#

Junjie

2023-09-20 cb757218ff35e8b302de2d6cc5a95b842acd8ea2

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

@@ -99,6 +99,9 @@
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastLocMapper wrkMastLocMapper;


    /**
     * 组托
@@ -925,6 +928,7 @@
                            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() == wrkMast.getWrkNo()) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
@@ -934,6 +938,17 @@
                    }

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

                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //源库位清零
@@ -945,6 +960,24 @@
                        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());
                    } 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());
                    }
                }

@@ -968,6 +1001,11 @@
            }

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

            //判断提升机令牌是否被占用
            if (liftProtocol.getToken() != 0) {
                continue;
            }

@@ -1032,15 +1070,25 @@

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            if (sourceBasDevp == null) {
                return false;//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)
            Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
            Integer targetSta = null;
            //获取牛眼提升机站点编号(目标编号)
            for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
                    targetSta = liftStaProtocol.getStaNo();
                }
            }

            if (targetSta == null) {
                return false;//站点编号不存在
            }

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

            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

@@ -1097,16 +1145,28 @@
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            //获取源站对应的牛眼提升机站点编号(起点编号)
            Integer startSta = null;
            for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
                    startSta = liftStaProtocol.getStaNo();
                }
            }

            if (startSta == null) {
                return false;//站点编号不存在
            }

            //获目标站源站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (targetBasDevp == null) {
                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(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());

            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);
@@ -1207,7 +1267,7 @@
        //查询库位移转工作档
        List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
        for (WrkMast wrkMast : wrkMasts1) {
            if (wrkMast.getSourceLocNo().equals(wrkMast.getLocNo())) {
            if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
                boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
                if (!step1) {
                    continue;
@@ -1326,10 +1386,14 @@
            }

            //获取穿梭车最近且空闲的提升机输送站点
            BasDevp liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
            LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
            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(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
@@ -1347,7 +1411,8 @@
            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.setLiftNo(liftSta.getLiftNo());//设置提升机号
            wrkMast.setSourceStaNo(sourceStaNo);//源站
            wrkMast.setStaNo(staNo);//目标站
            wrkMast.setModiTime(new Date());
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
@@ -1387,16 +1452,16 @@
                return false;
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            //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
            }

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

            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);
@@ -1475,6 +1540,7 @@
            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
@@ -2030,6 +2096,10 @@
            }

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

                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
@@ -2125,6 +2195,8 @@
                continue;
            }

//            this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//清理111.小车移动完成

        }
    }

@@ -2150,7 +2222,7 @@
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2171,14 +2243,14 @@
                return false;
            }

            //获取目标输送站
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
                return false;//找不到输送站点
            //获取源输送站
            LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            if (liftSta == null) {
                return false;//找不到站点
            }

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo());
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -2213,14 +2285,20 @@

        //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
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
                return false;//找不到输送站点
            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(basDevp.getLiftNo());
            BasLift basLift = basLiftService.selectById(liftSta.getLiftNo());
            if (basLift == null) {
                return false;//没有提升机数据
            }
@@ -2235,7 +2313,7 @@
                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, basDevp.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo());
            if (liftThread == null) {
                return false;
            }
@@ -2267,10 +2345,8 @@
                //提升机不在小车楼层
                //调度提升机

                //获取源站对应的输送站点
                BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(liftProtocol.getLev().intValue(), liftProtocol.getLiftNo().intValue());
                //获取提升机命令
                NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceBasDevp.getDevNo(), basDevp.getDevNo(), wrkMast.getWrkNo());
                //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());

                ArrayList<NyLiftCommand> commands = new ArrayList<>();
                commands.add(liftCommand);
@@ -2303,7 +2379,7 @@
            }

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

            //提升机节点
            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
@@ -2327,6 +2403,8 @@

            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));
@@ -2366,6 +2444,11 @@
                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()) {
                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) {
@@ -2386,16 +2469,16 @@
                return false;
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
            if (sourceBasDevp == null || targetBasDevp == null) {
            //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) {
                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, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
            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);
@@ -2467,10 +2550,10 @@
                return false;
            }

            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            //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
@@ -2486,7 +2569,7 @@

            List<NyShuttleHttpCommand> commands = new ArrayList<>();
            //获取小车出提升机行走命令
            NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(targetBasDevp.getLocNo()), false);
            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();
@@ -2521,15 +2604,6 @@
        //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) {

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }

            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -2541,34 +2615,34 @@
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

            //判断小车令牌是否为当前任务
            if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (shuttleProtocol.getToken() != 0 && shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
                return false;
            }

            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            }
//            //获取目标站对应的输送站点
//            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
//            if (targetBasDevp == null) {
//                return false;//缺少站点信息
//            }
//
//            //获取提升机数据
//            BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
//            if (basLift == null) {
//                return false;//没有提升机数据
//            }
//            if (basLift.getPoint() == null) {
//                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(basLift.getPoint$().getZ());

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

            //获取小车从输送站到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
            //获取小车到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
            if (result == null) {
                return false;//路径计算失败
            }
@@ -2585,7 +2659,20 @@
            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);
            liftProtocol.setToken(0);//释放提升机令牌

            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() == shuttleProtocol.getShuttleNo().intValue()) {
                    liftProtocol.setToken(0);//释放提升机令牌
                }
            }
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -2595,6 +2682,69 @@
    }

    /**
     * 小车迁移-清理111.小车移动完成
     */
    private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 111) {
            //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())) {
                return false;
            }

            Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
            if (o != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
                ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
                int size = assignCommand.getCommands().size();
                NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//获取最后一段命令
                if (!command.getComplete()) {
                    return false;//最后一段命令还未完成，不做操作
                }
                NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
                navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//解锁路径

                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
            }

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

            //设置四向穿梭车为空闲状态
            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);
            //工作号清零
            shuttleProtocol.setTaskNo(0);
            //清除令牌
            shuttleProtocol.setToken(0);
            News.info("四向穿梭车已确认且移动任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
        }

        return true;
    }

    /**
     * 出入库模式切换
     */
    public synchronized void outAndIn() {