#

Junjie

2023-10-03 87186c12f7c8864da8925aea3e91ecde1d16d255

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

@@ -238,14 +238,14 @@
                            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());
@@ -267,10 +267,10 @@
                            }
                            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) {
@@ -794,6 +794,12 @@
                return false;//小车已被独占，禁止再派发任务
            }

            //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
            }

            //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
@@ -873,7 +879,7 @@
                return false;//找不到站点
            }

            if (liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray()) {
            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
                return false;//站点必须自动、空闲、没有托盘
            }

@@ -946,6 +952,8 @@
            }

            //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.getFree() == ShuttleStatusType.IDLE.id
@@ -956,14 +964,16 @@
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 5://5.小车搬运中 ==> 9.入库完成
                            wrkMast.setWrkSts(9L);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
                            break;
                        case 22://22.小车搬运中 ==> 23.小车搬运完成
                            wrkMast.setWrkSts(23L);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
@@ -973,6 +983,7 @@
                            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);
@@ -980,7 +991,7 @@
                        case 110://110.小车移动中 ==> 111.小车移动完成
                            wrkMast.setWrkSts(111L);
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
@@ -1191,6 +1202,17 @@

        //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) {
@@ -1281,7 +1303,6 @@
                    && liftProtocol.getTaskNo() != 0
                    && !liftProtocol.getBusy()
            ) {

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
@@ -1289,7 +1310,7 @@
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            wrkMast.setWrkSts(4L);
                            wrkMast.setLiftNo(null);//释放提升机
                            if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
                            if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }
@@ -1299,10 +1320,16 @@
                            if (wrkMast.getIoType() == 11) {//库位移转
                                wrkMast.setWrkSts(4L);//4.提升机搬运完成
                            }
                            if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
                            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);
@@ -1319,8 +1346,19 @@
                    } 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());
                    }
                }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());
                        }
                    }
                }

            }
        }
    }
@@ -1900,15 +1938,15 @@
                        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");
@@ -1926,6 +1964,97 @@
                }


            }
        }
    }

    /**
     * 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");
            }
        }
    }
@@ -2116,11 +2245,39 @@
                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;
                    }
                }
            }

@@ -2143,7 +2300,6 @@
                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());
        }
    }
@@ -2198,7 +2354,8 @@
                }
            } else if (wrkCharge.getWrkSts() == 52) {
                //检测小车是否满电
                if (shuttleProtocol.getPowerPercent() < 100) {
                int maxPower = 95;
                if (shuttleProtocol.getPowerPercent() < maxPower) {
                    continue;
                }

@@ -2214,21 +2371,34 @@
                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) {
                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
                    shuttleProtocol.setTaskNo(0);
                    shuttleProtocol.setPakMk(false);
                }
            } else if (wrkCharge.getWrkSts() == 53) {
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
                if (!result) {
                    continue;
                }
                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);//53.小车充电完成 => 60.充电任务完成
                wrkCharge.setModiTime(new Date());
                wrkChargeMapper.updateById(wrkCharge);
                    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) {

                    }
                }
            }

        }
@@ -2321,8 +2491,14 @@
                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());
            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();
@@ -2335,6 +2511,7 @@

            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
@@ -2382,7 +2559,9 @@
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.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
                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());
@@ -2394,7 +2573,7 @@
                return false;
            }

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

@@ -2409,7 +2588,12 @@
            }

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

@@ -2425,6 +2609,9 @@
                //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();
                liftCommand.setTaskNo((short) Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999))));//更换随机任务号

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

@@ -2434,6 +2621,7 @@
                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);
@@ -2445,13 +2633,19 @@
                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() != wrkMast.getShuttleNo()) {
            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() != wrkMast.getWrkNo()) {
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2460,7 +2654,7 @@

            //提升机节点
            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
            liftNode.setZ(basLift.getPoint$().getZ());
            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);
@@ -2516,8 +2710,16 @@
            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() != wrkMast.getShuttleNo()) {
            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
            }

@@ -2542,7 +2744,7 @@
            }

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

@@ -2602,8 +2804,16 @@
                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() != wrkMast.getShuttleNo()) {
            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
            }

@@ -2623,7 +2833,7 @@
            }

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

@@ -2642,9 +2852,13 @@
                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());
            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
@@ -2697,7 +2911,7 @@
            }

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

@@ -2719,7 +2933,7 @@
//            liftNode.setZ(basLift.getPoint$().getZ());

            //获取小车到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
            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
            }
@@ -2732,10 +2946,8 @@
            assignCommand.setAuto(true);//自动模式
            assignCommand.setCommands(commands);
            assignCommand.setNodes(result.getNodes());

            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);
            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());
@@ -2746,10 +2958,15 @@
                if (liftProtocol == null) {
                    return false;
                }
                if (liftProtocol.getToken() == shuttleProtocol.getShuttleNo().intValue()) {
                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));