zy-wcs.git - Gitblit

			@@ -1,55 +1,47 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.DateUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.WaitPakinMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.asrs.utils.VersionUtils;
			import com.zy.common.model.LocTypeDto;
			import com.zy.common.model.MatDto;
			import com.zy.common.model.MapNode;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			import com.zy.common.utils.*;
			import com.zy.core.News;
			import com.zy.core.action.LiftAction;
			import com.zy.core.action.ShuttleAction;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.CrnCommand;
			import com.zy.core.model.command.LedCommand;
			import com.zy.core.model.command.SteCommand;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.ForkLiftStaProtocol;
			import com.zy.core.model.protocol.LiftProtocol;
			import com.zy.core.model.protocol.ShuttleProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.protocol.SteProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SteThread;
			import com.zy.core.thread.LiftThread;
			import com.zy.core.thread.ShuttleThread;
			import com.zy.core.thread.impl.FyDevpThread;
			import com.zy.core.thread.impl.NormalLedThread;
			import com.zy.system.service.ConfigService;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.util.stream.Collectors;
			import java.util.*;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -57,1862 +49,2558 @@
			*/
			@Slf4j
			@Service("mainService")
			@Transactional
			public class MainServiceImpl {

			public static final long COMMAND_TIMEOUT = 5 * 1000;

			@Autowired
			private CommonService commonService;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private WaitPakinMapper waitPakinMapper;
			private BasLiftErrLogService basLiftErrLogService;
			@Autowired
			private LocMastService locMastService;
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private StaDescService staDescService;
			private BasLiftErrService basLiftErrService;
			@Autowired
			private BasCrnpService basCrnpService;
			private CommonService commonService;
			@Autowired
			private BasDevpService basDevpService;
			private BasMapService basMapService;
			@Autowired
			private LocDetlService locDetlService;
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private BasErrLogService basErrLogService;
			private RedisUtil redisUtil;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			private ConfigService configService;
			@Autowired
			private BasSteService basSteService;
			@Value("${wms.url}")
			private NavigateMapData navigateMapData;
			@Autowired
			private ShuttleOperaUtils shuttleOperaUtils;
			@Autowired
			private ShuttleAction shuttleAction;
			@Autowired
			private NotifyUtils notifyUtils;
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private TransportLiftInServiceImpl transportLiftInService;
			@Autowired
			private TransportLiftOutServiceImpl transportLiftOutService;
			@Autowired
			private ShuttleMoveServiceImpl shuttleMoveService;
			@Autowired
			private NoLiftInServiceImpl noLiftInService;
			@Autowired
			private NoLiftOutServiceImpl noLiftOutService;
			@Autowired
			private LiftAction liftAction;
			@Autowired
			private BasWrkStatusService wrkStatusService;
			@Value("${asrs.wmsUrl}")
			private String wmsUrl;

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			@Async
			public void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			log.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;
			}
			// // 获取入库通知档
			// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
			// if (waitPakins.isEmpty()) {
			// log.error("无此入库条码数据。条码号={}", barcode);
			// continue;
			// }

			try {

			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			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");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}


			// // 检索库位
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
			// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
			// // 工作号
			// int workNo = startupDto.getWorkNo();
			// // 插入工作明细档
			// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
			//
			// // 插入工作主档
			// wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setIoType(1); // 入出库状态：1.入库
			// wrkMast.setIoPri(10D); // 优先级：10
			// wrkMast.setCrnNo(startupDto.getCrnNo());
			// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			// wrkMast.setStaNo(startupDto.getStaNo());
			// wrkMast.setLocNo(startupDto.getLocNo());
			// wrkMast.setBarcode(barcode); // 托盘码
			// wrkMast.setFullPlt("Y"); // 满板：Y
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk("N"); // 空板
			// wrkMast.setLinkMis("N");
			// // 操作人员数据
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// Integer insert = wrkMastMapper.insert(wrkMast);
			// if (insert == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 更新目标库位状态
			// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			// locMast.setLocSts("S"); // S.入库预约
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)){
			// throw new CoolException("改变库位状态失败");
			// }
			// // 将入库通知档修改为已启动
			// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
			// throw new CoolException("修改入库通知档状态为已启动失败");
			// }
			//
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 更新站点信息且下发plc命令
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo((short) workNo);
			// staProtocol.setStaNo(startupDto.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");
			// }

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


			}
			public boolean isInEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}

			// 获取入库站信息
			switch (staNo) {
			case 1011:
			case 1012:
			return devpThread.getStation().get(1012).isInEnable();
			case 1021:
			case 1022:
			case 1023:
			return devpThread.getStation().get(1022).isInEnable();
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isInEnable();
			case 1024:
			case 1025:
			case 1026:
			return devpThread.getStation().get(1025).isInEnable();
			case 1013:
			case 1014:
			case 1015:
			return devpThread.getStation().get(1014).isInEnable();
			}
			return false;
			}

			/**
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			@Async
			public void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999)
			&& staProtocol.isPakMk()) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }

			// 命令下发区 --------------------------------------------------------------------------

			// 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) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}


			}
			public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}

			}

			/**
			* 拣料、并板、盘点再入库
			*/
			public synchronized void stnToCrnStnPick(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
			WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			continue;
			}

			// 拣、盘、并作业站转换
			// int stnNo = 0;
			// if (wrkMast.getStaNo() == 109) {
			// stnNo = 127;
			// } else if (wrkMast.getStaNo() == 113) {
			// stnNo = 128;
			// } else {
			// log.error("{}号任务数据异常！", wrkMast.getWrkNo());
			// }
			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			try {
			// 保存工作明细档历史档
			if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作明细档历史档失败");
			}
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			}

			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 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(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

			// 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) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			}

			}

			}
			}

			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep15(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

			// 命令下发区 --------------------------------------------------------------------------

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}

			// 更新工作档状态为 16.出库完成
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("更新工作档的工作状态为 16.出库完成失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}

			}
			}
			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			*/
			public synchronized void crnIoExecute(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			continue;
			}
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			// 入库
			if (this.crnStnToLoc(crn, crnProtocol)) {
			crnProtocol.setLastIo("O");
			}
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStn(crn, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			// 入库
			if (this.crnStnToLoc(crn, crnProtocol)) {
			crnProtocol.setLastIo("O");
			}
			}
			}
			}
			// 库位移转
			this.locToLoc(crn, crnProtocol);
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}
			// 获取工作状态为 2,3,4,5,6 的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if(null == wrkMast) {
			// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
			continue;
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			continue;
			}

			// 目标库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
			Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L) {
			this.letCarBeReady(wrkMast, steNo);
			}
			// 小车搬走
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveOut(wrkMast, steNo, crnProtocol);
			}
			// 没有小车
			} else {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			}
			return true;
			}
			}

			// 目标库位 ===>> 非最外层库位
			} else {
			// 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
			Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
			this.letCarBeReady(wrkMast, steNo);
			}
			// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
			if (wrkMast.getWrkSts() == 3L \|\| wrkMast.getWrkSts() == 6L) {
			// 小车处于空闲
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}
			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 3.小车待搬 ===>> 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			return true;
			}
			}
			}
			// 没有小车
			} else {
			if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
			// 寻找最近的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId());
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			}
			}
			}

			// 获取入库站信息
			switch (staNo) {
			case 1011:
			case 1012:
			return devpThread.getStation().get(1012).isOutEnable();
			case 1021:
			case 1022:
			case 1023:
			return devpThread.getStation().get(1022).isOutEnable();
			case 1024:
			case 1025:
			case 1026:
			return devpThread.getStation().get(1025).isOutEnable();
			case 1013:
			case 1014:
			case 1015:
			return devpThread.getStation().get(1014).isOutEnable();
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isOutEnable();
			}
			return false;
			}

			/**
			* 当前库位组是否存在空闲小车
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public Integer hasCarOfIdle(String locNo) {
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			if (Utils.getGroupRow(locNo) == Utils.getRow(locNo) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
			return steProtocol.getSteNo().intValue();
			}
			}
			}
			return null;
			}
			public synchronized void generateInboundWrk() {
			try {
			// //检测是否存在调拨任务，不执行入库
			// boolean checkTransferWrkMast = wrkMastService.checkTransferWrkMast();
			// if (checkTransferWrkMast) {
			// News.error("存在调拨任务，不执行入库");
			// return;
			// }

			/**
			* 让小车从远点 ====>> 移动到近点
			* 等待堆垛机搬运
			*/
			public void letCarBeReady(WrkMast wrkMast, Integer steNo) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式: 去近点等待堆垛机叉取
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态绑定穿梭车
			wrkMast.setSteNo(steNo);
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态绑定穿梭车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机搬入小车
			*/
			public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			// 堆垛机空闲
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() == 0) {
			LocMast locMast;
			if (wrkMast.getWrkSts() <= 10) {
			locMast = locMastService.selectById(wrkMast.getLocNo());
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			// 遍历入库口
			for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
			if (inSta.getStaNo() == 1014 \|\| inSta.getStaNo() == 1025) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			// 修改工作档状态 3.小车待搬 => 4.迁入小车
			Date now = new Date();
			wrkMast.setWrkSts(4L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬 => 4.迁入小车失败！！，工作号={}", wrkMast.getWrkNo());
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			if (ledThread != null) {
			ledThread.error(errMsg);
			}
			}

			}
			}
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();
			if (Cools.isEmpty(barcode) \|\| "?".endsWith(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			continue;
			}

			}
			}
			//检测是否存在出库任务
			List<WrkMast> wrkMastOutList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("sta_no", 1024, 1013)
			.eq("io_type", 101));
			if (!wrkMastOutList.isEmpty()) {
			Object o = redisUtil.get(RedisKeyType.DEVP_ERROR_FLAG.key + staProtocol.getSiteId());
			if (o == null) {
			redisUtil.set(RedisKeyType.DEVP_ERROR_FLAG.key + staProtocol.getSiteId(), "lock", 15);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol.getSiteId()));
			setLedErrorData(staProtocol.getSiteId(), "任务冲突");
			}
			News.error("站点存在出库任务,禁止入库,站点={}", staProtocol.getSiteId());
			continue;
			}

			/**
			* 入库 ===>> 堆垛机搬出小车
			*/
			public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			// 穿梭车空闲
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			// 堆垛机空闲
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() == 0) {

			BasSte basSte = basSteService.selectById(steNo);
			if (basSte == null) {
			log.error("{}号穿梭车在数据库不存在！！！", steNo);
			return;
			}
			String idleLocNo = basSte.getIdleLoc();

			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX((short) Utils.getRow(idleLocNo)); // 目标库位排
			crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列
			crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// 修改工作档状态 3.小车待搬 => 5.迁出小车
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬 => 5.迁出小车失败！！，工作号={}", wrkMast.getWrkNo());
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			//判断时提升机侧，还是无提升机测
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			} else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
			continue;
			}
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			//StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// String wmsLocNo = dto.getLocNo();
			// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
			// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
			// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
			// String wcsLocNo = Utils.getLocNo(row, bay, lev);
			//
			// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
			// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
			// createInTaskParam.setDestLoc(wcsLocNo);
			// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
			// createInTaskParam.setDestSite(dto.getStaNo().toString());
			// createInTaskParam.setPriority(11);
			// createInTaskParam.setBarcode(barcode);
			//
			// R result = openUtils.createInTask(createInTaskParam);
			// News.taskInfo(wrkMast.getWrkNo(),"创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
			// try{
			// String msg = "";
			// HashMap<String, String> hashMap = new HashMap<>();
			// hashMap.put("msg", msg);
			// hashMap.put("sta", inSta.getStaNo().toString());
			// new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/led/getError")
			// .setJson(JSON.toJSONString(hashMap))
			// .build()
			// .doPost();
			// }catch (Exception e){
			//
			// }
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			if (!Cools.isEmpty(msg) && "请先组托".equalsIgnoreCase(msg)) {
			ledThread.error(msg);
			}
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			log.error("调用wms报错1，{}", e.getMessage());
			}
			}
			}
			}
			}
			}
			} else if (inSta.getStaNo() == 1012 \|\| inSta.getStaNo() == 1022) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			boolean back = false;
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {

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

			/**
			* 出库 ===>> 库位到堆垛机站
			*/
			public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
			if (wrkMast == null) {
			continue;
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null){
			log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------
			Short workNo = staProtocol.getWorkNo();
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}
			//检测是否存在出库任务
			List<WrkMast> wrkMastOutList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("sta_no", 1011, 1021)
			.eq("io_type", 101));
			if (!wrkMastOutList.isEmpty()) {
			Object o = redisUtil.get(RedisKeyType.DEVP_ERROR_FLAG.key + staProtocol.getSiteId());
			if (o == null) {
			redisUtil.set(RedisKeyType.DEVP_ERROR_FLAG.key + staProtocol.getSiteId(), "lock", 15);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol.getSiteId()));
			setLedErrorData(staProtocol.getSiteId(), "任务冲突");
			}
			News.error("站点存在出库任务,禁止入库,站点={}", staProtocol.getSiteId());
			continue;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			waitWrkMast.setIoPri(15D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast == null) {
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {

			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			if (!Cools.isEmpty(msg) && "请先组托".equalsIgnoreCase(msg)) {
			ledThread.error(msg);
			}
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			log.error("调用wms报错2，{}", e.getMessage());
			}
			}
			continue;
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			continue;
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}




			// todo
			// 最外层库位，直接堆垛机出库
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 15.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(15L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 15.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			public synchronized void noLiftIn() {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
			if (staProtocol == null) {
			continue;
			} else {

			staProtocol = staProtocol.clone();
			}












			}
			}
			}

			/**
			* 库位移转
			*/
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceSta) {
			log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
			return;
			}
			// 获取目标库位信息
			LocMast sta = locMastService.selectById(wrkMast.getLocNo());
			if (null == sta) {
			log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			return;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectLocMoving(slave.getId()) != null) {
			return;
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}

			}


			/**
			* 堆垛机针对于小车迁移工作的完成
			*/
			@Async
			public void carMoveFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep45(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移 ==> 6.小车待入
			if ((wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 5) \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
			wrkMast.setWrkSts(6L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			}

			}
			}
			}

			/**
			* 执行对工作档的完成操作
			*/
			@Async
			@Transactional
			public void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep7(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}
			// 入库 + 库位转移
			if (wrkMast.getWrkSts() == 7 \|\| (wrkMast.getWrkSts() == 15 && wrkMast.getIoType() == 11)){
			// 判断是否需要小车入库
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) \|\| (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			continue;
			}
			}
			wrkMast.setLiftNo(1);
			}
			Short finishWorkNo = staProtocol.getFinishWorkNo();
			if (finishWorkNo == null) {
			continue;
			}


			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1026) {
			locNo = "1200305";
			}
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			continue;
			}

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

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


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


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


			public void outFirst() {
			// //检测是否存在调拨任务，存在不执行出库
			// boolean checkTransferWrkMast = wrkMastService.checkTransferWrkMast();
			// if (checkTransferWrkMast) {
			// News.error("存在调拨任务，不执行出库");
			// return;
			// }

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

			//检测是否存在入库任务
			Integer checkInSourceStaNo = null;
			if (wrkMast.getStaNo() == 1013) {
			checkInSourceStaNo = 1014;
			} else if (wrkMast.getStaNo() == 1024) {
			checkInSourceStaNo = 1025;
			} else {
			continue;
			}
			List<WrkMast> wrkMastInList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("source_sta_no", checkInSourceStaNo)
			.eq("io_type", 1));
			if (!wrkMastInList.isEmpty()) {
			Object o = redisUtil.get(RedisKeyType.DEVP_ERROR_FLAG.key + wrkMast.getStaNo());
			if (o == null) {
			redisUtil.set(RedisKeyType.DEVP_ERROR_FLAG.key + wrkMast.getStaNo(), "lock", 15);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, wrkMast.getStaNo()));
			setLedErrorData(wrkMast.getStaNo(), "任务冲突");
			}
			News.error("站点存在入库任务,禁止出库,站点={}", wrkMast.getStaNo());
			continue;
			}


			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getStaNo());
			if (staProtocol == null) {
			continue;
			}
			List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1013, 1024));
			if (wrkMastList != null && wrkMastList.size() >= 2) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，跳过，存在2条工作档", wrkMast.getWrkNo());
			continue;
			}
			if (!staProtocol.isAutoing()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}
			if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}
			StaProtocol staProtocol2 = station.get(wrkMast.getStaNo() + 2);
			if (staProtocol2.isLoading()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物222", wrkMast.getWrkNo(), wrkMast.getStaNo() + 2);
			continue;
			}
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1024) {
			locNo = "1200305";
			}

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

			/**
			* 出库到出库口
			*/
			public synchronized void stnToOutStn(int i) {
			ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
			ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
			ShuttleProtocol status1 = shuttleThread1.getStatus();
			ShuttleProtocol status2 = shuttleThread2.getStatus();
			List<String> loc = new ArrayList<>();
			if (status1 != null) {
			loc.add(status1.getCurrentLocNo());
			}
			if (status2 != null) {
			loc.add(status2.getCurrentLocNo());
			}
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
			if (outSta.getStaNo() == 1013 \|\| outSta.getStaNo() == 1024) {
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
			for (WrkMast wrkMast : wrkSts) {
			StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
			if (staProtocol == null) {
			continue;
			} else {
			// 给穿梭车下发命令
			Integer steNo = wrkMast.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式: 去近点等待堆垛机叉取
			// todo:luxiaotao
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			// 查询工作档
			if (wrkMast == null) {
			continue;
			}
			String sourceLocNo = "1200305";
			String locNo = "1100105";
			if (wrkMast.getShuttleNo() == 1) {
			if (wrkMast.getStaNo() == 1013) {
			sourceLocNo = "1200301";
			locNo = "1100101";
			if (loc.contains(locNo)) {
			locNo = "1100101";
			}
			} else {
			// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
			Date now = new Date();
			wrkMast.setWrkSts(8L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库失败！！，工作号={}", wrkMast.getWrkNo());
			if (loc.contains(locNo)) {
			locNo = "1100105";
			}
			}
			} else {
			if (wrkMast.getStaNo() == 1013) {
			sourceLocNo = "1200301";
			locNo = "1000101";
			if (loc.contains(locNo)) {
			locNo = "1000101";
			}
			} else {
			if (loc.contains(locNo)) {
			locNo = "1000105";
			}
			}
			}
			}
			// 迁入小车完成
			} else if (wrkMast.getWrkSts() == 4) {
			// 4.迁入小车 ==> 6.小车待入
			wrkMast.setWrkSts(6L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 4.迁入小车 => 6.小车待入失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// 迁出小车完成
			} else if (wrkMast.getWrkSts() == 5) {
			// 5.迁出小车 ==> 6.小车待入
			wrkMast.setWrkSts(6L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 5.迁出小车 => 6.小车待入失败！！，工作号={}", wrkMast.getWrkNo());
			if (loc.contains(locNo)) {
			locNo = "0900105";
			}

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

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

			/**
			* 执行对工作档的完成操作
			*/
			public void carGenerateStore() {
			Date now = new Date();
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getStatusType().equals(SteStatusType.WAITING) && steProtocol.getTaskNo() != 0) {
			// 查询是否有待入库的任务
			WrkMast wrkMast = wrkMastMapper.selectPakInStep8(steProtocol.getSteNo().intValue());
			if (wrkMast == null) { continue; }

			switch (wrkMast.getWrkSts().intValue()) {
			case 2:
			// 修改工作档状态 2.设备上走 => 3.小车待搬
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.小车待搬失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			case 8:
			// 修改工作档状态 8.小车搬入库 => 9.入库完成
			wrkMast.setWrkSts(9L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 8.小车搬入库 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			private void setLedData(Integer wrkNo, Integer staNo) {
			try {
			Map<String, Object> param = new HashMap<>();
			param.put("taskNo", wrkNo);
			String response = null;
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getTask2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			String data = jsonObject.getString("data");
			List<LedCommand> wrkDetls = JSONArray.parseArray(data, LedCommand.class);
			redisUtil.set("LED_" + staNo, wrkDetls, 30);
			log.info("电视机数据设置：{},{}", staNo, data);
			} else {
			log.info("电视机数据设置异常：{},{}", wrkNo, response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

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

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			//初始化配置
			// WrkStsType[] values = WrkStsType.values();
			// for (int i = 0; i < values.length; i++) {
			// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
			// if (basWrkStatus == null) {
			// basWrkStatus = new BasWrkStatus();
			// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
			// basWrkStatus.setWrkSts(values[i].sts);
			// basWrkStatus.setModiTime(new Date());
			// basWrkStatus.setAppeTime(new Date());
			// basWrkStatus.setAppeUser(9527L);
			// basWrkStatus.setModiUser(9527L);
			// wrkStatusService.insert(basWrkStatus);
			// }
			// }
			try {
			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
			if (data == null) {//redis地图数据为空
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)

			//存入数据库
			basMap.setData(JSON.toJSONString(lists));
			basMap.setCreateTime(new Date());
			basMap.setUpdateTime(new Date());
			if (!basMapService.updateById(basMap)) {
			log.info("地图数据存储失败");
			}

			//将数据库地图数据存入redis
			redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
			}


			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 查找当前库位最适合的穿梭车来作业
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public SteThread queryIdleCar(WrkMast wrkMast) {
			Integer crnNo = wrkMast.getCrnNo();
			BasSte basSte = basSteService.findByCrnNo(crnNo);
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol != null) {
			if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			return steThread;
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return null;
			}

			/**
			* 堆垛机异常信息记录
			* 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
			*/
			@Async
			public void recCrnErr(){
			public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
			//获取目标站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//调度小车到货物所在输送站点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			//判断小车是否存在移动任务
			WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (hasMoveWorking != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo());
			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(liftSta.getLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			// public synchronized void shuttleOutExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			// for (WrkMast wrkMast : wrkMasts) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			// //101.生成出库任务 => 102.小车搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //通过输送线站号获取提升机号
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			// if (liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
			// return false;
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			//
			// //判断提升机是否处于出库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取源站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftSta == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// //强制预留一台小车给入库任务
			// int lev = Utils.getLev(wrkMast.getSourceLocNo());
			// //获取当前楼层有几台可用小车
			// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			// if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			// int shuttleWrkInObligateCount = 1;//预留小车数量
			// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			// if (config != null) {
			// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			// }
			// //可用出库小车数量(给入库任务预留一台车)
			// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			// //查询楼层已分配车辆的出库任务数量
			// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			// if (wrkMasts.size() >= useShuttleCount) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			// return false;
			// }
			// }
			// boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //判断小车是否到达货物库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// //获取小车到输送站点行走命令
			// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			// if (liftCommand == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			// if (liftCommand2 == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// commands.add(0, liftCommand.get(0));
			// commands.add(liftCommand2.get(0));
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			// wrkMast.setSourceStaNo(liftSta.getStaNo());
			// wrkMast.setModiTime(new Date());
			// wrkMast.setSystemMsg("");//清空消息
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			// return false;
			// }
			// return false;
			// }
			// return true;
			// }
			public synchronized void liftInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
			if (!step0) {
			continue;
			}

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

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

			private boolean liftInExecuteStep0(WrkMast wrkMast) {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
			if (staProtocol == null) {
			return false;
			}
			int led = 1;
			if (wrkMast.getSourceStaNo() == 1022) {
			led = 3;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			//工作号一致判断
			if (!String.valueOf(staProtocol.getFinishWorkNo()).equals(wrkMast.getWmsWrkNo2())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}工作号1，{}工作号2，1135过来的托盘，为将工作号写到至1031", staProtocol.getFinishWorkNo(), wrkMast.getWmsWrkNo2());
			return false;
			}
			}
			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led);
			String errMsg = "";
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, led, new Task(3, errMsg));
			ledThread.error(errMsg);
			}
			}
			String barcode = staProtocol.getBarcode();


			if (!staProtocol.isLoading()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (wrkMast.getSourceStaNo() != 1031) {
			if (!staProtocol.isAutoing()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (Cools.isEmpty(barcode) \|\| "?".endsWith(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			return false;
			}
			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return false;
			}
			}

			short staNo = 1012;
			if (wrkMast.getSourceStaNo() == 1022) {
			staNo = 1023;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			staNo = 1032;
			//检测1135货物是否到达1031，到达才允许走到1032
			if (!(staProtocol.isAutoing()
			&& staProtocol.isLoading())
			) {
			return false;
			}
			}

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			return false;
			}
			return false;
			}

			return true;
			}

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

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

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


			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			// if (liftWrkMast != null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }

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

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

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

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

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

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

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

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

			//调拨任务执行时，不允许有其他入出库任务工作
			boolean checkNoTransferWorking = wrkMastService.checkNoTransferWorking();
			if (checkNoTransferWorking) {
			News.error("调拨任务执行时，不允许有其他入出库任务工作");
			return false;
			}

			}

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

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

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

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

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

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


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

			return true;
			}

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

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

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

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

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

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

			return true;
			}

			public synchronized void liftOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021, 1031));
			for (WrkMast wrkMast : wrkMasts) {

			//检测是否存在入库任务
			Integer checkInSourceStaNo = null;
			if (wrkMast.getStaNo() == 1011) {
			checkInSourceStaNo = 1012;
			} else if (wrkMast.getStaNo() == 1021) {
			checkInSourceStaNo = 1022;
			}

			if (checkInSourceStaNo != null) {
			List<WrkMast> wrkMastInList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("source_sta_no", checkInSourceStaNo)
			.eq("io_type", 1));
			if (!wrkMastInList.isEmpty()) {
			Object o = redisUtil.get(RedisKeyType.DEVP_ERROR_FLAG.key + wrkMast.getStaNo());
			if (o == null) {
			redisUtil.set(RedisKeyType.DEVP_ERROR_FLAG.key + wrkMast.getStaNo(), "lock", 15);
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, wrkMast.getStaNo()));
			setLedErrorData(wrkMast.getStaNo(), "任务冲突");
			}
			News.error("站点存在入库任务,禁止出库,站点={}", wrkMast.getStaNo());
			continue;
			}
			}

			boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
			if (!step1) {
			continue;
			}

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

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

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

			if (!staProtocol.isAutoing()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}
			if (wrkMast.getStaNo() == 1031) {

			//调拨任务执行时，不允许有其他入出库任务工作
			boolean checkNoTransferWorking = wrkMastService.checkNoTransferWorking();
			if (checkNoTransferWorking) {
			News.error("调拨任务执行时，不允许有其他入出库任务工作-出库");
			return false;
			}

			} else {
			if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			// //检测是否存在调拨任务，存在不执行出库
			// boolean checkTransferWrkMast = wrkMastService.checkTransferWrkMast();
			// if (checkTransferWrkMast) {
			// News.error("存在调拨任务，不执行出库");
			// return false;
			// }
			}

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

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

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

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

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

			//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

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

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

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

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

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

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

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
			LiftCommand liftCommand = liftCommands.get(0);

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

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

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

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

			return true;
			}

			/**
			* 四向穿梭车任务完成
			*/
			public synchronized void shuttleFinished() {
			try {
			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.getStatus();
			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) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
			//5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
			//102.小车搬运中 ==> 103.小车搬运完成
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
			//302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
			//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
			//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			continue;//小车未到达目标层
			}
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
			//310.小车移动中 ==> 311.小车移动完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁出提升机中 ==> 小车迁出提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
			//小车放货中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁出提升机中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			//204.小车充电中 ==> 205.小车充电完成
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			}
			// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
			// shuttleThread.setSyncTaskNo(0);
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			// }
			else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (wrkMast1 != null) {
			wrkMast1.setShuttleNo(wrkMast.getShuttleNo());
			log.info("对主工作档进行绑定小车，为了小车进行移车,{},{}", wrkMast1.getWrkNo(), wrkMast.getShuttleNo());
			}
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else {
			continue;
			}

			if (wrkMastService.updateById(wrkMast)) {
			//设置四向穿梭车为空闲状态
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "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 {
			Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
			if (object != null) {
			ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleThread.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "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());
			}
			}
			}
			}

			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 执行移库任务
			*/
			public synchronized void shuttleLocMoveExecute() {
			try {
			//查询移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
			if (!stepTake) {
			continue;
			}

			boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
			if (!stepPut) {
			continue;
			}

			boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
			if (!stepComplete) {
			continue;
			}

			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 移库任务-小车取货中
			* 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 shuttleLocMoveExecuteTake(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}

			return false;
			}
			}
			return true;
			}

			/**
			* 移库任务-小车放货中
			* 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 shuttleLocMoveExecutePut(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 502.小车取货中 ==> 503.小车放货中
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}
			return false;
			}
			return true;
			}

			/**
			* 移库任务-任务完成
			* 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 shuttleLocMoveComplete(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 503.小车放货中 ==> 509.移库完成
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.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;
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo());
			return false;
			}

			if (shuttleProtocol.getHasLift()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车处于顶升状态", wrkMast.getWrkNo());
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 提升机任务完成
			*/
			public synchronized void liftFinished() {
			try {
			for (LiftSlave slave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			if (wrkMast.getStaNo() == 1031) {
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
			} else {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			}
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
			//提升机至放货层 ==> 提升机至放货层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			}
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			liftThread.setSyncTaskNo(0);
			liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "提升机已确认且任务完成状态。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());
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

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

			/**
			* 异常信息记录
			*/
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 2);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 4);
			ledThread.errorReset();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			}

			/**
			* 四向穿梭车异常信息记录
			*/
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取四向穿梭车信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			if (true) {
			// if (crnProtocol.getModeType() != CrnModeType.STOP) {
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
			String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			errorCode, // 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
			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);
			}
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getErrorCode() == null \|\| Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
			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 slave : slaveProperties.getLift()) {
			// 获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}

			BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
			String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			slave.getId(), // 提升机
			null, // plc
			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
			"任务中异常", // 备注
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (liftProtocol.getErrorCode() == null \|\| liftProtocol.getErrorCode().equals("0")) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
			}
			}
			}
			}
			}
			}

			/**
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			public synchronized void loopShuttleCharge() {
			try {

			List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
			if (charges.isEmpty()) {
			return;//无充电桩
			}

			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.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			//判断当前小车是否满足需要充电要求
			if (!shuttleThread.isRequireCharge()) {
			continue;
			}

			WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
			if (wrkMast != null) {//已有充电任务
			continue;
			}

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

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

			if (charge.getStatus() == 0) {
			continue;//充电桩被禁用
			}

			//小车和充电桩在同一层
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			shuttleCharge = charge;
			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 (BasShuttleCharge charge : charges) {
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			//判断当前充电桩是否有小车，如有小车，不分配该充电桩
			ArrayList<String> locs = new ArrayList<>();
			locs.add(charge.getLocNo());
			Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
			if (checkHasShuttle != null) {
			//当前充电桩有穿梭车，不分配该充电桩
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 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
			);
			if (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);

			if (charge.getStatus() == 0) {
			continue;//充电桩被禁用
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			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
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
			log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.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 (!basErrLogService.updateById(latest)) {
			log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}

			shuttleCharge = charge;
			break;
			}
			}
			}
			}

			}
			}


			// -------------------------------------------------------------------------------

			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// 获取空板入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 站点条件判断
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
			&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getWorkNo() == 9999 \|\| staProtocol.getWorkNo() == 9990 \|\| staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			param.setSourceStaNo(emptyInSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("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");
			}
			} else {
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}




			// // 检索库位
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
			// // 工作号
			// int workNo = startupDto.getWorkNo();
			//
			// try {
			// // 插入工作主档
			// WrkMast wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setIoType(10); // 入出库状态：10.空板入库
			// wrkMast.setIoPri(10D); // 优先级：10
			// wrkMast.setCrnNo(startupDto.getCrnNo());
			// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
			// wrkMast.setStaNo(startupDto.getStaNo());
			// wrkMast.setLocNo(startupDto.getLocNo());
			// wrkMast.setFullPlt("N"); // 满板
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk("Y"); // 空板
			// wrkMast.setLinkMis("N");
			//// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
			// // 操作人员数据
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// Integer insert = wrkMastMapper.insert(wrkMast);
			// if (insert == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 更新目标库位状态
			// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
			// locMast.setLocSts("S"); // S.入库预约
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)){
			// throw new CoolException("改变库位状态失败");
			// }
			// // 命令下发区 --------------------------------------------------------------------------
			//
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo((short) workNo);
			// staProtocol.setStaNo(startupDto.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");
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }

			}


			}
			}
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast \|\| wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) { continue; }
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkMast.getWrkNo());
			// 出库模式
			switch (wrkMast.getIoType()) {
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
			break;
			}
			ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
			ledCommand.setStaNo(wrkMast.getStaNo());
			if (wrkMast.getIoType() != 110) {
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
			}
			commands.add(ledCommand);
			}
			Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			}

			try {
			// 修改主档led标记
			for (WrkMast wrkMast : wrkMasts) {
			wrkMast.setOveMk("Y");
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档失败");
			}
			}

			// 更新线程当前工作号集合
			ledThread.setWorkNos(workNos);

			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}
			}

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			// for (LedSlave led : slaveProperties.getLed()) {
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.getWorkNo() != 0) {
			// reset = false;
			// break;
			// }
			// }
			// // 获取led线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			// // led显示默认内容
			// if (reset) {
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			// log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// }
			// }
			// }
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			if (shuttleCharge == null) {
			continue;
			}
			if (staProtocol.getWorkNo() != 0) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
			// led显示默认内容
			if (reset && !ledThread.isLedMk()) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			} else {

			}
			}
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（入库版)
			* tip：同步
			*/
			@Transactional
			public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
			LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(15D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// // 修改目标库位状态
			// if (loc.getLocSts().equals("O")) {
			// loc.setLocSts("S"); // S.入库预约
			// loc.setModiTime(new Date());
			// if (!locMastService.updateById(loc)) {
			// throw new CoolException("更新目标库位状态失败");
			// }
			// } else {
			// throw new CoolException("移转失败");
			// }
			wrkMast.setLocNo(shallowLoc.getLocNo());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("修改阻塞入库任务失败");
			}
			}

			/**
			* 因双深库位阻塞，对浅库位进行移转（立即执行版)
			* tip：同步
			*/
			private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			if (null != loc) { break; }
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
			if (null != loc) { break; }
			}
			}
			}
			if (null == loc) {
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setQty(locDetl.getQty());
			VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)){
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			}

			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove1(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) { continue; } // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取移库工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			if (null != wrkMast) { continue; }

			LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			LocMast loc = locMastService.queryDemoLoc(crn.getId());
			if (null == sourceLoc \|\| null == loc) { continue; }

			String sourceLocNo = sourceLoc.getLocNo();
			String locNo = loc.getLocNo();

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			String chargeLocNo = shuttleCharge.getLocNo();
			wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(13D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			wrkMast.setLocNo(locNo); // 目标库位
			wrkMast.setFullPlt("N"); // 满板：Y
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
			wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
			wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
			wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
			wrkMast.setIoPri((double) 999);
			wrkMast.setLocNo(chargeLocNo);
			wrkMast.setShuttleNo(shuttle.getId());
			wrkMast.setMemo("charge");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			// wrkDetl.setWrkNo(workNo);
			// wrkDetl.setIoTime(new Date());
			// wrkDetl.setAnfme(locDetl.getAnfme());
			// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
			// wrkDetl.setAppeTime(new Date());
			// wrkDetl.setModiTime(new Date());
			// if (!wrkDetlService.insert(wrkDetl)) {
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// 修改源库位状态
			if (sourceLoc.getLocSts().equals("D")) {
			sourceLoc.setLocSts("R"); // R.出库预约
			sourceLoc.setModiTime(new Date());
			if (!locMastService.updateById(sourceLoc)){
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			throw new CoolException("移转失败");
			if (!wrkMastService.insert(wrkMast)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			continue;
			}

			News.taskInfo(wrkMast.getWrkNo(), "保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}

			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 堆垛机命令下发后，异步修改工作档状态
			* 执行四向穿梭车充电任务
			*/
			public synchronized void crnIoWrkMast(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			Date now = new Date();
			// 堆垛机正在运行
			if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 获取工作档
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) { continue; }
			// 入库
			if (wrkMast.getWrkSts() == 1 \|\| wrkMast.getWrkSts() == 2) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			}
			// 出库、移库
			if (wrkMast.getWrkSts() == 11) {
			log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			wrkMast.setWrkSts(12L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
			public synchronized void executeShuttleCharge() {
			try {
			//查询小车充电任务
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
			if (wrkMast == null) {
			continue;
			}

			boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
			if (!result1) {
			continue;
			}

			boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩
			if (!result2) {
			continue;
			}

			boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
			if (!result3) {
			continue;
			}

			boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
			if (!result4) {
			continue;
			}

			boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩
			if (!result5) {
			continue;
			}
			}

			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 小车前往充电桩
			*/
			private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			//小车在充电桩位置
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//调度小车去充电桩
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
			if (!dispatched) {
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}
			return true;
			}

			/**
			* 小车到达充电桩
			*/
			private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//判断是否存在未完成的移动任务
			WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			if (moveWrk != null) {
			return false;
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			return false;
			}

			//小车在充电桩位置
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);

			return false;
			}
			return true;
			}

			//小车开始充电
			private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			//小车已经在充电桩位置，下发充电命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

			List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
			assignCommand.setCommands(commands);//运行命令

			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
			wrkMast.setModiTime(new Date());
			if (!wrkMastService.updateById(wrkMast)) {
			return false;
			}

			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);

			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
			return false;
			}
			return true;
			}

			//小车停止充电
			private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			if (!shuttleThread.isChargingCompleted()) {
			return false;
			}

			//小车已经在充电桩位置，下发停止充电命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)

			List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
			assignCommand.setCommands(commands);//运行命令

			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			return false;
			}
			return true;
			}

			//小车离开充电桩
			private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
			if (basShuttleCharge == null) {
			return false;
			}

			//调度小车去待机位
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
			if (!dispatched) {
			return false;
			}

			wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 执行小车移库任务
			*/
			public synchronized void shuttleMoveExecute() {
			try {
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportLift(wrkMast);
			} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportNoLift(wrkMast);
			} else {
			shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			LiftThread liftThread;
			if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			} else {
			liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}
			}
			//liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
			} else {
			//放货位置是提升机
			transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
			}
			}

			private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
			WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (mainWrk != null && mainWrk.getIoType() == 1) {
			//入库
			noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
			} else if (mainWrk != null && mainWrk.getIoType() == 101) {
			//出库
			noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
			}
			}


			/**
			* 入出库模式切换函数
			*/
			public synchronized void ioConvert() {
			for (LedSlave led : slaveProperties.getLed()) {
			NormalLedThread ledThread = (NormalLedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			ledThread.reset();
			}
			try {
			// 根据输送线plc遍历
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			WrkMast pakout = wrkMastService.selectWorkingPakout(1031);
			if (pakout != null) {
			if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) {
			// 出库切换中
			WrkMast pakin = wrkMastService.selectWorkingPakin(1032);
			if (pakin == null && !devpThread.getStation().get(1031).isLoading()
			&& !devpThread.getStation().get(1032).isLoading()) {
			// 出库模式
			devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE;
			}
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			}