			public synchronized void shuttleInExecute() {
			List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			for (WrkMast wrkMast : wrkMasts) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			continue;//站点不存在
			}

			// 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			ShuttleProtocol shuttleProtocol = null;
			HashMap<String, Object> searchIdleShuttle = null;
			//获取目标站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if (liftStaProtocol == null) {
			continue;//站点不存在
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// 判断是否满足入库条件，自动、空闲、有物
			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			continue;
			}

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

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

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

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

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

			if (shuttleThread == null) {
			continue;
			}

			if (shuttleProtocol == null) {
			continue;
			}

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

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

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

			String locNo = wrkMast.getLocNo();//当前工作档库位号
			Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//小车当前层高

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

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

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

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

			//分配目标库位
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 8) {
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}

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

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

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

			// if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层直接取货无需经过提升机
			// //直接计算车到提升机取货再到库位路径指令
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//找不到路径等待下一次
			// }
			// if (wrkMast.getWrkSts() == 8) {
			// //此时车在提升机内部，下达一步指令让车移动到提升机口
			// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			// BasDevp basDevp = basDevpService.selectById(staNo);
			//
			// short startCode = liftProtocol.getBarcode();//提升机内部二维码
			// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			// //获取命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
			// commands.add(0, moveCommand);//将该指令添加到队头
			// }
			// assignCommand.setCommands(commands);
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// assignCommand.setLocNo(wrkMast.getLocNo());
			// wrkMast.setWrkSts(9L);//小车入库中
			// }else {
			// //不同层，将目标库位分配成提升机库位号
			//
			// //小车移动到提升机口，计算路径
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//未找到路径
			// }
			//
			// //获取当前小车所在楼层的站点信息
			// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
			//
			// //增加移动进提升机命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
			// commands.add(moveCommand);
			//
			// //分配目标库位
			// shuttleProtocol.setLocNo(liftSiteLocNo);
			// //目标库位
			// assignCommand.setLocNo(liftSiteLocNo);
			// assignCommand.setCommands(commands);
			// wrkMast.setWrkSts(5L);//小车迁移状态
			// }

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

			}
			}

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

			}

			//获取起点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			if (basShuttle != null) {
			Integer runSpeed1 = basShuttle.getRunSpeed();
			if (runSpeed1 != null) {
			runSpeed = runSpeed1;
			}
			}
			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库站
			// for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			// if (basDevp == null) {
			// continue;//站点信息不存在
			// }
			//
			// // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			// if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
			// continue;
			// }
			//
			// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			//
			// }
			// }
			//
			// }

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

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

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			/**
			* 入库-小车搬入库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			if (wrkMast.getWrkSts() == 4) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			return false;
			}

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

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

			return commands;
			}

			//获取起点-中点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			if (basShuttle != null) {
			Integer runSpeed1 = basShuttle.getRunSpeed();
			if (runSpeed1 != null) {
			runSpeed = runSpeed1;
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			}

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

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

			if (calc != null) {
			if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			return false;//小车已被独占，禁止再派发任务
			}

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

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

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

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

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

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

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

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
			//判断小车是否存在移动任务
			WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (hasMoveWorking != null) {
			return false;//存在移动任务，禁止执行入库任务
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			//判断小车是否到达输送站点库位
			if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			return false;
			}

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(moveCommand);
			//小车已抵达输送站点位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

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

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}

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

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

			return commands;
			return true;
			}

			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleIoOutExecute() {
			public synchronized void shuttleOutExecute() {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			//提取一条待出库任务
			if (wrkMast != null) {
			String outStaLocNo = null;//出库站点库位号
			//获取出库站点
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
			if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
			//出库站点和工作档出库站点一致
			outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
			}
			}

			}

			if (wrkMast.getWrkSts() == 21
			\|\| wrkMast.getWrkSts() == 25
			\|\| wrkMast.getWrkSts() == 31) {
			ShuttleThread shuttleThread = null;
			HashMap<String, Object> searchIdleShuttle = null;

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

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

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

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

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

			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			} else if (wrkMast.getWrkSts() == 31) {
			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}

			if (shuttleThread == null) {
			continue;
			}

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

			if (outStaLocNo == null) {
			continue;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;
			}

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

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

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

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

			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			//获取移动命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

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

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

			}
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			}
			}
			}

			/**
			* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
			* 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 HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
			HashMap<String, Object> map = new HashMap<>();
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
			int lev = Utils.getLev(locNo);//当前工作档库位层高
			ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//21.生成出库任务 => 22.小车搬运中
			if (wrkMast.getWrkSts() == 21) {
			EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (staDesc == null) {
			return false;//出库路径不存在
			}

			ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车
			//获取出库站点
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			return false;//出库站点不存在
			}

			//判断其他空闲穿梭车是否离任务最近
			String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
			if (wrkMast.getIoType() == 1 \|\| wrkMast.getIoType() == 10) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else if(wrkMast.getIoType() == 101){
			//出库
			distLocNo = locNo;
			} else if (wrkMast.getIoType() == 11) {
			//库位移转
			distLocNo = wrkMast.getSourceLocNo();
			}
			if (!basDevp.getOutEnable().equals("Y")) {
			return false;//出库站点不可出
			}

			//判断当前任务所在楼层是否有其他任务已经分配了小车，如有则直接用该小车(一层楼仅分配一台车)
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//判断当前穿梭车楼层是否已有分配车辆的任务，如果有则分配这辆车
			if (wrkMasts.size() > 0) {
			//存在其他任务，分配这辆车
			WrkMast wrkMast1 = wrkMasts.get(0);
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
			//获取源站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}

			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}
			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			return false;//站点必须自动、空闲、没有托盘
			}

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			return false;
			}

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

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

			if (shuttleLocNo.equals(distLocNo)) {
			//车辆当前位置已经是目标库位，无需计算
			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			//小车已抵达货物位置，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
			if (result == null) {//出库路径计算失败
			return false;
			}

			int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
			if (lev == shuttleLocNoLey) {
			//工作档楼层相同的穿梭车
			sameLev.add(shuttleThread);
			}else {
			//工作档不同楼层的穿梭车
			diffLev.add(shuttleThread);
			}
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

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

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

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

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

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

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

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

			/**
			@@ -1460,142 +922,104 @@
			public synchronized void shuttleFinished() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			//四向穿梭车状态为等待确认、小车处于空闲状态


			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getBusyStatus() == 0
			&& shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
			) {
			//标记复位
			shuttleProtocol.setPakMk(true);

			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			ShuttleAssignCommand moveAssignCommand = null;//避让命令
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			break;
			case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
			wrkMast.setWrkSts(23L);
			break;
			case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			//搜索一条没有小车的空巷道，并调度小车
			int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
			String startLocNo = "180020" + distLev;
			moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
			if (moveAssignCommand == null) {//调度小车命令为空
			continue;
			case 5://5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}

			wrkMast.setWrkSts(27L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 22://22.小车搬运中 ==> 23.小车搬运完成
			wrkMast.setWrkSts(23L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			case 102://102.小车移动至站点 ==> 103.小车移动至站点完成
			wrkMast.setWrkSts(103L);
			break;
			case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
			wrkMast.setWrkSts(105L);
			shuttleProtocol.setTaskNo(0);//清理工作号
			break;
			case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
			wrkMast.setWrkSts(109L);
			break;
			case 110://110.小车移动中 ==> 111.小车移动完成
			wrkMast.setWrkSts(111L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			default:
			}

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

			if (wrkMast.getWrkSts() == 27) {
			if (moveAssignCommand != null) {
			try {
			Thread.sleep(4000);
			//下发任务
			shuttleProtocol.setPakMk(true);
			MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			if (wrkMast.getWrkSts() == 111) {
			// 保存工作主档历史档
			if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
			log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			// 删除工作主档
			if (!wrkMastService.deleteById(wrkMast)) {
			log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
			}
			}

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

			if (assignCommand != null) {
			if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
			//避让任务
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}

			}

			//四向穿梭车状态为充电状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
			&& shuttleProtocol.getTaskNo() != 0) {
			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			switch (wrkCharge.getWrkSts().intValue()) {
			case 52://四向穿梭车迁移到提升机口
			wrkCharge.setWrkSts(53L);//迁移完成
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			break;
			case 56://小车去充电桩中
			wrkCharge.setWrkSts(57L);//到达充电桩
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			if (wrkCharge.getWrkSts() == 60) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			}
			if (wrkCharge.getWrkSts() != 57) {
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			}
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}else {
			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleProtocol.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			//清零令牌
			shuttleProtocol.setToken(0);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}

			}

			}
			@@ -1615,19 +1039,18 @@
			continue;
			}

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

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

			//判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
			if (!liftProtocol.isIdleNoTask()) {
			//判断提升机令牌是否被占用
			if (liftProtocol.getToken() != 0) {
			continue;
			}

			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
			if (wrkMasts.size() == 0) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			if (wrkMasts.isEmpty()) {
			continue;
			}

			@@ -1638,243 +1061,212 @@
			continue;
			}

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

			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			}

			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			if (liftProtocol.getTaskNo().intValue() != 0) {
			//存在未完成任务号
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//获取目标站
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
			if (staProtocol.isLoading() \|\| !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
			continue;
			}

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

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

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

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

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

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

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

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			}
			}

			/**
			* 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();

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

			if (!sourceBasDevp.getInEnable().equals("Y")) {
			return false;//站点不可入
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle()) {
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			return false;//提升机已被独占，禁止再派发任务
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			return false;//有小车，禁止派发
			}

			//判断提升机内是否有托盘
			if (liftProtocol.getHasTray()) {
			return false;//有托盘，禁止派发
			}

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

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

			if (targetStaProtocol.getHasTray()) {
			return false;//提升机站点有托盘，禁止派发
			}

			Integer targetSta = targetStaProtocol.getStaNo();

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

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

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

			return false;
			}
			return true;
			}

			/**
			* 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-----------------------------------------//
			Date now = new Date();

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

			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			return false;
			}

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

			if (!basDevp.getOutEnable().equals("Y")) {
			return false;//出库站点不可出
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle()) {
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			return false;//提升机已被独占，禁止再派发任务
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			//获取源站对应的牛眼提升机站点编号(起点编号)
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}
			Integer startSta = liftStaProtocol.getStaNo();

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

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

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

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

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

			return false;
			}
			return true;
			}

			/**
			@@ -1892,66 +1284,38 @@
			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			&& !liftProtocol.getRunning()
			&& !liftProtocol.getBusy()
			) {

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

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			//判断提升机是否到达任务楼层
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//任务目标楼层

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

			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			//给目标站设置工作号
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			wrkMast.setWrkSts(4L);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			wrkMast.setLiftNo(null);//释放提升机
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
			continue;//提升机是否达到输送线楼层
			if (wrkMast.getIoType() == 11) {//库位移转
			wrkMast.setWrkSts(4L);//4.提升机搬运完成
			}
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}

			if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			//不需要用到机械臂，直接转29.出库完成
			wrkMast.setWrkSts(29L);
			}

			break;
			case 106://106.提升机搬运中 ==> 107.提升机搬运完成
			wrkMast.setWrkSts(107L);
			break;
			default:
			}
			@@ -1965,52 +1329,19 @@
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

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

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

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}else {
			LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
			if (assignCommand != null) {
			if (!assignCommand.getAuto()) {
			//手动操作
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
			}
			}
			}

			//不是入出库调度任务、工作档任务，进行提升机的复位
			if (liftProtocol.getAssignCommand() != null) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//判断是否为四向穿梭车调度提升机，如是则无需清理任务号
			if (!liftProtocol.getSecurityMk()) {
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			}
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			}

			}
			}
			}
			@@ -2029,106 +1360,31 @@
			//查询库位移转工作档
			List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
			for (WrkMast wrkMast : wrkMasts1) {

			boolean step1 = this.locToLocExecuteStep1(wrkMast);//绑定小车
			if (!step1) {
			continue;
			}

			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度小车到目标楼层
			if (!step2) {
			continue;
			}

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

			}
			}

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

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

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

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

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

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

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

			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(shuttleProtocol.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			return false;//未找到路径
			if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
			boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
			if (!step1) {
			continue;
			}
			}else {
			//跨楼层库位移转
			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
			if (!step2) {
			continue;
			}

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

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

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

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
			if (!step3) {
			continue;
			}

			boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到出库口
			if (!step4) {
			continue;
			}

			}

			}
			return true;
			}

			/**
			@@ -2136,108 +1392,256 @@
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			if (wrkMast.getShuttleNo() == null) {
			return false;
			}
			private boolean locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;//小车处于不空闲状态
			}
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			//判断小车是否到达源库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在源库位位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
			return false;
			}

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

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

			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 8) {
			//调度小车执行同楼层移库任务
			//小车已抵达源库位，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

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

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

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

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

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

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

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

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

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

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			wrkMast.setWrkSts(5L);//21.生成出库任务 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			return false;
			}
			return true;
			}

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

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

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

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

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

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

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

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-提升机搬运货物
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
			//获取提升机线程
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}

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

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

			//源站
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			//目标站
			Integer staNo = wrkMast.getStaNo();
			if (sourceStaNo == null \|\| staNo == null) {
			return false;//源站或目标站为空
			}

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

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

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

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

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

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

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

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

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

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

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

			return false;
			}
			return true;
			}

			@@ -2247,6 +1651,7 @@
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -2258,27 +1663,27 @@
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			// 获取四向穿梭车信息
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			@@ -2294,14 +1699,15 @@
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			shuttleProtocol.getErrCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(shuttleProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			@@ -2309,7 +1715,7 @@
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			if (shuttleProtocol.getErrState() == null \|\| shuttleProtocol.getErrState() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			@@ -2319,50 +1725,135 @@
			}
			}
			}else {
			//无任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// //无任务
			// BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// // 有异常
			// if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// // 记录新异常
			// if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			// null, // 编号
			// null, // 工作号
			// now, // 发生时间
			// null, // 结束时间
			// null, // 工作状态
			// null, // 入出库类型
			// shuttleSlave.getId(), // 四向穿梭车
			// null, // plc
			// null, // 目标库位
			// null, // 目标站
			// null, // 源站
			// null, // 源库位
			// null, // 条码
			// (int)shuttleProtocol.getStatusErrorCode(), // 异常码
			// errName, // 异常
			// 1, // 异常情况
			// now, // 添加时间
			// null, // 添加人员
			// now, // 修改时间
			// null, // 修改人员
			// "无任务异常" // 备注
			// );
			// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			// }
			// }
			// // 无异常
			// } else {
			// // 异常修复
			// if (latest != null && latest.getStatus() == 1) {
			// latest.setEndTime(now);
			// latest.setUpdateTime(now);
			// latest.setStatus(2);
			// if (!basShuttleErrLogService.updateById(latest)) {
			// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			// }
			// }
			// }
			}
			}
			}

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

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

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

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			null, // 工作号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			liftSlave.getId(), // 提升机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)shuttleProtocol.getStatusErrorCode(), // 异常码
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			null, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			"任务中异常", // 备注
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
			}
			}
			}
			@@ -2408,6 +1899,13 @@
			}
			}

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

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

			try {
			@@ -2430,15 +1928,15 @@
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			barcodeThread.setBarcode("");
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			@@ -2456,6 +1954,97 @@
			}


			}
			}
			}

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

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

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

			targetSta = (short) 317;

			if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
			//覆盖工作档目标站
			wrkMast.setStaNo(targetSta.intValue());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(targetSta);//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			continue;
			}
			}
			}
			}

			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
			//调度机械臂
			// //查询是否有工作档
			// WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
			// if (wrkMast == null) {
			// continue;
			// }
			// WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
			// if (wrkDetl == null) {
			// continue;
			// }
			// RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
			RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "303");
			}else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
			//调度机械臂
			// //查询是否有工作档
			// WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
			// if (wrkMast == null) {
			// continue;
			// }
			// WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
			// if (wrkDetl == null) {
			// continue;
			// }
			// RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
			RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "317");
			}
			}
			}
			@@ -2630,8 +2219,8 @@
			public synchronized void loopShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			@@ -2646,11 +2235,39 @@
			continue;
			}

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

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

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

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

			shuttleCharge = chargeType;
			break;
			}
			}
			}

			@@ -2673,7 +2290,6 @@
			continue;
			}

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}
			}
			@@ -2688,249 +2304,754 @@
			continue;
			}

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

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

			if (wrkCharge.getWrkSts() == 51) {
			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			if (currentLocNo == null) {
			continue;
			}
			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);

			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

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

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

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

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

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

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

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

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

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

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

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

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

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

			//判断小车是否在提升机内
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			//小车不在提升机内
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			//小车不在充电桩位置
			shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			continue;
			}

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

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

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

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

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

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

			Short liftLev = liftProtocol.getLev();
			if (liftLev == null) {
			continue;
			}
			//判断提升机楼层是否到达目标楼层
			if (liftLev.intValue() != chargeLocNoLev) {
			continue;//没有到达目标楼层
			}

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

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

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

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

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

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

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

			wrkCharge.setWrkSts(56L);//充电中状态
			wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() == null \|\| shuttleProtocol.getCurrentVoltage() == null) {
			} else if (wrkCharge.getWrkSts() == 52) {
			//检测小车是否满电
			int maxPower = 95;
			if (shuttleProtocol.getPowerPercent() < maxPower) {
			continue;
			}
			if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
			//充满，断开充电
			// List<ShuttleCommand> commands = new ArrayList<>();
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			// assignCommand.setTaskMode((short) 0);
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			// assignCommand.setCharge(true);
			//
			// //创建充电指令
			// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			// commands.add(command);
			//
			// //指令集分配
			// assignCommand.setCommands(commands);
			//
			// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

			//将小车移动到空闲的巷道
			ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
			if (assignCommand == null) {
			//小车满电，结束充电任务
			NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
			ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(chargeCommand);
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(commands);//运行命令

			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			try {
			Thread.sleep(3000);
			} catch (Exception e) {
			e.printStackTrace();
			}

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

			wrkCharge.setWrkSts(60L);//60.充电任务完成
			wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));

			}
			}

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

			}

			}

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

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

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

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

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

			// this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//清理111.小车移动完成

			}
			}

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

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

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

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

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

			//获取小车到输送站点行走命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
			List<NyShuttleHttpCommand> commands = result.getCommands();

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

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

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

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

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

			if (basLift.getPoint() == null) {
			return false;//没有设置提升机点位坐标
			}

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

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

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

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			//小车令牌是否被任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

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

			if (liftProtocol.getToken() != 0) {
			return false;//提升机令牌被占用
			}

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

			Random random = new Random();
			int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
			liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

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

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

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

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

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

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

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

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

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

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

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

			return true;
			}

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

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

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

			//判断提升机内是否有小车
			if (!liftProtocol.getHasCar()) {
			return false;//提升机内无小车
			}

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			return false;
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			return false;//缺少站点信息
			}

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

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

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

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

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

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

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

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

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge()) {
			return false;
			}

			//判断小车是否为当前任务独占
			if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

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

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

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

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

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

			wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 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 109.小车迁出提升机完成 ==> 110.小车移动中
			if (wrkMast.getWrkSts() == 109) {

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

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			//判断小车令牌是否为当前任务
			if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			return false;
			}

			// //获取目标站对应的输送站点
			// BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
			// if (targetBasDevp == null) {
			// return false;//缺少站点信息
			// }
			//
			// //获取提升机数据
			// BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
			// if (basLift == null) {
			// return false;//没有提升机数据
			// }
			// if (basLift.getPoint() == null) {
			// return false;//没有设置提升机点位坐标
			// }
			// NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			// liftNode.setZ(basLift.getPoint$().getZ());

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

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

			//获取小车到目标库位命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
			if (result == null) {
			return false;//路径计算失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();

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

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

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

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

			/**
			* 小车迁移-清理111.小车移动完成
			*/
			private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 111) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车处于空闲状态
			if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
			return false;
			}

			Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
			if (o != null) {
			ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
			ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
			int size = assignCommand.getCommands().size();
			NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//获取最后一段命令
			if (!command.getComplete()) {
			return false;//最后一段命令还未完成，不做操作
			}
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
			navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//解锁路径

			//删除redis
			redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
			}

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

			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			//工作号清零
			shuttleProtocol.setTaskNo(0);
			//清除令牌
			shuttleProtocol.setToken(0);
			News.info("四向穿梭车已确认且移动任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}

			return true;
			}

			/**
			* 出入库模式切换