#

Junjie

2025-01-14 c4281fca922cfdda53dec5dfe79890db7671d19d

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

@@ -55,6 +55,8 @@
    @Autowired
    private BasShuttleErrService basShuttleErrService;
    @Autowired
    private BasLiftErrService basLiftErrService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasMapService basMapService;
@@ -837,45 +839,46 @@
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
                    if (wrkMast != null) {
                        switch (wrkMast.getWrkSts().intValue()) {
//                            case 5://5.小车搬运中 ==> 9.入库完成
//                                wrkMast.setWrkSts(9L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
//                            case 22://22.小车搬运中 ==> 23.小车搬运完成
//                                wrkMast.setWrkSts(23L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
                            case 302://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);
                                break;
                            case 110://310.小车移动中 ==> 311.小车移动完成
                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                                shuttleThread.setTaskNo(0);
                                break;
                            default:
                        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);
                        } 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);
                        } 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);
                        }
//                        switch (wrkMast.getWrkSts().intValue()) {
////                            case 5://5.小车搬运中 ==> 9.入库完成
////                                wrkMast.setWrkSts(9L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
////                            case 22://22.小车搬运中 ==> 23.小车搬运完成
////                                wrkMast.setWrkSts(23L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
//                            case 302:
//                                wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
//                                break;
//                            case WrkStsType.MOVE_SHUTTLE.sts:
//                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
//                                shuttleThread.setSyncTaskNo(0);
//                                break;
//                            default:
//                        }

                        if (wrkMastService.updateById(wrkMast)) {
                            if (wrkMast.getWrkSts() == 111) {
                                // 保存工作主档历史档
                                if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                                    log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                                }
                                // 删除工作主档
                                if (!wrkMastService.deleteById(wrkMast)) {
                                    log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
                                }
                            }

                            //设置四向穿梭车为空闲状态
                            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                            News.info("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());
@@ -1293,221 +1296,162 @@
        }
    }

//    /**
//     * 异常信息记录
//     */
//    public void recErr() {
//        try {
//            this.recShuttleErr();
//            this.recLiftErr();
//        } catch (Exception e) {
//            News.error("recErr fail", e);
//        }
//    }
    /**
     * 异常信息记录
     */
    public void recErr() {
        try {
            this.recShuttleErr();
            this.recLiftErr();
        } 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
//            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
//            if (shuttleThread == null) {
//                continue;
//            }
//            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//            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.getErrState() != null && shuttleProtocol.getErrState() == 1) {
//                        WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
//                        if (wrkMast == null) {
//                            continue;
//                        }
//                        BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
//                        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
//                                shuttleProtocol.getErrCode(),    // 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.getErrState() == null || shuttleProtocol.getErrState() == 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());
//                        }
//                    }
//                }
//            }else {
////                //无任务
////                BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
////                // 有异常
////                if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
////                    // 记录新异常
////                    if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
////                        BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
////                        String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
////                        BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
////                                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
////                                shuttleSlave.getId(),    // 四向穿梭车
////                                null,    // plc
////                                null,    // 目标库位
////                                null,    // 目标站
////                                null,    // 源站
////                                null,    // 源库位
////                                null,    // 条码
////                                (int)shuttleProtocol.getStatusErrorCode(),    // 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 (!basShuttleErrLogService.insert(basShuttleErrLog)) {
////                            News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.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 (!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 liftSlave : slaveProperties.getLift()) {
//            // 获取提升机信息
//            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
//            if (liftThread == null) {
//                continue;
//            }
//            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//            if (liftProtocol == null) {
//                continue;
//            }
//
//            if (liftProtocol.getTaskNo() != 0) {
//                //有任务
//                BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
//                // 有异常
//                if (latest == null) {
//                    if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
//                        WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
//                        if (wrkMast == null) {
//                            continue;
//                        }
//
//                        String errName = "";
//                        if (liftProtocol.getFrontOverrun()) {
//                            errName = "前超限";
//                        } else if (liftProtocol.getBackOverrun()) {
//                            errName = "后超限";
//                        } else if (liftProtocol.getLeftOverrun()) {
//                            errName = "左超限";
//                        } else if (liftProtocol.getRightOverrun()) {
//                            errName = "右超限";
//                        } else if (liftProtocol.getOverHeight()) {
//                            errName = "超高";
//                        } else if (liftProtocol.getOverWeight()) {
//                            errName = "超重";
//                        }
//
//                        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
//                                liftSlave.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:{}]", liftSlave.getId(), errName);
//                        }
//                    }
//                } else {
//                    // 异常修复
//                    if (liftProtocol.getDeviceError() == null || !liftProtocol.getDeviceError()) {
//                        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:{}]", liftSlave.getId(), latest.getId());
//                        }
//                    }
//                }
//            }
//        }
//    }
    /**
     * 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;
            }
            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 (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
            if (forkLiftThread == null) {
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }

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

                        BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.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
                                forkLiftSlave.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(forkLiftProtocol)    // 系统状态数据
                        );
                        if (!basLiftErrLogService.insert(basLiftErrLog)) {
                            News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
                        }
                    }
                } else {
                    // 异常修复
                    if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 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:{}]", forkLiftSlave.getId(), latest.getId());
                        }
                    }
                }
            }
        }
    }

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

@@ -1901,7 +1845,7 @@
     */
    public synchronized void executeShuttleCharge() {
        try {
            //查询小车移库任务
            //查询小车充电任务
            for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
                WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
                if(wrkMast == null) {
@@ -2027,7 +1971,7 @@
            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.shuttleChargeCommand(assignCommand, shuttleThread, true);
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);//运行命令

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
@@ -2066,14 +2010,8 @@
            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.shuttleChargeCommand(assignCommand, shuttleThread, false);
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);//运行命令

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

            //下发任务
            shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -2094,22 +2032,22 @@
                return false;
            }

            ShuttleChargeType chargeType = ShuttleChargeType.get(wrkMast.getMk());
            ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
            if(chargeType == null) {
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                //调度小车去待机位
                boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
                if (!dispatched) {
                    return false;
                }
            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, 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;
@@ -2167,7 +2105,7 @@

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

@@ -2191,7 +2129,7 @@
            //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 = wrkMastService.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());
                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(), liftSta.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

@@ -2204,33 +2142,34 @@
            //获取小车到输送站点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                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
            }

            assignCommand.setCommands(commands);

            //*************尝试锁定目标站路径***************
            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
            if (targetNodes == null) {
                return false;//未获取到节点
            }
            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
            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()), shuttleProtocol.getShuttleNo(), 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***************
//            //*************尝试锁定目标站路径***************
//            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
//            if (targetNodes == null) {
//                return false;//未获取到节点
//            }
//            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
//            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()), shuttleProtocol.getShuttleNo(), 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***************

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
//            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -2262,14 +2201,14 @@
                return false;
            }
            if (!forkLiftThread.isIdle()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                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;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                    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(), wrkMast.getLiftNo());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }
@@ -2279,7 +2218,7 @@
            //获取目标站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (sourceLiftSta == null || liftSta == null) {
                News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                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
            }

@@ -2297,6 +2236,7 @@
            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中  303.小车移动至站点完成 ==> 306.提升机搬运中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -2330,7 +2270,7 @@

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

@@ -2340,17 +2280,6 @@
                wrkMast.setLiftNo(null);//释放提升机
                wrkMast.setModiTime(now);
                wrkMastService.updateById(wrkMast);

                if (wrkMast.getWrkSts() == WrkStsType.COMPLETE_MOVE.sts) {
                    // 保存工作主档历史档
                    if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                        log.info("保存工作历史档[workNo={}]失败", wrkMast.getWrkNo());
                    }
                    // 删除工作主档
                    if (!wrkMastService.deleteById(wrkMast)) {
                        log.info("删除工作主档[workNo={}]失败", wrkMast.getWrkNo());
                    }
                }
                return false;
            }

@@ -2389,6 +2318,7 @@
            }

            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径计算失败
            }

@@ -2410,6 +2340,7 @@

            wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {