zy-wcs.git - Gitblit

			@@ -1,13 +1,17 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.MapNode;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.*;
			@@ -18,31 +22,26 @@
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LiftSlave;
			import com.zy.core.model.ShuttleSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.LiftAssignCommand;
			import com.zy.core.model.command.LiftCommand;
			import com.zy.core.model.command.ShuttleAssignCommand;
			import com.zy.core.model.command.ShuttleCommand;
			import com.zy.core.model.protocol.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.ForkLiftStaProtocol;
			import com.zy.core.model.protocol.LiftProtocol;
			import com.zy.core.model.protocol.ShuttleProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.ForkLiftThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.LiftThread;
			import com.zy.core.thread.ShuttleThread;
			import com.zy.core.thread.impl.FyDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.core.thread.impl.NormalLedThread;
			import com.zy.system.service.ConfigService;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;

			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Map;
			import java.util.*;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -98,14 +97,11 @@
			private LiftAction liftAction;
			@Autowired
			private BasWrkStatusService wrkStatusService;
			@Value("${asrs.wmsUrl}")
			private String wmsUrl;


			public static List<Integer> staNosIn = new ArrayList<Integer>() {{
			add(1015);
			add(1026);
			}};

			private boolean isInEnable(DevpThread devpThread, Integer staNo) {
			public boolean isInEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}
			@@ -121,6 +117,7 @@
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isInEnable();
			case 1024:
			case 1025:
			case 1026:
			return devpThread.getStation().get(1025).isInEnable();
			@@ -132,7 +129,7 @@
			return false;
			}

			private boolean isOutEnable(DevpThread devpThread, Integer staNo) {
			public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
			if (staNo == null) {
			return false;
			}
			@@ -145,9 +142,7 @@
			case 1022:
			case 1023:
			return devpThread.getStation().get(1022).isOutEnable();
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isOutEnable();
			case 1024:
			case 1025:
			case 1026:
			return devpThread.getStation().get(1025).isOutEnable();
			@@ -155,6 +150,9 @@
			case 1014:
			case 1015:
			return devpThread.getStation().get(1014).isOutEnable();
			case 1031:
			case 1032:
			return devpThread.getStation().get(1032).isOutEnable();
			}
			return false;
			}
			@@ -165,6 +163,13 @@
			*/
			public synchronized void generateInboundWrk() {
			try {
			// //检测是否存在调拨任务，不执行入库
			// boolean checkTransferWrkMast = wrkMastService.checkTransferWrkMast();
			// if (checkTransferWrkMast) {
			// News.error("存在调拨任务，不执行入库");
			// return;
			// }

			// 遍历入库口
			for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
			if (inSta.getStaNo() == 1014 \|\| inSta.getStaNo() == 1025) {
			@@ -177,18 +182,67 @@
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			if (ledThread != null) {
			ledThread.error(errMsg);
			}
			}

			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// ledThread.error(errMsg);
			// }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();
			if (Cools.isEmpty(barcode) \|\| "?".endsWith(barcode) \|\| "NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "00000000".equals(barcode)) {
			continue;
			}

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

			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
			if (wrkMast != null) {
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			//判断时提升机侧，还是无提升机测
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			@@ -198,25 +252,25 @@
			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			} else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
			continue;
			}
			try {
			/*String wmsUrl = "127.0.0.1:8080/fyxcwms";
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(staProtocol.getLocType1().shortValue());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			//StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// String wmsLocNo = dto.getLocNo();
			// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
			// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
			@@ -232,7 +286,7 @@
			// createInTaskParam.setBarcode(barcode);
			//
			// R result = openUtils.createInTask(createInTaskParam);
			// News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
			// News.taskInfo(wrkMast.getWrkNo(),"创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
			// try{
			// String msg = "";
			// HashMap<String, String> hashMap = new HashMap<>();
			@@ -247,24 +301,130 @@
			// }catch (Exception e){
			//
			// }
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}*/
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			if (!Cools.isEmpty(msg) && "请先组托".equalsIgnoreCase(msg)) {
			ledThread.error(msg);
			}
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			e.printStackTrace();
			log.error("调用wms报错1，{}", e.getMessage());
			}
			}
			} else if (inSta.getStaNo() == 1012 \|\| inSta.getStaNo() == 1022) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			boolean back = false;
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码异常";
			back = true;
			}
			// 退回
			if (back) {

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

			Short workNo = staProtocol.getWorkNo();
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();

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

			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast == null) {
			try {
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1((short) 1);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {

			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			if (!Cools.isEmpty(msg) && "请先组托".equalsIgnoreCase(msg)) {
			ledThread.error(msg);
			}
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}
			} catch (Exception e) {
			log.error("调用wms报错2，{}", e.getMessage());
			}
			}
			}
			}
			}
			} catch (Exception e) {
			@@ -285,11 +445,11 @@
			}
			if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) \|\| (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(1);
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return;
			continue;
			}
			}
			wrkMast.setLiftNo(1);
			@@ -301,29 +461,61 @@


			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1025) {
			if (wrkMast.getStaNo() == 1026) {
			locNo = "1200305";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			continue;
			}

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

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


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


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


			}
			}


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

			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			Date now = new Date();
			@@ -331,50 +523,78 @@
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024));
			for (WrkMast wrkMast : wrkSts) {
			if (devpThread == null) {
			return;
			continue;
			}

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


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

			List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1013, 1024));
			if (wrkMastList != null && wrkMastList.size() >= 2) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，跳过，存在2条工作档", wrkMast.getWrkNo());
			continue;
			}
			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return;
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}

			if (!staProtocol.isOutEnable()) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return;
			if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			continue;
			}
			if ((Utils.getLev(wrkMast.getSourceLocNo()) != 1 && wrkMast.getStaNo() == 1013) \|\| (Utils.getLev(wrkMast.getSourceLocNo()) != 5 && wrkMast.getStaNo() == 1024)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(1);
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return;
			}
			}
			wrkMast.setLiftNo(1);
			StaProtocol staProtocol2 = station.get(wrkMast.getStaNo() + 2);
			if (staProtocol2.isLoading()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物222", wrkMast.getWrkNo(), wrkMast.getStaNo() + 2);
			continue;
			}
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1024) {
			locNo = "1200305";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");

			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return;
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
			continue;
			}

			WrkMast wrkMast2 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);

			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			return;
			if (wrkMast2 != null) {
			wrkMast.setShuttleNo(wrkMast2.getShuttleNo());
			}
			if (!wrkMastService.updateById(wrkMast)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，更新工作档失败", wrkMast.getWrkNo());
			} else {
			WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，移动任务生成成功——1", wrkMast1.getWrkNo());
			}
			}
			}
			@@ -382,7 +602,18 @@
			/**
			* 出库到出库口
			*/
			public synchronized void stnToOutStn() {
			public synchronized void stnToOutStn(int i) {
			ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
			ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
			ShuttleProtocol status1 = shuttleThread1.getStatus();
			ShuttleProtocol status2 = shuttleThread2.getStatus();
			List<String> loc = new ArrayList<>();
			if (status1 != null) {
			loc.add(status1.getCurrentLocNo());
			}
			if (status2 != null) {
			loc.add(status2.getCurrentLocNo());
			}
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			@@ -402,20 +633,111 @@
			if (wrkMast == null) {
			continue;
			}
			String sourceLocNo = "1200305";
			String locNo = "1100105";
			if (wrkMast.getShuttleNo() == 1) {
			if (wrkMast.getStaNo() == 1013) {
			sourceLocNo = "1200301";
			locNo = "1100101";
			if (loc.contains(locNo)) {
			locNo = "1100101";
			}
			} else {
			if (loc.contains(locNo)) {
			locNo = "1100105";
			}
			}
			} else {
			if (wrkMast.getStaNo() == 1013) {
			sourceLocNo = "1200301";
			locNo = "1000101";
			if (loc.contains(locNo)) {
			locNo = "1000101";
			}
			} else {
			if (loc.contains(locNo)) {
			locNo = "1000105";
			}
			}
			}
			if (loc.contains(locNo)) {
			locNo = "0900105";
			}

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

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

			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			}
			}
			}
			}
			}


			private void setLedData(Integer wrkNo, Integer staNo) {
			try {
			Map<String, Object> param = new HashMap<>();
			param.put("taskNo", wrkNo);
			String response = null;
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getTask2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			String data = jsonObject.getString("data");
			List<LedCommand> wrkDetls = JSONArray.parseArray(data, LedCommand.class);
			redisUtil.set("LED_" + staNo, wrkDetls, 30);
			log.info("电视机数据设置：{},{}", staNo, data);
			} else {
			log.info("电视机数据设置异常：{},{}", wrkNo, response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

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

			/**
			* 初始化实时地图
			@@ -427,7 +749,7 @@
			// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
			// if (basWrkStatus == null) {
			// basWrkStatus = new BasWrkStatus();
			// basWrkStatus.setWrkDesc(values[i].desc);
			// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
			// basWrkStatus.setWrkSts(values[i].sts);
			// basWrkStatus.setModiTime(new Date());
			// basWrkStatus.setAppeTime(new Date());
			@@ -525,7 +847,7 @@
			if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

			@@ -576,193 +898,192 @@
			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			// public synchronized void shuttleOutExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			// for (WrkMast wrkMast : wrkMasts) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//101.生成出库任务 => 102.小车搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//通过输送线站号获取提升机号
			liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			if (liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			return false;
			}

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

			wrkMast.setLiftNo(liftNo);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}

			//判断提升机是否处于出库模式
			if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			return false;
			}

			//获取源站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			//强制预留一台小车给入库任务
			int lev = Utils.getLev(wrkMast.getSourceLocNo());
			//获取当前楼层有几台可用小车
			int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			int shuttleWrkInObligateCount = 1;//预留小车数量
			Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			if (config != null) {
			shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			}
			//可用出库小车数量(给入库任务预留一台车)
			int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			//查询楼层已分配车辆的出库任务数量
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			if (wrkMasts.size() >= useShuttleCount) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			return false;
			}
			}
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

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

			//判断小车是否到达货物库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在输送站点位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

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

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			wrkMast.setSourceStaNo(liftSta.getStaNo());
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

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

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

			boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
			if (!step2) {
			return;
			continue;
			}
			}
			} catch (Exception e) {
			@@ -783,23 +1104,75 @@
			if (staProtocol == null) {
			return false;
			}

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


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

			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(1);
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			@@ -810,6 +1183,14 @@
			short staNo = 1012;
			if (wrkMast.getSourceStaNo() == 1022) {
			staNo = 1023;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			staNo = 1032;
			//检测1135货物是否到达1031，到达才允许走到1032
			if (!(staProtocol.isAutoing()
			&& staProtocol.isLoading())
			) {
			return false;
			}
			}

			staProtocol = staProtocol.clone();
			@@ -818,10 +1199,10 @@
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setLiftNo(1);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			return false;
			}
			return false;
			@@ -848,22 +1229,23 @@
			return false;
			}


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

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

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

			@@ -877,6 +1259,8 @@
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			if (wrkMast.getSourceStaNo() == 1022) {
			sourceStaNo = 1023;
			} else if (wrkMast.getSourceStaNo() == 1031) {
			sourceStaNo = 1032;
			}

			StaProtocol staProtocol = station.get(sourceStaNo);
			@@ -885,27 +1269,68 @@
			}

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

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

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

			}

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

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

			if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
			News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			int lev = 101;
			if (wrkMast.getSourceStaNo() == 1021) {
			lev = 100 + Utils.getLev(wrkMast.getLocNo());
			} else if (wrkMast.getSourceStaNo() == 1031) {
			lev = 100 + Utils.getLev(wrkMast.getLocNo());
			}

			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), 101);
			List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
			LiftCommand liftCommand = liftCommands.get(0);

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			@@ -920,6 +1345,7 @@
			assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());


			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			@@ -956,27 +1382,28 @@

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
			wrkMast.setLiftNo(null);
			// TODO 测试中发现不能解禁，因为提升机里存在托盘，就不能解禁，不然另一辆小车可能会近提升机
			//wrkMast.setLiftNo(null);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			@@ -990,16 +1417,41 @@

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

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

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

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

			boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运
			if (!step2) {
			return;
			continue;
			}
			}
			} catch (Exception e) {
			@@ -1022,23 +1474,44 @@
			}

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

			if (!staProtocol.isOutEnable()) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			//调拨任务执行时，不允许有其他入出库任务工作
			boolean checkNoTransferWorking = wrkMastService.checkNoTransferWorking();
			if (checkNoTransferWorking) {
			News.error("调拨任务执行时，不允许有其他入出库任务工作-出库");
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
			@@ -1071,7 +1544,7 @@
			}

			//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(liftProtocol.getLiftNo());
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			@@ -1079,13 +1552,13 @@

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

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

			@@ -1101,7 +1574,7 @@
			}

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

			@@ -1110,9 +1583,6 @@
			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
			LiftCommand liftCommand = liftCommands.get(0);

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

			ArrayList<LiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);
			@@ -1128,7 +1598,9 @@
			wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
			//下发任务
			liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			return false;
			@@ -1180,6 +1652,7 @@
			continue;//小车未到达目标层
			}
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
			//310.小车移动中 ==> 311.小车移动完成
			@@ -1244,6 +1717,11 @@
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (wrkMast1 != null) {
			wrkMast1.setShuttleNo(wrkMast.getShuttleNo());
			log.info("对主工作档进行绑定小车，为了小车进行移车,{},{}", wrkMast1.getWrkNo(), wrkMast.getShuttleNo());
			}
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
			@@ -1274,7 +1752,7 @@
			if (wrkMastService.updateById(wrkMast)) {
			//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());
			News.taskInfo(wrkMast.getWrkNo(), "四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			@@ -1288,7 +1766,7 @@
			shuttleThread.setTaskNo(0);
			//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());
			News.taskInfo(wrkMast.getWrkNo(), "四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}
			}
			@@ -1342,7 +1820,7 @@
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
			@@ -1386,7 +1864,7 @@
			}

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

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
			@@ -1467,10 +1945,13 @@
			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
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			if (wrkMast.getStaNo() == 1031) {
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
			} else {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			}
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			@@ -1497,12 +1978,11 @@
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			liftThread.setSyncTaskNo(0);
			liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			News.taskInfo(wrkMast.getWrkNo(), "提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			@@ -1523,15 +2003,32 @@
			Map<Integer, StaProtocol> station = devpThread.getStation();
			WrkMast wrkMast = null;
			for (StaProtocol staProtocol : station.values()) {
			if (staProtocol.getSiteId() == 1013 \|\| staProtocol.getSiteId() == 1014) {
			if ((staProtocol.getSiteId() == 1013 \|\| staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
			if (wrkMast != null) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			News.taskInfo(wrkMast.getWrkNo(), "输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			} else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
			if (wrkMast != null) {
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWmsWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
			boolean offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			if (offer) {
			News.taskInfo(wrkMast.getWrkNo(), "输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.taskInfo(wrkMast.getWrkNo(), "输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			}
			}
			@@ -1548,6 +2045,14 @@
			try {
			this.recShuttleErr();
			this.recLiftErr();
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 2);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 4);
			ledThread.errorReset();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -1790,7 +2295,7 @@
			continue;
			}

			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			News.taskInfo(wrkMast.getWrkNo(), "保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}
			} catch (Exception e) {
			e.printStackTrace();
			@@ -1995,6 +2500,22 @@
			if (basShuttleCharge == null) {
			return false;
			}
			try {
			ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo() == 1 ? 2 : 1);
			if (shuttleThread2 == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol2 = shuttleThread2.getStatus();
			if (shuttleProtocol2 == null) {
			return false;
			}
			if (shuttleProtocol2.getCurrentLocNo().equals(basShuttleCharge.getWaitLocNo())) {
			String locNo = Utils.getLocNo(Utils.getRow(basShuttleCharge.getWaitLocNo()) + 1, Utils.getBay(basShuttleCharge.getWaitLocNo()), Utils.getLev(basShuttleCharge.getWaitLocNo()));
			basShuttleCharge.setWaitLocNo(locNo);
			}
			} catch (Exception e) {
			log.error("寻找新的待机位,{}", e);
			}

			//调度小车去待机位
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
			@@ -2034,11 +2555,17 @@
			}

			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			LiftThread liftThread;
			if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
			liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			} else {
			liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}
			}

			//liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			@@ -2050,14 +2577,46 @@
			}

			private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
			if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) {
			WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (mainWrk != null && mainWrk.getIoType() == 1) {
			//入库
			noLiftInService.shuttleMoveExecute(wrkMast);
			} else {
			noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
			} else if (mainWrk != null && mainWrk.getIoType() == 101) {
			//出库
			noLiftOutService.shuttleMoveExecute(wrkMast);
			noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
			}
			}


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

			}