#

Junjie

昨天 b63790fa580ea78777f16bff6bc79373d675dd10

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

@@ -12,9 +12,10 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.LiftDispatchUtils;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.command.*;
@@ -57,8 +58,6 @@
    @Autowired
    private ConfigService configService;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private NavigateMapData navigateMapData;
    @Autowired
    private NavigateUtils navigateUtils;
@@ -67,13 +66,15 @@
    @Autowired
    private ShuttleAction shuttleAction;
    @Autowired
    private ForkLiftAction forkLiftAction;
    private LiftAction liftAction;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private BasShuttleChargeService basShuttleChargeService;
    @Autowired
    private DeviceConfigService deviceConfigService;
    @Autowired
    private LiftDispatchUtils liftDispatchUtils;

    /**
     * 初始化实时地图
@@ -568,9 +569,9 @@
    }

    /**
     * 货叉提升机任务
     * 提升机任务
     */
    public synchronized void forkLiftIoExecute() {
    public synchronized void liftIoExecute() {
        try {
            //搜索是否有待处理的任务
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
@@ -649,65 +650,65 @@
            if (liftNo == null) {
                //未分配提升机
                Integer staNo = wrkMast.getSourceStaNo();
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
                if(liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }

                //申请提升机资源
                boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, wrkMast.getWrkNo());
                if(!applyForkLift) {
                boolean applyLift = liftAction.applyLift(liftNo, wrkMast.getWrkNo());
                if(!applyLift) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止入库", wrkMast.getWrkNo());
                    return false;
                }
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
            if (liftThread == null) {
                return false;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }
            if (!forkLiftThread.isIdle()) {
            if (!liftThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
                return false;
            }

            //判断提升机是否处于入库模式
            if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
            if (!liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
                return false;
            }

            //请求上级系统，是否允许入库
            boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
            boolean inMission = LiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
            if (!inMission) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
                return false;
            }

            //获取提升机命令
            ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
            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(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
            assignCommand.setLiftNo(liftNo);
            assignCommand.setTaskNo(wrkMast.getWrkNo());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id);

            wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中  1.生成入库任务 ==> 3.提升机搬运中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
            }
            return false;
        }
@@ -724,7 +725,7 @@
        //103.小车搬运完成 ==> 104.提升机搬运中
        if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
            //获取源站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            if (liftSta == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
                return false;//找不到站点
@@ -784,51 +785,51 @@
                    return false;
                }
                //申请提升机资源
                boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
                if(!applyForkLift) {
                boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
                if(!applyLift) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止执行出库", wrkMast.getWrkNo());
                    return false;
                }
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
            if (liftThread == null) {
                return false;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }
            if (!forkLiftThread.isIdle()) {
            if (!liftThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
                return false;
            }

            //判断提升机是否处于出库模式
            if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
            if (!liftProtocol.getIOModeType().equals(LiftIoModeType.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;
            }

            //请求上级系统，是否允许出库
            boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
            boolean outMission = LiftUtils.queryOutMission(wrkMast.getStaNo());
            if (!outMission) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
                return false;
            }

            //获取提升机命令
            ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
            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(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
            assignCommand.setLiftNo(liftNo);
            assignCommand.setTaskNo(wrkMast.getWrkNo());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id);

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中  103.生成入库任务 ==> 104.提升机搬运中
            wrkMast.setShuttleNo(null);//释放小车
@@ -836,7 +837,7 @@
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
            }
            return false;
        }
@@ -844,61 +845,63 @@
    }

    /**
     * 货叉提升机任务完成
     * 提升机任务完成
     */
    public synchronized void forkLiftFinished() {
    public synchronized void liftFinished() {
        try {
            List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                    .eq("device_type", String.valueOf(SlaveType.ForkLift)));
            for (DeviceConfig device : forkliftList) {
            List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                    .eq("device_type", String.valueOf(SlaveType.Lift)));
            for (DeviceConfig device : liftList) {
                //获取提升机信息
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
                if(forkLiftThread == null) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
                if(liftThread == null) {
                    continue;
                }
                ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                if (forkLiftProtocol == null) {
                LiftProtocol liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    continue;
                }

                //提升机为等待确认且空闲
                if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
                        && forkLiftProtocol.getWrkNo() != 0
                if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
                        && liftProtocol.getTaskNo() != 0
                ) {
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
                    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);
                            wrkMast.setLiftNo(null);//释放提升机
                            forkLiftThread.setSyncTaskNo(0);
                        }else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.sts) {
                            //303.小车移动至近点完成 -- 调度提升机到小车层
                        } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
                            //104.提升机搬运中 ==> 109.出库完成
                            //304.提升机搬运中 ==> 109.出库完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                            wrkMast.setLiftNo(null);//释放提升机
                            forkLiftThread.setSyncTaskNo(0);
                            redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3);
                        } 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);
                            forkLiftThread.setSyncTaskNo(0);
                        } else {
                            News.error("提升机确认失败，提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                            return;
                        }

                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            forkLiftThread.reset();
                            News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo());
                            liftThread.reset();
                            News.info("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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
                            News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                        }
                    }else {
                        boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(forkLiftProtocol.getWrkNo(), WrkIoType.FORKLIFT_MOVE.id);
                        boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(liftProtocol.getTaskNo(), WrkIoType.PREVIEW_LIFT_MOVE.id);
                        if (checkPreviewDispatchForkLift) {
                            //属于提升机预调度移动任务
                            //无工作档支撑，直接确认完成
                            forkLiftThread.setSyncTaskNo(0);
                            forkLiftThread.reset();
                            News.info("已确认提升机预调度移动任务。提升机号={}", forkLiftProtocol.getLiftNo());
                            liftThread.setSyncTaskNo(0);
                            liftThread.reset();
                            News.info("已确认提升机预调度移动任务。提升机号={}", liftProtocol.getLiftNo());
                        }
                    }
                }
@@ -1485,35 +1488,15 @@
                return false;
            }

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

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo());
            //搜索最近且无故障提升机
            LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
            if(recentLiftStation == null) {
                News.info("{}号小车，{}目标库位，没有可用空闲输送站点", shuttleProtocol.getShuttleNo(), wrkMast.getLocNo());
                return false;
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo());
                return false;
            }

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

            if (liftStaTarget.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftStaTarget.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
            LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByLev(recentLiftStation.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
            if(targetLiftSta == null) {
                return false;
            }

@@ -1524,7 +1507,7 @@
            assignCommand.setAuto(true);//自动模式

            //计算近点位置
            String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK), null, null, 1);
            String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), recentLiftStation.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
            if (endLocation == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车近点位置计算失败", wrkMast.getWrkNo());
                return false;
@@ -1533,6 +1516,8 @@
            //小车已在近点位置无需前往
            if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
                wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 303.小车移动至近点完成
                wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
                wrkMast.setStaNo(targetLiftSta.getStaNo());
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -1549,6 +1534,8 @@
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至近点中
            wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
            wrkMast.setStaNo(targetLiftSta.getStaNo());
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
@@ -1591,14 +1578,9 @@
            }

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

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftSta.getHasCar()) {
@@ -1607,14 +1589,9 @@
            }

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

            if (liftStaTarget.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftStaTarget.getHasCar()) {
@@ -1622,29 +1599,47 @@
                return false;
            }

            List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("io_type", 101)
                    .in("wrk_sts"
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
                            , WrkStsType.OUTBOUND_LIFT_RUN.sts
                            , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
                    )
            );
            for (WrkMast outWrkMast : outWrkMastList) {
                if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在正在执行的小车出库任务，禁止移动至站点", wrkMast.getWrkNo());
            if (wrkMast.getLiftNo() == null) {
                //申请提升机资源
                boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
                if(!applyLift) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动", wrkMast.getWrkNo());
                    return false;
                }
                return false;
            }

            if (wrkMast.getLiftNo() == null) {
                //申请提升机资源(该任务需要换层必须提前独占提升机)
                boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
                if(!applyForkLift) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动至站点", wrkMast.getWrkNo());
                    return false;
                }
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }

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

            if (!liftThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                return false;
            }

            int targetLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            if (liftProtocol.getLev() != targetLev) {
                //获取提升机命令
                LiftCommand liftCommand = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), targetLev);
                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(wrkMast.getLiftNo());
                assignCommand.setTaskNo(wrkMast.getWrkNo());
                assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机在{}层，提升机不在小车层，调度移动中", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
                return false;
            }

@@ -1655,7 +1650,7 @@
            assignCommand.setAuto(true);//自动模式

            //获取小车到提升机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getCurrentLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread, "inLift");
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
@@ -1689,23 +1684,23 @@

        //提升机搬运中  305.小车迁入提升机完成 ==> 306.提升机搬运中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
            if (forkLiftThread == null) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }
            if (!forkLiftThread.isIdle()) {
            if (!liftThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                return false;
            }

            //获取源站
            ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            //获取目标站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (sourceLiftSta == null || liftSta == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                return false;//缺少站点信息
@@ -1717,23 +1712,23 @@
            }

            //获取提升机命令
            ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
            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(wrkMast.getLiftNo().shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
            assignCommand.setLiftNo(wrkMast.getLiftNo());
            assignCommand.setTaskNo(wrkMast.getWrkNo());
            assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);

            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中  305.小车迁入提升机完成 ==> 306.提升机搬运中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
            }
        }
        return true;
@@ -1857,162 +1852,6 @@
            }
        }
        return true;
    }

    //自动切换出入库模式
    public void autoSwitchForkLiftIOMode() {
//        List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
//                .eq("device_type", String.valueOf(SlaveType.ForkLift)));
//        for (DeviceConfig device : forkliftList) {
//            Integer liftNo = device.getDeviceNo();
//            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
//            if (forkLiftThread == null) {
//                continue;
//            }
//            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//            if (forkLiftProtocol == null) {
//                continue;
//            }
//
//            List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
//            if (liftAllStaNo.isEmpty()) {
//                continue;
//            }
//
//            List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
//            if (conveyorBindLiftAllStaNo.isEmpty()) {
//                continue;
//            }
//
//            //获取入库任务
//            List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                    .in("sta_no", liftAllStaNo)
//                    .in("wrk_sts"
//                            , WrkStsType.NEW_INBOUND.sts
//                            , WrkStsType.INBOUND_DEVICE_RUN.sts
//                            , WrkStsType.INBOUND_LIFT_RUN.sts
//                            , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
//                            , WrkStsType.INBOUND_SHUTTLE_RUN.sts
//                            , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
//                    ));
//
//            //获取出库任务
//            List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
//                    .in("sta_no", conveyorBindLiftAllStaNo)
//                    .in("wrk_sts"
//                            , WrkStsType.NEW_OUTBOUND.sts
//                            , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
//                            , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
//                            , WrkStsType.OUTBOUND_LIFT_RUN.sts
//                            , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
//                    ));
//
//            if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
//                //未知模式
//                if (!inWrkMasts.isEmpty()) {
//                    forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
//                } else if (!outWrkMasts.isEmpty()) {
//                    forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
//                }else {
//                    forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
//                }
//            } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
//                //入库模式
//                if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
//                    forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
//                }
//            } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
//                //出库模式
//                if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
//                    forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
//                }
//            }
//        }
    }

    //出库任务预调度提升机
    public void outTaskPreviewDispatchForkLift() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .in("wrk_sts"
                        , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
                ));
        for (WrkMast wrkMast : wrkMasts) {
            if(wrkMast.getShuttleNo() == null){
                continue;
            }

            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                continue;
            }

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

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

            //通过输送线站号获取提升机号
            Integer 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());
                continue;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                continue;
            }

            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }

            //存在调度锁
            Object object = redisUtil.get(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo());
            if (object != null) {
                continue;
            }

            //申请提升机资源
            boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, null);
            if(!applyForkLift) {
                continue;//提升机已被绑定，不再执行预调度任务
            }

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

            //提升机不在出库层
            if (forkLiftProtocol.getLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
                continue;
            }

            //移动
            int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//获取任务号

            //获取提升机命令
            ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);

            redisUtil.set(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo(), "lock", 30);//30秒不再调度
        }
    }

}