zy-wcs.git - Gitblit

			@@ -1,42 +1,47 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.alibaba.fastjson.JSONArray;
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.baomidou.mybatisplus.mapper.Wrapper;
			import com.core.common.Cools;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			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.service.erp.ErpService;
			import com.zy.common.utils.*;
			import com.zy.core.DevpThread;
			import com.zy.core.News;
			import com.zy.core.action.LiftAction;
			import com.zy.core.action.ShuttleAction;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.*;
			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.*;
			import com.zy.system.entity.Config;
			import com.zy.core.thread.DevpThread;
			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.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 org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.stream.Collectors;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -46,30 +51,10 @@
			@Service("mainService")
			public class MainServiceImpl {

			@Value("${wms.url}")
			private String wmsUrl;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasErrLogService basErrLogService;
			@Autowired
			private BasSteErrLogService basSteErrLogService;
			@Autowired
			private BasShuttleService basShuttleService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			@@ -77,57 +62,119 @@
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private BasSteService basSteService;
			@Autowired
			private WrkChargeService wrkChargeService;
			@Autowired
			private BasSteErrService basSteErrService;
			private BasLiftErrService basLiftErrService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private WrkChargeMapper wrkChargeMapper;
			@Autowired
			private BasMapService basMapService;
			@Autowired
			private ErpService erpService;
			@Autowired
			private OrderMapper orderMapper;
			@Autowired
			private OrderDetlMapper orderDetlMapper;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private WrkMastLogMapper wrkMastLogMapper;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;
			private NavigateMapData navigateMapData;
			@Autowired
			private WrkDetlLogService wrkDetlLogService;
			private ShuttleOperaUtils shuttleOperaUtils;
			@Autowired
			private MatService matService;
			private ShuttleAction shuttleAction;
			@Autowired
			private NotifyUtils notifyUtils;
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private TransportLiftInServiceImpl transportLiftInService;
			@Autowired
			private TransportLiftOutServiceImpl transportLiftOutService;
			@Autowired
			private ShuttleMoveServiceImpl shuttleMoveService;
			@Autowired
			private NoLiftInServiceImpl noLiftInService;
			@Autowired
			private NoLiftOutServiceImpl noLiftOutService;
			@Autowired
			private LiftAction liftAction;
			@Autowired
			private BasWrkStatusService wrkStatusService;
			@Value("${asrs.wmsUrl}")
			private String wmsUrl;


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

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

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public void generateStoreWrkFile() {
			public synchronized void generateInboundWrk() {
			try {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// //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) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			@@ -137,885 +184,605 @@
			Short workNo = staProtocol.getWorkNo();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "异常：";
			if (staProtocol.isFrontErr()) {
			errMsg = errMsg + "前超限；";
			back = true;
			}
			if (staProtocol.isBackErr()) {
			errMsg = errMsg + "后超限";
			back = true;
			}
			if (staProtocol.isHighErr()) {
			errMsg = errMsg + "高超限";
			back = true;
			}
			if (staProtocol.isLeftErr()) {
			errMsg = errMsg + "左超限";
			back = true;
			}
			if (staProtocol.isRightErr()) {
			errMsg = errMsg + "右超限";
			back = true;
			}
			if (staProtocol.isWeightErr()) {
			errMsg = errMsg + "超重";
			back = true;
			}
			if (staProtocol.isBarcodeErr()) {
			errMsg = errMsg + "扫码失败";
			back = true;
			}
			// 退回
			if (back) {
			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			}
			continue;
			}

			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode) \|\| "00000000".equals(barcode)) {
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			} else {
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			continue;
			}

			// 过滤盘点/拣料/并板任务
			WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (null != wrkMast1) {
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast2 != null) {
			News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast2.getWrkNo());
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// plc 处理
			barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) {
			continue;
			}

			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}

			} else if (code == 500) {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			ledThread.setLedMk(false);
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			} else if (code == 700) {
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setRollback102(1);//102站回退信号
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

			// led 异常显示
			if (ledThread != null) {
			String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			ledThread.setLedMk(false);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* wms入库
			* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
			*/
			@Deprecated
			public void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库口
			for (DevpSlave.Sta inSta : devp.getInSta()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			&& staProtocol.isPakMk()) {

			// 尺寸检测异常
			boolean back = false;
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			errMsg = "超高异常";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重异常";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			errMsg = "扫码异常";
			back = true;
			}

			// 退回
			if (back) {
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			ledThread.error(errMsg);
			}
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			if (wrkMast == null) { continue; }

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

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (result) {
			// 更新工作主档
			wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			}
			} else {
			News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			}
			}
			}
			}

			/**
			* 拣料、并板再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPick(){
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// && (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (Cools.isEmpty(barcode)) {
			continue;
			}
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// 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;
			}

			WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (wrkMast == null) {//找不到工作档
			//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;
			}

			if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
			if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			//判断时提升机侧，还是无提升机测
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			} else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
			continue;
			}

			// //*******************同库位组校验*******************
			// boolean flag = false;
			// String th = "";
			// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			// for (String loc : innerLoc) {
			// LocMast locMast = locMastService.selectById(loc);
			// if (locMast == null) {
			// continue;
			// }
			//
			// if (!locMast.getLocSts().equals("F")) {
			// flag = true;
			// th = loc + "库位存在未回库任务";
			// break;
			// }
			// }
			// if (flag) {
			// News.info(th);
			// continue;
			// }
			// //*******************同库位组校验*******************

			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			// continue;
			// }

			try {
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLiftNo(pickSta.getLiftNo());
			param.setLocType1(locMast.getLocType1());
			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/v2")
			.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);

			// //获取回库提升机目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			// if (liftStaProtocol == null) {
			// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			// continue;
			// }
			//StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// String wmsLocNo = dto.getLocNo();
			// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
			// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
			// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
			// String wcsLocNo = Utils.getLocNo(row, bay, lev);
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// continue;
			// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
			// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
			// createInTaskParam.setDestLoc(wcsLocNo);
			// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
			// createInTaskParam.setDestSite(dto.getStaNo().toString());
			// createInTaskParam.setPriority(11);
			// createInTaskParam.setBarcode(barcode);
			//
			// R result = openUtils.createInTask(createInTaskParam);
			// News.taskInfo(wrkMast.getWrkNo(),"创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
			// try{
			// String msg = "";
			// HashMap<String, String> hashMap = new HashMap<>();
			// hashMap.put("msg", msg);
			// hashMap.put("sta", inSta.getStaNo().toString());
			// new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/led/getError")
			// .setJson(JSON.toJSONString(hashMap))
			// .build()
			// .doPost();
			// }catch (Exception e){
			//
			// }
			} else if (code == 500) {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			} 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();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			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) {
			e.printStackTrace();
			}
			}

			public synchronized void noLiftIn() {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) \|\| (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			continue;
			}
			}
			wrkMast.setLiftNo(1);
			}
			Short finishWorkNo = staProtocol.getFinishWorkNo();
			if (finishWorkNo == null) {
			continue;
			}


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

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

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


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


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


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

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

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


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

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

			/**
			* 拣料、并板再入库(325、331、333、339)
			* 出库到出库口
			*/
			@Transactional
			public synchronized void stnToCrnStnPick2(){
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta2()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			public synchronized void stnToOutStn(int i) {
			ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
			ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
			ShuttleProtocol status1 = shuttleThread1.getStatus();
			ShuttleProtocol status2 = shuttleThread2.getStatus();
			List<String> loc = new ArrayList<>();
			if (status1 != null) {
			loc.add(status1.getCurrentLocNo());
			}
			if (status2 != null) {
			loc.add(status2.getCurrentLocNo());
			}
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
			if (outSta.getStaNo() == 1013 \|\| outSta.getStaNo() == 1024) {
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
			for (WrkMast wrkMast : wrkSts) {
			StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()) {

			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			// 查询工作档
			if (wrkMast == null) {
			continue;
			}
			if (wrkMast.getSteNo() == null) {
			wrkMast.setSteNo(1);
			wrkMastMapper.updateById(wrkMast);
			staProtocol.setStaNo((short) 341);//写入目标站
			staProtocol.setPakMk(false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			}
			}
			}

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

			/**
			* 盘点再入库
			*/
			@Transactional
			public synchronized void stnToCrnStnPlate(){
			try {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			// && (staProtocol.getWorkNo() > 0)
			&& staProtocol.isPakMk()) {

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (Cools.isEmpty(barcode)) {
			continue;
			}
			if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			continue;
			}
			WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
			if (wrkMast == null) {//找不到工作档
			continue;
			}

			if ((wrkMast.getIoType() != 107)
			\|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			continue;
			}

			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			// continue;
			// }

			//盘点找新库位
			try {
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(107);//盘点
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLiftNo(pickSta.getLiftNo());
			param.setLocType1(locMast.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.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);

			// //获取回库提升机目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			// if (liftStaProtocol == null) {
			// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			// continue;
			// }
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// continue;
			// }

			// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			} else if (code == 500) {
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			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";
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			} 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.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();
			}
			}

			// /**
			// * 拣料、并板、盘点再入库
			// */
			// @Transactional
			// public synchronized void stnToCrnStnPick(){
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历拣料入库口
			// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			//
			// // 获取拣料入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			//// && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
			//// && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			// && staProtocol.isPakMk()){
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			//
			// WrkMast wrkMast = null;
			// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (wrkMast == null) {
			// continue;
			// }
			//// if (staProtocol.getWorkNo() == 9996) {
			//// String barcode = barcodeThread.getBarcode();
			//// if(!Cools.isEmpty(barcode)) {
			//// News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			//// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			////
			//// // led 异常显示
			//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			//// if (ledThread != null) {
			//// String errorMsg = "扫码失败，请重试";
			//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			//// }
			//// continue;
			//// }
			//// } else {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			////
			//// // led 异常显示
			//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			//// if (ledThread != null) {
			//// String errorMsg = "扫码失败，请重试";
			//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			//// }
			//// continue;
			//// }
			//// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			//// if (null == wrkMast) {
			//// News.error("{}条码错误，暂无拣料任务！", barcode);
			//// }
			//// }
			//
			// if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
			// \|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
			// continue;
			// }
			//
			// // 保存工作主档历史档
			// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			// }
			//
			// String sourceLocNo = wrkMast.getSourceLocNo().trim();
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
			// if (liftStaProtocol == null) {
			// continue;
			// }
			//
			// // 更新工作档数据状态
			// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			//// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			//// wrkMast.setCrnNo(dto.getCrnNo());
			// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			// wrkMast.setShuttleNo(null); // 穿梭车清空
			// wrkMast.setLiftNo(null);// 提升机清空
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// }
			// if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			// }
			//
			// // 修改库位状态 Q.拣料/盘点/并板再入库
			// LocMast locMast = locMastService.selectById(sourceLocNo);
			// locMast.setLocSts("Q");
			// locMast.setModiTime(new Date());
			// if (!locMastService.updateById(locMast)) {
			// throw new CoolException("修改库位状态失败");
			// }
			// barcodeThread.setBarcode("");//清理条码
			//
			//// try {
			//// // 访问 WMS 获取入库库位
			//// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			//// SearchLocParam param = new SearchLocParam();
			//// param.setWrkNo(wrkMast.getWrkNo());
			//// param.setIoType(wrkMast.getIoType());
			//// param.setSourceStaNo(pickSta.getStaNo());
			////// param.setLocType1(locTypeDto.getLocType1());
			//// String response = new HttpHandler.Builder()
			//// .setUri(wmsUrl)
			//// .setPath("/rpc/pakin/loc/v1")
			//// .setJson(JSON.toJSONString(param))
			//// .build()
			//// .doPost();
			//// JSONObject jsonObject = JSON.parseObject(response);
			//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			//// Integer code = jsonObject.getInteger("code");
			//// if (code.equals(200)) {
			//// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			////
			////// // 获取目标站
			////// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			////// .eq("type_no", wrkMast.getIoType() - 50)
			////// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			////// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
			////// StaDesc staDesc = staDescService.selectOne(wrapper);
			////// if (Cools.isEmpty(staDesc)) {
			////// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			////// continue;
			////// }
			////// // 堆垛机站点(目标站)
			////// Integer staNo = staDesc.getCrnStn();
			////
			//// // 保存工作明细档历史档
			////// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			////// throw new CoolException("保存工作明细档历史档失败");
			////// }
			//// // 保存工作主档历史档
			//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			//// throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			//// }
			////
			//// String sourceLocNo = wrkMast.getSourceLocNo().trim();
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
			//// if (liftStaProtocol == null) {
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			////// wrkMast.setStaNo(dto.getStaNo()); // 目标站
			////// wrkMast.setCrnNo(dto.getCrnNo());
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// wrkMast.setModiTime(new Date());
			//// if (wrkMastMapper.updateById(wrkMast) == 0) {
			//// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// }
			//// if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
			//// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// }
			////
			//// // 修改库位状态 Q.拣料/盘点/并板再入库
			//// LocMast locMast = locMastService.selectById(sourceLocNo);
			//// locMast.setLocSts("Q");
			//// locMast.setModiTime(new Date());
			//// if (!locMastService.updateById(locMast)) {
			//// throw new CoolException("修改库位状态失败");
			//// }
			////
			////// // 更新站点信息且下发plc命令
			////// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			////// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			////// devpThread.setPakMk(staProtocol.getSiteId(), false);
			////// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			////// if (!result) {
			////// News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			////// }
			////
			//// barcodeThread.setBarcode("");//清理条码
			////
			//// } else if (code == 500){
			//// if (ledThread != null) {
			//// String errorMsg = jsonObject.getString("msg");
			//// if (!Cools.isEmpty(errorMsg)) {
			//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			//// }
			//// }
			//// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			//// } else {
			////// staProtocol.setWorkNo((short) 32002);
			////// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			////// devpThread.setPakMk(staProtocol.getSiteId(), false);
			////// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			////
			//// // led 异常显示
			//// if (ledThread != null) {
			//// String errorMsg = jsonObject.getString("msg");
			////// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			//// }
			//// }
			////
			//// } catch (Exception e) {
			//// e.printStackTrace();
			//// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			//// }
			//
			// }
			// }
			//
			// }
			// }
			private void setLedErrorData(Integer staNo, String msg) {
			try {
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", String.valueOf(staNo));
			String response = null;
			response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			String data = jsonObject.getString("data");
			List<LedCommand> wrkDetls = JSONArray.parseArray(data, LedCommand.class);
			redisUtil.set("LED_" + staNo, wrkDetls, 30);
			log.info("电视机数据设置：{},{}", staNo, data);
			} else {
			log.info("电视机数据设置异常：{},{}", staNo, response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			//初始化配置
			// WrkStsType[] values = WrkStsType.values();
			// for (int i = 0; i < values.length; i++) {
			// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
			// if (basWrkStatus == null) {
			// basWrkStatus = new BasWrkStatus();
			// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
			// basWrkStatus.setWrkSts(values[i].sts);
			// basWrkStatus.setModiTime(new Date());
			// basWrkStatus.setAppeTime(new Date());
			// basWrkStatus.setAppeUser(9527L);
			// basWrkStatus.setModiUser(9527L);
			// wrkStatusService.insert(basWrkStatus);
			// }
			// }
			try {
			for (int i = 1; i <= 10; i++) {//总共四层楼
			Object data = redisUtil.get(RedisKeyType.MAP.key + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			//载入地图
			NavigateMapData mapData = new NavigateMapData(i);
			List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
			if (data == null) {//redis地图数据为空
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)

			//存入数据库
			basMap = new BasMap();
			basMap.setData(JSON.toJSONString(lists));
			basMap.setCreateTime(new Date());
			basMap.setUpdateTime(new Date());
			basMap.setLev(i);

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

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

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

			/**
			* 从redis中重启任务
			*/
			public synchronized void restartTaskFromRedis() {
			HashMap<Object, Object> map = redisUtil.getRedis();
			for (Object key : map.keySet()) {
			if (key.toString().contains(RedisKeyType.LIFT.key)) {//提升机任务
			LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
			if (redisCommand == null) {
			continue;
			}

			Short liftNo = redisCommand.getLiftNo();
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			if (!liftProtocol.isIdle()) {
			continue;
			}

			//提升机处于空闲状态，进行任务的恢复
			liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态

			}else if(key.toString().contains(RedisKeyType.SHUTTLE.key)){//四向穿梭车任务
			ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
			if (redisCommand == null) {
			continue;
			}

			Short shuttleNo = redisCommand.getShuttleNo();
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			//四向穿梭车处于空闲状态，进行任务的恢复
			shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
			}
			}

			}

			/**
			@@ -1023,27 +790,9 @@
			*/
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
			for (WrkMast wrkMast : wrkMasts) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			continue;//站点不存在
			}

			//获取目标站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if (liftStaProtocol == null) {
			continue;//站点不存在
			}

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

			boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中
			boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
			if (!step1) {
			continue;
			}
			@@ -1053,119 +802,94 @@
			}
			}

			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库站
			// for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
			// if (basDevp == null) {
			// continue;//站点信息不存在
			// }
			//
			// // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			// if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
			// continue;
			// }
			//
			// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			//
			// }
			// }
			//
			// }

			/**
			* 入库-小车搬入库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			if (wrkMast.getWrkSts() == 4) {
			public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
			//获取目标站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;
			}

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

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//小车已被独占，禁止再派发任务
			}

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

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

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

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点
			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

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			@@ -1174,11 +898,191 @@
			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleOutExecute() {
			// public synchronized void shuttleOutExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			// for (WrkMast wrkMast : wrkMasts) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			// //101.生成出库任务 => 102.小车搬运中
			// if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			// Integer liftNo = wrkMast.getLiftNo();
			// if (liftNo == null) {
			// //通过输送线站号获取提升机号
			// liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			// if (liftNo == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
			// if (liftWrkMast != null) {
			// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
			// return false;
			// }
			// }
			//
			// wrkMast.setLiftNo(liftNo);
			// wrkMast.setModiTime(new Date());
			// wrkMastService.updateById(wrkMast);
			// return false;
			// }
			//
			// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			// if (forkLiftThread == null) {
			// return false;
			// }
			// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			// if (forkLiftProtocol == null) {
			// return false;
			// }
			//
			// //判断提升机是否处于出库模式
			// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// //获取源站
			// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftSta == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			// return false;
			// }
			//
			// if (liftSta.getHasCar()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (liftSta.getHasTray()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			// return false;
			// }
			//
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// //强制预留一台小车给入库任务
			// int lev = Utils.getLev(wrkMast.getSourceLocNo());
			// //获取当前楼层有几台可用小车
			// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			// if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			// int shuttleWrkInObligateCount = 1;//预留小车数量
			// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			// if (config != null) {
			// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			// }
			// //可用出库小车数量(给入库任务预留一台车)
			// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			// //查询楼层已分配车辆的出库任务数量
			// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			// if (wrkMasts.size() >= useShuttleCount) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			// return false;
			// }
			// }
			// boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleThread.isIdle()) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //判断小车是否到达货物库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			// assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setAuto(true);//自动模式
			//
			// //获取小车到输送站点行走命令
			// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
			// if (liftCommand == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
			// if (liftCommand2 == null) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// commands.add(0, liftCommand.get(0));
			// commands.add(liftCommand2.get(0));
			// assignCommand.setCommands(commands);
			//
			// wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			// wrkMast.setSourceStaNo(liftSta.getStaNo());
			// wrkMast.setModiTime(new Date());
			// wrkMast.setSystemMsg("");//清空消息
			// if (wrkMastService.updateById(wrkMast)) {
			// //下发任务
			// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			// //触发通知
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			// return false;
			// }
			// return false;
			// }
			// return true;
			// }
			public synchronized void liftInExecute() {
			try {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
			if (!step0) {
			continue;
			}

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

			boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
			if (!step2) {
			continue;
			}
			}
			@@ -1187,151 +1091,523 @@
			}
			}

			/**
			* 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) {
			//21.生成出库任务 => 22.小车搬运中
			if (wrkMast.getWrkSts() == 21) {
			EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (staDesc == null) {
			News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
			return false;//出库路径不存在
			private boolean liftInExecuteStep0(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

			//获取出库站点
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			return false;//出库站点不存在
			Map<Integer, StaProtocol> station = devpThread.getStation();
			StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
			if (staProtocol == null) {
			return false;
			}

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

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

			//同库位组校验
			List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
			List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
			if (!outerLocMasts.isEmpty()) {
			News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
			return false;//浅库位存在未执行任务
			// 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;
			}

			//获取源站
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			if (!back && staProtocol.isHighErr()) {
			errMsg = "超高异常";
			back = true;
			}

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
			return false;//站点必须自动、空闲、没有托盘
			if (!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 (wrkMast.getStaNo() == 300) {
			//出300站，检测300站任务数量
			List<WrkMast> wrkMasts = wrkMastMapper.select300Wrk();
			if (wrkMasts.size() >= 20) {
			News.info("{}任务，输送线任务过载{}", wrkMast.getWrkNo(), wrkMasts.size());

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

			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.info("{}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;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return false;
			}
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			//判断小车令牌是否未被占领
			if (shuttleProtocol.getToken() != 0) {
			News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//小车已被独占，禁止再派发任务
			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;
			}
			}

			//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.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(staNo);
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

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

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

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			wrkMast.setModiTime(new Date());
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			return false;
			}

			return true;
			}

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

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

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


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

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

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

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

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

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

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

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

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

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

			}

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

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

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

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

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

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


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

			return true;
			}

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

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

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

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

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

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

			return true;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			return true;
			}

			@@ -1342,102 +1618,158 @@
			try {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车信息
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

			//四向穿梭车状态为等待确认、小车处于空闲状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
			) {
			&& shuttleProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
			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 102://102.小车移动至站点 ==> 103.小车移动至站点完成
			wrkMast.setWrkSts(103L);
			break;
			case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
			wrkMast.setWrkSts(105L);
			shuttleProtocol.setTaskNo(0);//清理工作号
			break;
			case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
			wrkMast.setWrkSts(109L);
			break;
			case 110://110.小车移动中 ==> 111.小车移动完成
			wrkMast.setWrkSts(111L);
			shuttleProtocol.setTaskNo(0);
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			break;
			default:
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
			//5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
			//102.小车搬运中 ==> 103.小车搬运完成
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
			//302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
			//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
			//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			continue;//小车未到达目标层
			}
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
			//310.小车移动中 ==> 311.小车移动完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁出提升机中 ==> 小车迁出提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
			//小车放货中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁出提升机中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			//204.小车充电中 ==> 205.小车充电完成
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			}
			// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
			// shuttleThread.setSyncTaskNo(0);
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			// }
			else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
			WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
			if (wrkMast1 != null) {
			wrkMast1.setShuttleNo(wrkMast.getShuttleNo());
			log.info("对主工作档进行绑定小车，为了小车进行移车,{},{}", wrkMast1.getWrkNo(), wrkMast.getShuttleNo());
			}
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else {
			continue;
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			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());
			}
			}

			if (wrkMastService.updateById(wrkMast)) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			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());
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			} else {
			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleProtocol.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			//清零令牌
			shuttleProtocol.setToken(0);
			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());
			Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
			if (object != null) {
			ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
			if (!assignCommand.getAuto()) {
			//手动模式
			//工作号清零
			shuttleThread.setTaskNo(0);
			//设置四向穿梭车为空闲状态
			shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}
			}

			}

			}
			@@ -1447,54 +1779,26 @@
			}

			/**
			* 提升机任务
			* 执行移库任务
			*/
			public synchronized void liftIoExecute() {
			public synchronized void shuttleLocMoveExecute() {
			try {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			//查询移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
			if (!stepTake) {
			continue;
			}

			if (!liftProtocol.isIdle()) {
			News.info("{}号提升机，忙碌中", liftSlave.getId());
			boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
			if (!stepPut) {
			continue;
			}

			//判断提升机令牌是否被占用
			if (liftProtocol.getToken() != 0) {
			News.info("{}号提升机，令牌已被独占", liftSlave.getId());
			boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
			if (!stepComplete) {
			continue;
			}

			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			if (wrkMasts.isEmpty()) {
			continue;
			}

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

			boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			if (!stepIn) {
			continue;
			}

			boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			if (!stepOut) {
			continue;
			}
			}

			}
			@@ -1504,266 +1808,114 @@
			}

			/**
			* 提升机入库
			* 移库任务-小车取货中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
			//--------------------------------------提升机入库-----------------------------------------//
			private boolean shuttleLocMoveExecuteTake(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//2.设备上走 ==> 3.提升机搬运中
			if (wrkMast.getWrkSts() == 2) {
			//获取源站
			BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			if (sourceBasDevp == null) {
			return false;//找不到站点
			}
			//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

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

			Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
			if (barcodeId == null) {
			News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			return false;//站点不可入
			}

			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
			if (barcodeThread == null) {
			News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
			return false;//站点不可入
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if(!("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode))) {
			//存在条码值，判断是否和当前工作档一致
			if (!barcode.equals(wrkMast.getBarcode())) {
			News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
			return false;//站点不可入
			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}
			}else {

			return false;
			}
			}
			return true;
			}

			/**
			* 移库任务-小车放货中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleLocMoveExecutePut(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

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

			//判断提升机整个三楼是否都处于入库模式
			Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
			Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
			Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
			if (outInModel1 == null \|\| outInModel2 == null \|\| outInModel3 == null) {
			News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
			return false;//不存在出入库模式
			}

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			if (liftThread == null) {
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle()) {
			News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			//判断提升机令牌是否未被占领
			if (liftProtocol.getToken() != 0) {
			News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//提升机已被独占，禁止再派发任务
			}

			//判断提升机内是否有小车
			if (liftProtocol.getHasCar()) {
			News.info("{}任务，{}号提升机，提升机内部有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//有小车，禁止派发
			}
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

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

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}

			//获取源站对应的牛眼提升机站点编号(起点编号)
			Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
			//获取提升机站点
			LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
			if (targetStaProtocol == null) {
			return false;//站点不存在
			}

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

			Integer targetSta = targetStaProtocol.getStaNo();

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			if (wrkMast.getIoType() == 53 \|\| wrkMast.getIoType() == 57) {
			//拣料再回库，重新分配设备工作号
			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			if (basLiftOpt != null) {
			News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			liftCommand.setTaskNo((short) deviceWrk);
			}
			ArrayList<NyLiftCommand> commands = new ArrayList<>();
			commands.add(liftCommand);

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

			wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 提升机出库
			* 移库任务-任务完成
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			//--------------------------------------提升机出库-----------------------------------------//
			private boolean shuttleLocMoveComplete(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//23.小车搬运完成 ==> 24.提升机搬运中
			if (wrkMast.getWrkSts() == 23) {
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			//小车移动至站点 503.小车放货中 ==> 509.移库完成
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}

			//获取出库站点(目标站)
			BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			if (basDevp == null) {
			News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
			return false;//出库站点不存在
			}

			//获取源站对应的牛眼提升机站点编号(起点编号)
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			return false;//找不到站点
			}
			Integer startSta = liftStaProtocol.getStaNo();

			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车还在输送站点
			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}
			}

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

			if (basDevp.getLoading().equals("Y")) {
			News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			return false;//出库站点不可出
			}

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

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

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

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());

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

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

			wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}

			return false;
			}
			return true;
			@@ -1774,85 +1926,108 @@
			*/
			public synchronized void liftFinished() {
			try {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			for (LiftSlave slave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			&& !liftProtocol.getBusy()
			) {
			int taskNo = liftProtocol.getTaskNo().intValue();
			if (taskNo >= 20000 && taskNo <= 30000) {
			//提升机设备工作号，需要查询对应任务号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId());
			if (basLiftOpt != null) {
			taskNo = basLiftOpt.getWrkNo();
			}
			}

			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo);
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(4L);
			wrkMast.setLiftNo(null);//释放提升机
			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}
			break;
			case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			wrkMast.setWrkSts(25L);
			if (wrkMast.getIoType() == 11) {//库位移转
			wrkMast.setWrkSts(4L);//4.提升机搬运完成
			} else {
			if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			//不需要用到机械臂，直接转29.出库完成
			wrkMast.setWrkSts(29L);
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(new Date());
			}
			}

			if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放提升机令牌
			liftProtocol.setToken(0);
			}

			break;
			case 106://106.提升机搬运中 ==> 107.提升机搬运完成
			wrkMast.setWrkSts(107L);
			break;
			default:
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			if (wrkMast.getStaNo() == 1031) {
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
			} else {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			}
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
			//提升机至放货层 ==> 提升机至放货层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			liftThread.setSyncTaskNo(0);
			liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
			News.taskInfo(wrkMast.getWrkNo(), "提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			} else {
			LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
			if (assignCommand != null) {
			if (!assignCommand.getAuto()) {
			//手动操作
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 输送线任务完成
			*/
			public synchronized void devpFinished() {
			try {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Map<Integer, StaProtocol> station = devpThread.getStation();
			WrkMast wrkMast = null;
			for (StaProtocol staProtocol : station.values()) {
			if ((staProtocol.getSiteId() == 1013 \|\| staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
			if (wrkMast != null) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.taskInfo(wrkMast.getWrkNo(), "输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			} else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
			if (wrkMast != null) {
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWmsWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
			boolean offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			if (offer) {
			News.taskInfo(wrkMast.getWrkNo(), "输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.taskInfo(wrkMast.getWrkNo(), "输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			}
			@@ -1864,344 +2039,20 @@
			}

			/**
			* 库位移转
			*/
			public synchronized void locToLocExecute() {
			try {
			//获取出入库工作档
			// List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
			// if (wrkMasts.size() > 0) {
			// //有出入库任务，必须等待任务执行完毕再执行库位移转
			// return;
			// }

			//查询库位移转工作档
			List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
			for (WrkMast wrkMast : wrkMasts1) {
			if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
			boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
			if (!step1) {
			continue;
			}
			} else {
			//跨楼层库位移转
			boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
			if (!step2) {
			continue;
			}

			boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
			if (!step3) {
			continue;
			}

			boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
			if (!step4) {
			continue;
			}

			}

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

			/**
			* 同楼层库位移转
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep1(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达源库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在源库位位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
			return false;
			}

			//小车已抵达源库位，进行搬运货物
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(5L);//21.生成出库任务 => 5.小车搬运中
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-调度车辆取货并运送到出库口
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep2(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达源库位
			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			//小车不在源库位位置
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
			return false;
			}

			//获取穿梭车最近且空闲的提升机输送站点
			LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
			if (liftSta == null) {
			return false;//没有可用且空闲的输送站点
			}
			//源站
			Integer sourceStaNo = liftSta.getStaNo();
			//提升机号*100+目标楼层=目标站点
			Integer staNo = liftSta.getLiftNo() * 100 + Utils.getLev(wrkMast.getLocNo());//目标站

			//小车已抵达源库位，将货物搬运到输送站点
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			wrkMast.setSourceStaNo(sourceStaNo);//源站
			wrkMast.setStaNo(staNo);//目标站
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-提升机搬运货物
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep3(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
			//源站
			Integer sourceStaNo = wrkMast.getSourceStaNo();
			//目标站
			Integer staNo = wrkMast.getStaNo();
			if (sourceStaNo == null \|\| staNo == null) {
			return false;//源站或目标站为空
			}

			int liftNo = staNo / 100;//获取提升机号

			//获取提升机线程
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}

			//获取源站对应的输送站点
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			return false;//站点必须自动、空闲、有托盘
			}
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车还在输送站点
			//调度小车避让
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			if (!result) {
			return false;
			}
			}

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

			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			return false;
			}

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceStaNo, staNo, wrkMast.getWrkNo());

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

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

			wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			wrkMast.setShuttleNo(null);//清空小车号，等货物搬运完成后，到目标楼层重新搜索小车
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			return false;
			}
			return true;
			}

			/**
			* 跨楼层库位移转-调度车辆取货并运送到目标库位
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean locToLocExecuteStep4(WrkMast wrkMast) {
			if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成
			//获取目标站对应的输送站点
			LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			if (liftStaProtocol == null) {
			return false;//找不到站点
			}

			if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			return false;//站点必须自动、空闲、有托盘
			}

			if (wrkMast.getShuttleNo() == null) {
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到目标输送站点进行取货
			return false;
			}

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleProtocol.isIdle()) {
			return false;
			}

			//判断小车是否到达目标输送站点
			if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			//小车不在目标输送站点
			shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
			return false;
			}

			//小车已抵达目标输送站点，将货物搬运到目标库位
			NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo());
			if (result == null) {//路径计算失败
			return false;
			}

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(result.getCommands());//运行命令
			assignCommand.setNodes(result.getNodes());//路径节点

			wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}

			return false;
			}
			return true;
			}

			/**
			* 异常信息记录
			*/
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recLiftErr();
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 2);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
			ledThread.errorReset();
			ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 4);
			ledThread.errorReset();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			@@ -2214,11 +2065,11 @@
			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());
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}
			@@ -2228,15 +2079,15 @@
			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 (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(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
			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
			@@ -2249,7 +2100,7 @@
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			shuttleProtocol.getErrCode(), // 异常码
			errorCode, // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -2265,7 +2116,7 @@
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getErrState() == null \|\| shuttleProtocol.getErrState() == 0) {
			if (shuttleProtocol.getErrorCode() == null \|\| Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			@@ -2274,54 +2125,6 @@
			}
			}
			}
			}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());
			// }
			// }
			// }
			}
			}
			}
			@@ -2331,51 +2134,38 @@
			*/
			private void recLiftErr() {
			Date now = new Date();
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			for (LiftSlave slave : slaveProperties.getLift()) {
			// 获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
			WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
			if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(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";
			}
			BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
			String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			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
			slave.getId(), // 提升机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			@@ -2393,845 +2183,21 @@
			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);
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (liftProtocol.getDeviceError() == null \|\| !liftProtocol.getDeviceError()) {
			if (liftProtocol.getErrorCode() == null \|\| liftProtocol.getErrorCode().equals("0")) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
			}
			}
			}
			}
			}
			}

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

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

			// 获取条码扫描仪信息
			String barcode = null;
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
			if (barcodeThread != null) {
			String barcode0 = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode0)) {
			// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
			if (!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
			barcode = barcode0;
			}
			}
			}

			if (!Cools.isEmpty(barcode)) {
			WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档
			if (wrkMast != null) {
			continue;
			}
			}

			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setIoType(10);
			if (!Cools.isEmpty(barcode)) {
			param.setBarcode(barcode);
			}
			param.setSourceStaNo(emptyInSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v2")
			.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);
			barcodeThread.setBarcode("");
			// // 更新站点信息且下发plc命令
			// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			// staProtocol.setStaNo(dto.getStaNo().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// if (!result) {
			// throw new CoolException("更新plc站点信息失败");
			// }
			} else {
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			}
			}
			News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			}


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

			/**
			* AGV补货 => 生成入库通知档
			*/
			public synchronized void robotGenerateAgvTask() {
			try {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(300);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}

			if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
			continue;
			}

			if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
			Short targetSta = null;//目标站
			//判断机械臂拣料站是否空闲
			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {
			//自动、无物
			targetSta = (short) 303;
			} else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
			//自动、无物
			targetSta = (short) 317;
			} else {
			continue;//没有空闲站点
			}

			if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
			//向AGV发起组托请求
			try {
			HashMap<String, Object> param = new HashMap<>();
			param.put("wrkNo", wrkMast.getWrkNo());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/replenishment")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {//AGV组托成功
			//覆盖工作档目标站
			wrkMast.setStaNo(targetSta.intValue());
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setLiftNo(null);//释放提升机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(targetSta);//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			continue;
			}
			}
			} catch (Exception e) {
			// e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}

			// //覆盖工作档目标站
			// wrkMast.setStaNo(targetSta.intValue());
			// wrkMast.setShuttleNo(null);//释放小车
			// wrkMast.setLiftNo(null);//释放提升机
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //向300站写入目标站
			// staProtocol = staProtocol.clone();
			// staProtocol.setStaNo(targetSta);//移动到目标站
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// try {
			// Thread.sleep(500);
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// continue;
			// }
			}
			}
			}
			}
			} catch (Exception e) {
			// e.printStackTrace();
			}
			}

			/**
			* AGV补货 => 机械臂拣料
			*/
			public synchronized void agvRestockByRobot() {
			try {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol303 = devpThread.getStation().get(303);
			StaProtocol staProtocol317 = devpThread.getStation().get(317);
			if (staProtocol303 == null \|\| staProtocol317 == null) {
			continue;
			}

			if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
			//调度机械臂
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			if (wrkDetls.isEmpty()) {
			continue;
			}

			if (wrkMast.getInvWh() == null) {
			boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
			if (result) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			wrkMastMapper.updateById(wrkMast);
			}
			}
			}

			if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
			//调度机械臂
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}
			List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
			if (wrkDetls.isEmpty()) {
			continue;
			}
			if (wrkMast.getInvWh() == null) {
			boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
			if (result) {
			wrkMast.setInvWh("Y");//标记已经下发机械臂任务
			wrkMastMapper.updateById(wrkMast);
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* AGV补货(通知AGV取货)
			*/
			public synchronized void agvRestockInto() {
			try {
			//检测309和312站是否自动、有物
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol309 = devpThread.getStation().get(309);
			StaProtocol staProtocol312 = devpThread.getStation().get(312);
			if (staProtocol309 == null \|\| staProtocol312 == null) {
			continue;
			}

			if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("301-1", barcode);
			log.info("通知AGV取货，条码号：" + barcode);
			}
			}

			if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			//通知AGV取货
			agvRestockCall("302-1", barcode);
			log.info("通知AGV取货，条码号：" + barcode);
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			//通知AGV取货
			private boolean agvRestockCall(String staNo, String barcode) {
			try {
			HashMap<String, Object> param = new HashMap<>();
			param.put("devNo", staNo);
			param.put("containerCode", barcode);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/start")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			News.info("悬挂线，WMS返回结果：" + jsonObject);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {//呼叫AGV
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return false;
			}

			//通知WMS当前拣料站点信息
			private boolean agvCureentCall(String staNo, String barcode) {
			try {
			HashMap<String, Object> param = new HashMap<>();
			param.put("devNo", staNo);
			param.put("containerCode", barcode);
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/current/containerCode")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			News.info("悬挂线，WMS返回结果：" + jsonObject);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {//呼叫AGV
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			return false;
			}

			/**
			* AGV补货(悬挂线通知AGV取货)
			*/
			public synchronized void agvRestockIntoByHangingWire() {
			try {
			//检测350和351扫码器
			int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器
			for (int staNo : barcodeStaNo) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			if (barcode.contains("NoRead")) {
			continue;
			}

			String agvStaNo = null;
			if (staNo == 11) {
			agvStaNo = "303-1";
			} else if(staNo == 12){
			agvStaNo = "304-1";
			} else if(staNo == 14){
			agvStaNo = "311-1";
			} else if(staNo == 16){
			agvStaNo = "313-1";
			} else if(staNo == 18){
			agvStaNo = "315-1";
			} else if(staNo == 20){
			agvStaNo = "317-1";
			}
			//通知AGV取货
			boolean result = agvRestockCall(agvStaNo, barcode);
			if (result) {
			barcodeThread.setBarcode("");
			}
			log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* AGV拣料站点信息
			*/
			public synchronized void agvCurrentContainerCodeInfoWire() {
			try {
			//检测350和351扫码器
			int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器
			for (int staNo : barcodeStaNo) {
			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if (!Cools.isEmpty(barcode)) {
			if (barcode.contains("NoRead")) {
			continue;
			}

			String agvStaNo = null;
			if (staNo == 13) {
			agvStaNo = "CS-310";
			} else if(staNo == 15){
			agvStaNo = "CS-311";
			} else if(staNo == 17){
			agvStaNo = "CS-312";
			} else if(staNo == 19){
			agvStaNo = "CS-313";
			}
			//通知WMS当前容器码
			boolean result = agvCureentCall(agvStaNo, barcode);
			if (result) {
			barcodeThread.setBarcode("");
			}
			log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			// 300站拣料
			public void pick300() {
			try {
			//检测300站是否自动、有物、工作号
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(300);
			if (staProtocol == null) {
			continue;
			}else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
			//查询是否有工作档
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMast == null) {
			continue;
			}

			if (wrkMast.getWrkSts() != 29) {//29.出库完成
			continue;
			}

			if (wrkMast.getMk() == null) {
			Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
			Integer staNo = wrkMast.getStaNo();//目标站
			//覆盖工作档目标站
			wrkMast.setStaNo(sourceStaNo);
			wrkMast.setSourceStaNo(staNo);
			wrkMast.setMk("N");
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//向300站写入目标站
			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			try {
			Thread.sleep(500);
			} catch (Exception e) {
			e.printStackTrace();
			}
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			public void ledExecute() {
			try {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			List<LedCommand> commands = new ArrayList<>();
			// 工作档集合
			List<WrkMast> wrkMasts = new ArrayList<>();
			List<WrkMastLog> wrkMastLogs = new ArrayList<>();
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (null == staProtocol \|\| null == staProtocol.getWorkNo() \|\| 0 == staProtocol.getWorkNo() \|\| !staProtocol.isLoading()) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			Integer wrkNo = staProtocol.getWorkNo().intValue();
			Integer ioType = null;
			String sourceLocNo = null;
			String locNo = null;
			Integer wrkStaNo = null;
			String barcode = null;
			if (wrkMast == null) {
			//查询历史档
			WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
			if (wrkMastLog == null) {
			continue;
			}
			ioType = wrkMastLog.getIoType();
			sourceLocNo = wrkMastLog.getSourceLocNo();
			locNo = wrkMastLog.getLocNo();
			wrkStaNo = wrkMastLog.getStaNo();
			barcode = wrkMastLog.getBarcode();
			wrkMastLogs.add(wrkMastLog);
			}else {
			if (wrkMast.getWrkSts() < 14 \|\| wrkMast.getIoType() < 100) {
			continue;
			}
			ioType = wrkMast.getIoType();
			sourceLocNo = wrkMast.getSourceLocNo();
			locNo = wrkMast.getLocNo();
			wrkStaNo = wrkMast.getStaNo();
			barcode = wrkMast.getBarcode();
			wrkMasts.add(wrkMast);
			}
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			ledCommand.setWorkNo(wrkNo);
			ledCommand.setIoType(ioType);
			// 出库模式
			switch (ioType) {
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			case 103:
			ledCommand.setTitle("拣料出库");
			break;
			case 104:
			ledCommand.setTitle("并板出库");
			break;
			case 107:
			ledCommand.setTitle("盘点出库");
			break;
			case 110:
			ledCommand.setTitle("空板出库");
			ledCommand.setEmptyMk(true);
			break;
			default:
			News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
			break;
			}
			ledCommand.setSourceLocNo(sourceLocNo);
			ledCommand.setLocNo(locNo);
			ledCommand.setStaNo(wrkStaNo);
			ledCommand.setBarcode(barcode);
			if (ioType != 110 && ioType != 10) {
			List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			if (!wrkDetls.isEmpty()) {
			wrkDetls.forEach(wrkDetl -> {
			double remainNum = wrkDetl.getStock() - wrkDetl.getAnfme();//剩余数量
			if (remainNum < 0) {
			remainNum = 0;
			}
			String matnr = wrkDetl.getMatnr();
			Mat mat = matService.selectByMatnr(wrkDetl.getMatnr());
			if (mat != null) {
			if (!mat.getMatnr().equals(mat.getMatnr2())) {
			matnr += " - " + mat.getMatnr2();
			}
			}
			ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetl.getMaktx(), wrkDetl.getAnfme(), remainNum, wrkDetl.getSpecs(), wrkDetl.getSuppCode(), wrkDetl.getOrderNo()));
			});
			}else {
			List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
			for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
			double remainNum = wrkDetlLog.getStock() - wrkDetlLog.getAnfme();//剩余数量
			if (remainNum < 0) {
			remainNum = 0;
			}
			String matnr = wrkDetlLog.getMatnr();
			Mat mat = matService.selectByMatnr(wrkDetlLog.getMatnr());
			if (mat != null) {
			if (!mat.getMatnr().equals(mat.getMatnr2())) {
			matnr += " - " + mat.getMatnr2();
			}
			}
			ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), remainNum, wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
			}
			}

			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// if (ioType == 101) {
			// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			// wrkDetls.forEach(wrkDetl -> {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
			// });
			//// locDetls.forEach(locDetl -> {
			//// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
			//// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
			//// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
			//// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
			//// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
			//// List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
			//// if (Cools.isEmpty(detl)) {
			//// String suppCode = "";
			//// if (locDetl.getSuppCode() != null) {
			//// suppCode = locDetl.getSuppCode();
			//// }
			//// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
			//// } else {
			//// //出库数量累计
			//// Double conut = 0.0;
			//// for (WrkDetl wrkDetl : detl) {
			//// conut = conut + wrkDetl.getAnfme();
			//// }
			////
			//// for (WrkDetl wrkDetl : detl) {
			//// String suppCode = "";
			//// if (wrkDetl.getSuppCode() != null) {
			//// suppCode = wrkDetl.getSuppCode();
			//// }
			//// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
			//// }
			//// }
			////
			//// });
			// } else {
			// locDetls.forEach(locDetl -> {
			// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
			// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
			// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
			// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
			// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
			// List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
			// if (Cools.isEmpty(detl)) {
			// String suppCode = "";
			// if (locDetl.getSuppCode() != null) {
			// suppCode = locDetl.getSuppCode();
			// }
			// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
			// } else {
			// //出库数量累计
			// Double conut = 0.0;
			// for (WrkDetl wrkDetl : detl) {
			// conut = conut + wrkDetl.getAnfme();
			// }
			//
			// for (WrkDetl wrkDetl : detl) {
			// String suppCode = "";
			// if (wrkDetl.getSuppCode() != null) {
			// suppCode = wrkDetl.getSuppCode();
			// }
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
			// }
			// }
			//
			// });
			// }
			//
			//
			// if (ioType == 107) {
			// locDetls = new ArrayList<>();
			// ledCommand.setMatDtos(new ArrayList<>());
			// }
			//
			// if (locDetls.isEmpty() && ioType != 101) {
			// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
			// wrkDetls.forEach(wrkDetl -> {
			// if (wrkDetl.getAnfme() > 0D) {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
			// }
			// });
			//
			// if (wrkDetls.isEmpty()) {//从历史档查询
			// List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
			// for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
			// if (wrkDetlLog.getAnfme() > 0D) {
			// ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
			// }
			// }
			// }
			// }
			}

			commands.add(ledCommand);
			}
			Set<Integer> workNos = null;
			if (!wrkMasts.isEmpty()) {
			workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
			}else {
			workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
			}
			// 获取LED线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// 相同工作号集合则过滤
			if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
			continue;
			}
			// 命令下发 -------------------------------------------------------------------------------
			if (!commands.isEmpty()) {
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			continue;
			} else {
			ledThread.setLedMk(false);
			}
			}

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

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

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

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

			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			public void ledReset() {
			try {
			// for (LedSlave led : slaveProperties.getLed()) {
			//
			// // 获取输送线plc线程
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// // 命令集合
			// boolean reset = true;
			// for (Integer staNo : led.getStaArr()) {
			// // 获取叉车站点
			// StaProtocol staProtocol = devpThread.getStation().get(staNo);
			// if (staProtocol == null) {
			// continue;
			// }
			// if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
			// reset = false;
			// break;
			// }
			// }
			// // 获取led线程
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// // led显示默认内容
			// if (reset && !ledThread.isLedMk()) {
			// ledThread.setLedMk(true);
			// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
			// News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// } else {
			// News.error("{}号LED命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			// ledThread.setLedMk(false);
			// }
			// }
			// }
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
			// 命令集合
			boolean reset = true;
			for (Integer staNo : led.getStaArr()) {
			// 获取叉车站点
			StaProtocol staProtocol = devpThread.getStation().get(staNo);
			if (staProtocol == null) {
			continue;
			}
			if (staProtocol.isLoading()) {
			reset = false;
			break;
			}
			}
			// 获取led线程
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			// led显示默认内容
			if (reset) {
			ledThread.setLedMk(true);
			if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
			log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			@@ -3240,37 +2206,47 @@
			*/
			public synchronized void loopShuttleCharge() {
			try {

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

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			continue;
			}

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

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

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

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

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

			//小车和充电桩在同一层
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			shuttleCharge = charge;
			break;
			}
			}
			@@ -3278,17 +2254,22 @@
			if (shuttleCharge == null) {
			//同楼层没有找到充电桩，找可用充电桩
			//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			//判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
			int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
			boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
			if (checkLevHasShuttle) {
			//当前充电桩楼层有穿梭车，不分配该充电桩
			for (BasShuttleCharge charge : charges) {
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			//判断当前充电桩是否有小车，如有小车，不分配该充电桩
			ArrayList<String> locs = new ArrayList<>();
			locs.add(charge.getLocNo());
			Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
			if (checkHasShuttle != null) {
			//当前充电桩有穿梭车，不分配该充电桩
			continue;
			}

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

			shuttleCharge = charge;
			break;
			}
			}
			@@ -3298,22 +2279,23 @@
			continue;
			}

			String chargeLocNo = shuttleCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setShuttleNo(shuttle.getId());
			wrkCharge.setCharge(shuttleCharge.id);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(51L); // 51.准备充电
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			String chargeLocNo = shuttleCharge.getLocNo();
			wrkMast = new WrkMast();
			wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
			wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
			wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
			wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
			wrkMast.setIoPri((double) 999);
			wrkMast.setLocNo(chargeLocNo);
			wrkMast.setShuttleNo(shuttle.getId());
			wrkMast.setMemo("charge");
			wrkMast.setAppeTime(new Date());
			if (!wrkMastService.insert(wrkMast)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			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();
			@@ -3325,129 +2307,230 @@
			*/
			public synchronized void executeShuttleCharge() {
			try {
			//查询小车充电任务
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
			if (wrkMast == null) {
			continue;
			}

			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
			if (!result1) {
			continue;
			}

			if (wrkCharge.getWrkSts() == 51) {
			if (!shuttleProtocol.isIdleNoCharge()) {
			continue;
			}

			if (shuttleProtocol.getSuspendState() == 1) {
			continue;//管制中
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
			//小车不在充电桩位置
			shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
			continue;
			}

			//小车已经在充电桩位置，下发充电命令
			NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
			ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(chargeCommand);
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(commands);//运行命令

			wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			} else if (wrkCharge.getWrkSts() == 52) {
			//检测小车是否满电

			//获取满电阈值
			int maxPower = 95;
			EntityWrapper<Config> wrapper = new EntityWrapper<>();
			wrapper.eq("code", "chargeMaxValue");
			Config config = configService.selectOne(wrapper);
			if (config != null) {
			maxPower = Integer.parseInt(config.getValue());
			}

			if (shuttleProtocol.getPowerPercent() < maxPower) {
			continue;
			}

			//*************判断是否满充校准*************
			EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
			wrapper.eq("code", "shuttleMaxPowerVerify");
			Config config1 = configService.selectOne(wrapper1);
			if (config1 != null) {
			if (config1.getValue().equals("true")) {
			if (shuttleProtocol.getVoltage() < 5630) {
			continue;//电压不够继续充电
			}
			}
			}
			//*************判断是否满充校准*************

			//小车满电，结束充电任务
			NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
			ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(chargeCommand);
			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			assignCommand.setCommands(commands);//运行命令

			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			try {
			Thread.sleep(3000);
			} catch (Exception e) {
			e.printStackTrace();
			}

			wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
			shuttleProtocol.setTaskNo(0);
			shuttleProtocol.setPakMk(false);
			}
			} else if (wrkCharge.getWrkSts() == 53) {
			if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
			boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
			if (!result) {
			continue;
			}

			wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
			wrkCharge.setModiTime(new Date());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {

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

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

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

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

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

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

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

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

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

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

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

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

			return false;
			}
			return true;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			/**
			@@ -3456,722 +2539,84 @@
			public synchronized void shuttleMoveExecute() {
			try {
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			continue;
			if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportLift(wrkMast);
			} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportNoLift(wrkMast);
			} else {
			shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
			}

			boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//小车迁入提升机
			if (!stepIntoLift) {
			continue;
			}

			boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
			if (!stepLiftMove) {
			continue;
			}

			boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//小车迁出提升机
			if (!stepOutLift) {
			continue;
			}

			boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
			if (!stepMoveLoc) {
			continue;
			}

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

			/**
			* 小车迁移-小车移动到站点
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
			//--------------------------------------小车移动至站点-----------------------------------------//
			Date now = new Date();

			//小车移动至站点 101.生成小车移库任务 ==> 102.小车移动至站点中
			if (wrkMast.getWrkSts() == 101) {
			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
			//目标库位和小车库位处于同一楼层，不需要通过提升机调度
			wrkMast.setWrkSts(109L);// 109.小车迁出提升机完成 ==> 110.小车移动中
			wrkMast.setModiTime(now);
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			return true;//直接进入109.小车迁出提升机完成 ==> 110.小车移动中
			}
			return false;
			}

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

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

			//***********尝试锁定目标站路径*************
			List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}
			boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
			if (!checkPathIsAvailable) {
			News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//检测目标站点路径是否未被占用
			}
			//尝试锁定目标站路径
			boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), 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*************

			//获取小车到输送站点行走命令
			NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
			if (result == null) {
			//路径获取失败，需要解锁上面锁定的路径
			//尝试解锁目标站路径
			boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//所使用的路径进行解锁
			if (!result3) {
			News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径解锁失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();

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

			wrkMast.setWrkSts(102L);//小车移动到提升机中 101.生成小车移库任务 ==> 102.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-小车迁入提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
			//--------------------------------------小车迁入提升机-----------------------------------------//
			Date now = new Date();

			//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
			if (wrkMast.getWrkSts() == 103) {
			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (sourceLiftSta == null) {
			return false;//找不到站点
			}

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

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(liftSta.getLiftNo());
			if (basLift == null) {
			return false;//没有提升机数据
			}

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

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

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

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

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			//判断提升机楼层
			if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) {
			//提升机不在小车楼层
			//调度提升机

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

			//获取提升机命令，调度提升机到源站位置
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());

			int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			if (basLiftOpt != null) {
			News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号

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

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

			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			wrkMast.setModiTime(now);
			liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			return false;//等待提升机到小车楼层
			}

			if (liftProtocol.getToken() == 0) {//提升机令牌未被占用
			//独占提升机
			liftProtocol.setToken(wrkMast.getShuttleNo());
			return false;//等待下一次执行
			}

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

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

			//站点节点
			NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());

			//提升机节点
			NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			liftNode.setZ(staNode.getZ());

			//获取小车进提升机行走命令
			NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
			List<NyShuttleHttpCommand> commands = new ArrayList<>();
			commands.add(moveCommand);
			List<NavigateNode> nodes = new ArrayList<>();//行走节点路径
			nodes.add(staNode);
			nodes.add(liftNode);

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

			wrkMast.setWrkSts(104L);//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}

			return true;
			//liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
			} else {
			//放货位置是提升机
			transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
			}
			}

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


			/**
			* 小车迁移-提升机搬运中
			* 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
			* 入出库模式切换函数
			*/
			private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

			//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
			if (wrkMast.getWrkSts() == 105) {

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

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

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

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			//获取源站
			LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (sourceLiftSta == null \|\| liftSta == null) {
			News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;//缺少站点信息
			}

			//获取提升机命令
			NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), wrkMast.getWrkNo());

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

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

			wrkMast.setWrkSts(106L);//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
			wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			public synchronized void ioConvert() {
			for (LedSlave led : slaveProperties.getLed()) {
			NormalLedThread ledThread = (NormalLedThread) SlaveConnection.get(SlaveType.Led, led.getId());
			ledThread.reset();
			}
			return true;
			}

			/**
			* 小车迁移-小车迁出提升机
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
			//--------------------------------------小车迁出提升机-----------------------------------------//
			Date now = new Date();
			//小车移动到提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			if (wrkMast.getWrkSts() == 107) {

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

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

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			//获取提升机数据
			BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
			if (basLift == null) {
			return false;//没有提升机数据
			}
			if (basLift.getPoint() == null) {
			News.info("{}任务，{}号提升机，缺少提升机点位坐标，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			return false;//没有设置提升机点位坐标
			}

			NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
			liftNode.setZ(liftSta.getLev());

			List<NyShuttleHttpCommand> commands = new ArrayList<>();
			//获取小车更新楼层命令
			NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo());
			commands.add(updateZCommand);

			//获取小车出提升机行走命令
			NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false);
			commands.add(moveCommand);//添加小车迁出提升机命令

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

			wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 小车迁移-小车移动到目标库位中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
			//--------------------------------------小车移动到目标库位中-----------------------------------------//
			Date now = new Date();

			//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			if (wrkMast.getWrkSts() == 109) {

			//获取四向穿梭车线程
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			return false;
			}

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

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

			// //跨楼层移动任务
			// if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			// //获取目标站
			// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			// if (liftSta == null) {
			// return false;//找不到站点
			// }
			//
			// //***********尝试解锁目标站路径*************
			// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
			// if (targetNodes == null) {
			// return false;//未获取到节点
			// }
			// //尝试解锁目标站路径
			// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
			// if (!result) {
			// return false;//路径解锁失败
			// }
			// //***********尝试解锁目标站路径*************
			// }

			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//释放小车令牌
			shuttleProtocol.setToken(0);
			}
			wrkMast.setWrkSts(111L);//111.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastMapper.updateById(wrkMast);

			shuttleProtocol.setShuttleNo((short) 0);//释放小车
			shuttleProtocol.setToken(0);//释放小车

			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());
			}
			}
			return false;
			}

			NyShuttleOperaResult result = null;
			//跨楼层移动任务
			if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			//需要将前两个节点作为白名单节点传入
			//获取目标站
			LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}

			//设置计算节点的白名单
			ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
			for (NavigateNode node : targetNodes) {
			whiteList.add(new int[]{node.getX(), node.getY()});
			}
			result = NyShuttleOperaUtils.getStartToTargetCommandsByWhites(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList);
			}else {
			//获取小车到目标库位命令
			result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
			}

			if (result == null) {
			return false;//路径计算失败
			}
			List<NyShuttleHttpCommand> commands = result.getCommands();

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setCommands(commands);
			assignCommand.setNodes(result.getNodes());
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			if (wrkMast.getLiftNo() != null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
			if (liftThread == null) {
			return false;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			return false;
			}
			if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
			liftProtocol.setToken(0);//释放提升机令牌
			}
			}

			wrkMast.setWrkSts(110L);//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			return true;
			}

			//扫描设备PakMk标记是否超时
			public synchronized void scanDevicePakMk() {
			try {
			//扫描小车
			for (ShuttleSlave slave : slaveProperties.getShuttle()) {
			NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
			NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			// 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;
			}
			}

			if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000 * 60 * 5)) && shuttleProtocol.getPakMk()) {
			//设备超过5分钟还没复位标记
			shuttleProtocol.setPakMk(false);//复位标记
			}
			}

			//扫描提升机
			for (LiftSlave slave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000 * 60 * 5)) && liftProtocol.getPakMk()) {
			//设备超过5分钟还没复位标记
			liftProtocol.setPakMk(false);//复位标记
			}
			} else {
			// 入库模式
			devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}

			}

			}