999

zhangc

2025-04-18 855ae16895a43bf56ecb22436204c18fbe466980

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

@@ -1,11 +1,9 @@
package com.zy.asrs.service.impl;

import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.LiftUtils;
@@ -25,6 +23,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -62,33 +62,36 @@


    /**
     * 从没有提升机侧入库，有两种情况，一种入库到同层，一种入库到不同层，则需要提升机
     * 从没有提升机侧出库，有两种情况，一种1，5库到同层，一种非1，5库到1，5，则需要提升机
     * @param wrkMast
     */
    public void shuttleMoveExecute(WrkMast wrkMast) {
        boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//小车迁移-呼叫小车至取货点
        if (!stepMoveSta) {
            return;
        }
        //判断目标库位是否在1层或5层
        if (Utils.getLev(wrkMast.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
            //直接入库
            boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
        if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
            }
            boolean stepMoveLoc = this.shuttleMoveExecuteTransportLiftStepMoveLoc2(wrkMast);//小车移动到目标库位中
            if (!stepMoveLoc) {
                return;
            }
        } else {
            boolean stepIntoSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车迁移至待机点
            if (!stepIntoSta) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
            }
            boolean stepTransportLiftOutStepMoveSta = this.shuttleMoveExecuteTransportLiftOutStepMoveSta(wrkMast);//小车移动到待机点
            if (!stepTransportLiftOutStepMoveSta) {
                return;
            }

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

            boolean stepIntoLift = this.shuttleMoveExecuteTransportLiftStepIntoLift(wrkMast);//小车迁入提升机
            boolean stepIntoLift = this.shuttleMoveExecuteTransportLiftOutStepIntoLift(wrkMast);//小车迁入提升机
            if (!stepIntoLift) {
                return;
            }
@@ -98,16 +101,16 @@
                return;
            }

            boolean stepOutLift = this.shuttleMoveExecuteTransportLiftStepOutLift(wrkMast);//小车迁出提升机到待机位
            boolean stepOutLift = this.shuttleMoveExecuteTransportLiftOutStepOutLift(wrkMast);//小车移动至输送线处
            if (!stepOutLift) {
                return;
            }

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

    }

    /**
@@ -135,9 +138,29 @@
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }

            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -150,7 +173,7 @@
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            wrkMastService.updateById(wrkMast);
@@ -159,18 +182,17 @@
        return true;
    }


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

        //小车移动至站点  301.生成小车移库任务 ==> 302.小车移动至站点中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {
        //小车移动至站点  呼叫小车至取货点 ==> 小车移动至站点中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_1.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -187,11 +209,15 @@
                return false;
            }

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

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

@@ -202,7 +228,7 @@
            }

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

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -211,28 +237,31 @@
            assignCommand.setAuto(true);//自动模式

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

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

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

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_3.sts);//小车移动到待机点
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_2.sts);//小车移动到提升机中  呼叫小车至取货点 ==> 小车移动至站点中
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                //触发通知
                notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
                return false;
            }
            return false;
@@ -240,17 +269,16 @@
        return true;
    }


    /**
     * 小车迁移-提升机到小车层
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(WrkMast wrkMast) {
    private boolean shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(WrkMast wrkMast) {
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_4.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_3.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -266,54 +294,28 @@

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

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

                //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
                if (liftWrkMast != null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            //获取穿梭车最近且空闲的提升机
            liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
            if (liftThread == null) {
                News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
                return false;//没有可用且空闲的提升机
            }

                wrkMast.setModiTime(now);
                wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
            liftProtocol = liftThread.getStatus();
            //判断提升机内是否有小车
            if (liftProtocol.getHasCar()) {
                News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            } else {
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
                if (liftThread == null) {
                    News.info("{}号提升机不存在", wrkMast.getLiftNo());
                    return false;
                }

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

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


            if (!liftThread.isIdle()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
@@ -327,15 +329,15 @@
            }

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

            //判断提升机楼层
            if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                //提升机在小车楼层
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_6.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层完成
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层完成
                wrkMast.setModiTime(now);
                wrkMastService.updateById(wrkMast);
                return false;
@@ -355,19 +357,25 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo((short) 1);
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_5.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层

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

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_4.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
//                //触发通知
//                notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
                return false;
            }
            return false;
@@ -376,17 +384,16 @@
        return true;
    }


    /**
     * 小车迁移-小车迁入提升机
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteTransportLiftStepIntoLift(WrkMast wrkMast) {
    private boolean shuttleMoveExecuteTransportLiftOutStepIntoLift(WrkMast wrkMast) {
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_6.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_5.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -418,12 +425,10 @@
            }

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

            if (!liftThread.isIdle()) {
@@ -444,8 +449,8 @@
            }

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

@@ -454,6 +459,13 @@
                //提升机不在小车楼层
                News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//等待提升机到小车楼层
            }

            //判断提升机是否有其他任务
            WrkMast w = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (w != null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在别的绑定任务out，禁止派发", wrkMast.getWrkNo(), 1);
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -471,13 +483,12 @@

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_7.sts);//小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_6.sts);//小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(1);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                //触发通知
//                notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
                return false;
            }
            return false;
@@ -496,7 +507,7 @@
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_8.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_7.sts) {
            if (wrkMast.getLiftNo() == null) {
                News.info("{}任务未绑定提升机", wrkMast.getWrkNo());
                return false;
@@ -515,12 +526,10 @@
            }

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

            if (!liftThread.isIdle()) {
@@ -559,7 +568,7 @@
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_9.sts);//小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_8.sts);//小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
@@ -582,11 +591,11 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteTransportLiftStepOutLift(WrkMast wrkMast) {
    private boolean shuttleMoveExecuteTransportLiftOutStepOutLift(WrkMast wrkMast) {
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_10.sts) {
        //小车移动到提升机中  小车迁入提升机完成 ==> 小车迁出提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_9.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -606,12 +615,10 @@
            }

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

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
@@ -649,13 +656,6 @@
                return false;//提升机内无小车
            }

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

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -682,7 +682,7 @@
            assignCommand.setAuto(true);//自动模式

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

            //获取小车到提升机待机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
@@ -691,21 +691,14 @@
                return false;
            }

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

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_11.sts);//小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_10.sts);//小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                //触发通知
//                notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
                return false;
            }
            return false;
@@ -713,7 +706,6 @@

        return true;
    }


    /**
     * 小车迁移-小车移动到目标库位中
@@ -725,7 +717,7 @@
        Date now = new Date();

        //小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_12.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_11.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -735,6 +727,26 @@
            if (shuttleProtocol == null) {
                return false;
            }

//            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
//                assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
//                assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
//                assignCommand.setAuto(true);//自动模式
//                assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
//                assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
//
//                //更新小车坐标
//                ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
//                ArrayList<ShuttleCommand> commands = new ArrayList<>();
//                commands.add(command);
//
//                assignCommand.setCommands(commands);
//                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                return false;
//            }


            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
@@ -769,7 +781,7 @@

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_12.sts);//小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
@@ -777,6 +789,82 @@
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            }
            WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
            if (wrkMast1 != null) {
                wrkMast.setLiftNo(null);//释放提升机
                wrkMast.setModiTime(now);
                if (!wrkMastService.updateById(wrkMast1)) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}解锁提升机", wrkMast1.getWrkNo());
                }
            }
        }
        return true;
    }


    /**
     * 小车迁移-呼叫小车至取货点
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteTransportLiftStepCallShuttle2(WrkMast wrkMast) {
        Date now = new Date();
        //小车移动至站点  301.生成小车移库任务 ==> 呼叫小车至取货点
        if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                return false;
            }

            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
                return false;
            }

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

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            wrkMastService.updateById(wrkMast);
            return false;
        }
        return true;
    }
@@ -787,41 +875,12 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
    private boolean shuttleMoveExecuteTransportLiftStepMoveLoc2(WrkMast wrkMast) {
        //--------------------------------------小车移动到目标库位中-----------------------------------------//
        Date now = new Date();

        //小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {

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

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

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

            }

        //小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_1.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -838,12 +897,7 @@
                return false;
            }

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

@@ -856,24 +910,36 @@
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

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


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

            commands.addAll(moveCommands);

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

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

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//小车移动到目标库位中
            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_12.sts);//小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -881,5 +947,4 @@
        }
        return true;
    }

}