#

Junjie

2023-11-20 c313704cf39825eb42452fc5f15a9ec7f56872a0

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

@@ -634,7 +634,7 @@
     */
    public synchronized void initRealtimeBasMap() {
        for (int i = 1; i <= 10; i++) {//总共四层楼
            Object data = redisUtil.get("realtimeBasMap_" + i);
            Object data = redisUtil.get(RedisKeyType.MAP.key + i);
            if (data == null) {//redis地图数据为空，从数据库中获取
                BasMap basMap = basMapService.selectLatestMap(i);
                if (basMap == null) {
@@ -656,7 +656,7 @@
                }

                //将数据库地图数据存入redis
                redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
                redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
            }
        }
    }
@@ -667,7 +667,7 @@
    public synchronized void restartTaskFromRedis() {
        HashMap<Object, Object> map = redisUtil.getRedis();
        for (Object key : map.keySet()) {
            if (key.toString().contains("lift_wrk_no_")) {//提升机任务
            if (key.toString().contains(RedisKeyType.LIFT.key)) {//提升机任务
                LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
                if (redisCommand == null) {
                    continue;
@@ -690,7 +690,7 @@
                liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态

            }else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
            }else if(key.toString().contains(RedisKeyType.SHUTTLE.key)){//四向穿梭车任务
                ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
                if (redisCommand == null) {
                    continue;
@@ -737,6 +737,7 @@

            // 判断是否满足入库条件，自动、空闲、有物
            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
                News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
                continue;
            }

@@ -797,7 +798,8 @@
    public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
        if (wrkMast.getWrkSts() == 4) {
            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
                News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
                return false;
            }

@@ -811,16 +813,19 @@
                return false;
            }
            if (!shuttleProtocol.isIdle()) {
                News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            //判断小车令牌是否未被占领
            if (shuttleProtocol.getToken() != 0) {
                News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//小车已被独占，禁止再派发任务
            }

            //判断小车是否存在移动任务
            WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
            if (hasMoveWorking != null) {
                News.info("{}任务，{}小车，存在移动任务，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//存在移动任务，禁止执行入库任务
            }

@@ -828,12 +833,14 @@
            if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车不在输送站点位置
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
                News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //小车已抵达输送站点位置，进行搬运货物
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
            if (result == null) {//路径计算失败
                News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -884,6 +891,7 @@
            wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
            StaDesc staDesc = staDescService.selectOne(wrapper);
            if (staDesc == null) {
                News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
                return false;//出库路径不存在
            }

@@ -894,16 +902,19 @@
            }

            if (!basDevp.getAutoing().equals("Y")) {
                News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
                return false;//不是自动状态
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

            Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
            List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
            if (!liftWrkMasts.isEmpty()) {
                News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo);
                return false;//存在入库任务，禁止出库
            }

@@ -914,11 +925,13 @@
            }

            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
                News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
                return false;//站点必须自动、空闲、没有托盘
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
                return false;
            }

@@ -932,10 +945,12 @@
                return false;
            }
            if (!shuttleProtocol.isIdle()) {
                News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            //判断小车令牌是否未被占领
            if (shuttleProtocol.getToken() != 0) {
                News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//小车已被独占，禁止再派发任务
            }

@@ -943,12 +958,14 @@
            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.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //小车已抵达货物位置，进行搬运货物
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
            if (result == null) {//出库路径计算失败
                News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -986,8 +1003,6 @@
            }

            //四向穿梭车状态为等待确认、小车处于空闲状态


            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id  //任务完成等待确认
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
@@ -1097,11 +1112,13 @@
            }

            if (!liftProtocol.isIdle()) {
                News.info("{}号提升机，忙碌中", liftSlave.getId());
                continue;
            }

            //判断提升机令牌是否被占用
            if (liftProtocol.getToken() != 0) {
                News.info("{}号提升机，令牌已被独占", liftSlave.getId());
                continue;
            }

@@ -1115,6 +1132,7 @@
                //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
                WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
                if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
                    News.info("{0}号提升机，被其他任务{1}占用且和当前任务{2}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
                    continue;
                }

@@ -1150,6 +1168,7 @@
            }

            if (!sourceBasDevp.getInEnable().equals("Y")) {
                News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
                return false;//站点不可入
            }

@@ -1158,10 +1177,12 @@
            Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
            Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
            if (outInModel1 == null || outInModel2 == null || outInModel3 == null) {
                News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
                return false;//不存在出入库模式
            }

            if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) {
                News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo());
                return false;//只要有一个处于出库模式，禁止入库
            }

@@ -1174,26 +1195,31 @@
                return false;
            }
            if (!liftProtocol.isIdle()) {
                News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }
            //判断提升机令牌是否未被占领
            if (liftProtocol.getToken() != 0) {
                News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机已被独占，禁止再派发任务
            }

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

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

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                News.info("{}任务，{}号提升机，当前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
            }

@@ -1206,6 +1232,7 @@
            }

            if (targetStaProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
                return false;//提升机站点有托盘，禁止派发
            }

@@ -1213,7 +1240,7 @@

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
            if (wrkMast.getIoType() == 53) {
            if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                //拣料再回库，重新分配设备工作号
                Random random = new Random();
                int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//获取设备工作号
@@ -1262,12 +1289,14 @@
            //获取出库站点(目标站)
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
                News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
                return false;//出库站点不存在
            }

            //获取源站对应的牛眼提升机站点编号(起点编号)
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
                return false;//找不到站点
            }
            Integer startSta = liftStaProtocol.getStaNo();
@@ -1278,11 +1307,13 @@
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;
                }
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

@@ -1296,21 +1327,25 @@
            }

            if (!liftProtocol.isIdle()) {
                News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }
            //判断提升机令牌是否未被占领
            if (liftProtocol.getToken() != 0) {
                News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机已被独占，禁止再派发任务
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获目标站源站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (targetBasDevp == null) {
                News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo());
                return false;//站点不存在
            }
            //获取牛眼提升机站点编号(目标编号)
@@ -2287,6 +2322,40 @@
        return false;
    }

    /**
     * AGV补货(悬挂线通知AGV取货)
     */
    public void agvRestockIntoByHangingWire() {
        //检测350和351扫码器
        int[] barcodeStaNo = {11, 12};//11 => 350站扫码器,12 => 351站扫码器
        for (int staNo : barcodeStaNo) {
            // 获取条码扫描仪信息
            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
            if (barcodeThread == null) {
                continue;
            }
            String barcode = barcodeThread.getBarcode();
            if(!Cools.isEmpty(barcode)) {
                if (barcode.contains("NoRead")) {
                    continue;
                }

                String agvStaNo = null;
                if (staNo == 11) {
                    agvStaNo = "303-1";
                }else {
                    agvStaNo = "304-1";
                }
                //通知AGV取货
                boolean result = agvRestockCall(agvStaNo, barcode);
                if (result) {
                    barcodeThread.setBarcode("");
                }
                log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
            }
        }
    }

    // 300站拣料
    public void pick300() {
        //检测300站是否自动、有物、工作号
@@ -2384,8 +2453,64 @@
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
                    //for (WrkDetl wrkDetl : wrkDetls) {
                    //    LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    //
                    //    locDetls.forEach(locDetl1 -> {
                    //        //工作档中存在该物料则跳过
                    //        String suppCode = "";
                    //
                    //        if (wrkDetl.getMatnr().equals(locDetl1.getMatnr())) {
                    //            Double anfme = 0D;
                    //            if (locDetl != null) {
                    //                anfme = locDetl.getAnfme();
                    //            }
                    //            if (wrkDetl.getSuppCode() != null) {
                    //                suppCode = wrkDetl.getSuppCode();
                    //            }
                    //            ledCommand.getMatDtos()
                    //                    .add(new MatDto(wrkDetl.getMatnr()
                    //                            , wrkDetl.getMaktx()
                    //                            , wrkDetl.getAnfme()
                    //                            , (wrkDetl.getAnfme()-anfme)
                    //                            , wrkDetl.getSpecs()
                    //                            , suppCode));
                    //        } else {
                    //            if (locDetl1.getSuppCode() != null) {
                    //                suppCode = locDetl1.getSuppCode();
                    //            }
                    //            ledCommand.getMatDtos()
                    //                    .add(new MatDto(locDetl1.getMatnr()
                    //                            , locDetl1.getMaktx()
                    //                            , 0D
                    //                            , locDetl1.getAnfme()
                    //                            , locDetl1.getSpecs()
                    //                            , suppCode));
                    //        }
                    //    });
                    //    //LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    //}
                    List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
                    locDetls.forEach(locDetl -> {
                        Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no",wrkMast.getWrkNo());
                        Utils.wapperSetCondition(wrapper,"batch",locDetl.getBatch());
                        Utils.wapperSetCondition(wrapper,"three_code",locDetl.getThreeCode());
                        Utils.wapperSetCondition(wrapper,"dead_time",locDetl.getDeadTime());
                        WrkDetl detl = wrkDetlService.selectOne(wrapper);
                        if (Cools.isEmpty(detl)) {
                            String suppCode = "";
                            if (locDetl.getSuppCode() != null) {
                                suppCode = locDetl.getSuppCode();
                            }
                            ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
                        } else {
                            String suppCode = "";
                            if (detl.getSuppCode() != null) {
                                suppCode = detl.getSuppCode();
                            }
                            ledCommand.getMatDtos().add(new MatDto(detl.getMatnr(), detl.getMaktx(), detl.getAnfme(), (locDetl.getAnfme() - detl.getAnfme()), detl.getSpecs(), suppCode));
                        }
                    });
                }
                commands.add(ledCommand);
            }
@@ -2479,7 +2604,7 @@
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                ledThread.setLedMk(false);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }else {
@@ -2558,7 +2683,7 @@
            wrkCharge.setShuttleNo(shuttle.getId());
            wrkCharge.setCharge(shuttleCharge.id);
            wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
            wrkCharge.setWrkSts(51L);   // 21.准备充电
            wrkCharge.setWrkSts(51L);   // 51.准备充电
            wrkCharge.setIoPri((double) 10);
            wrkCharge.setLocNo(chargeLocNo);
            wrkCharge.setMemo("charge");
@@ -2740,11 +2865,13 @@

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

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

@@ -2769,6 +2896,7 @@
            //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftSta.getLiftNo());
            if (liftWrkMast != null) {
                News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

@@ -2779,11 +2907,13 @@
            }
            boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
            if (!checkPathIsAvailable) {
                News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//检测目标站点路径是否未被占用
            }
            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径锁定失败
            }
            //*************尝试锁定目标站路径***************
@@ -2844,6 +2974,7 @@
            }

            if (basLift.getPoint() == null) {
                News.info("{}任务，{}号提升机，没有提升机点位坐标，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
                return false;//没有设置提升机点位坐标
            }

@@ -2851,6 +2982,7 @@
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }
@@ -2865,6 +2997,7 @@
            }

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

@@ -2880,11 +3013,13 @@

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //小车令牌是否被任务独占
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -2894,6 +3029,7 @@
                //调度提升机

                if (liftProtocol.getToken() != 0) {
                    News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                    return false;//提升机令牌被占用
                }

@@ -2933,11 +3069,13 @@

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

            //判断小车是否为当前任务独占
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -3000,23 +3138,27 @@
                return false;
            }
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    News.info("{}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
                }
            }

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

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

@@ -3032,11 +3174,13 @@

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            //判断小车是否为当前任务独占
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车当前任务未被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -3045,6 +3189,7 @@
            //获取目标站
            LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (sourceLiftSta == null || liftSta == null) {
                News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                return false;//缺少站点信息
            }

@@ -3093,6 +3238,7 @@
                return false;
            }
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

@@ -3100,12 +3246,14 @@
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    News.info("{}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
                }
            }

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

@@ -3121,11 +3269,13 @@

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
                News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //判断小车是否为当前任务独占
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -3141,6 +3291,7 @@
                return false;//没有提升机数据
            }
            if (basLift.getPoint() == null) {
                News.info("{}任务，{}号提升机，缺少提升机点位坐标，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//没有设置提升机点位坐标
            }

@@ -3200,11 +3351,13 @@

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //判断小车令牌是否为当前任务
            if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }