zy-wcs.git - Gitblit

			@@ -3,11 +3,11 @@
			import com.alibaba.fastjson.JSON;
			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.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.WrkChargeMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			@@ -15,6 +15,7 @@
			import com.zy.common.model.MatDto;
			import com.zy.common.model.SearchLocParam;
			import com.zy.common.model.StartupDto;
			import com.zy.common.model.enums.WrkChargeType;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.CollectionUtils;
			import com.zy.common.utils.HttpHandler;
			@@ -43,7 +44,10 @@
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.util.*;
			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Set;
			import java.util.stream.Collectors;

			/**
			@@ -66,6 +70,8 @@
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@@ -85,12 +91,13 @@
			private BasSteErrService basSteErrService;
			@Autowired
			private CommonService commonService;
			@Autowired
			private WrkChargeMapper wrkChargeMapper;

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			@Async
			public void generateStoreWrkFile() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -145,6 +152,11 @@
			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
			if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
			continue;
			}

			@@ -216,7 +228,6 @@
			* 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
			*/
			@Async
			public void generateStoreWrkFile0() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			@@ -263,12 +274,12 @@
			}

			/**
			* 拣料、并板、盘点再入库
			* 拣料、并板、盘点再入库【第1阶段】
			*/
			public synchronized void stnToCrnStnPick(){
			public synchronized void stnToCrnStnPick0(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			for (DevpSlave.Sta pickSta : devp.getPickOutSta()) {

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			@@ -278,24 +289,119 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()) {
			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			short staNo;
			switch (wrkMast.getSourceStaNo()) {
			case 104:
			case 108:
			staNo = 103;
			break;
			case 204:
			case 208:
			staNo = 203;
			break;
			default:
			log.error("{}任务再入库失败，系统数据异常！", wrkMast.getWrkNo());
			continue;
			}
			// 更新站点信息且下发plc命令
			// staProtocol.setWorkNo((short) 9994);
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(staNo);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			}
			}
			}
			}

			/**
			* 拣料、并板、盘点再入库【第2阶段】
			*/
			public synchronized void stnToCrnStnPick1(){
			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()
			// 0 - 9990 或者 9996
			&& ((staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) \|\| staProtocol.getWorkNo() == 9996)
			&& 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();
			// if(!Cools.isEmpty(barcode)) {
			// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			// if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			// continue;
			// }
			// } else {
			// continue;
			// }
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			if (barcodeThread == null) {
			continue;
			}

			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			WrkMast wrkMast = null;
			if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (null == wrkMast) {
			log.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
			}
			}
			if (staProtocol.getWorkNo() == 9996) {
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.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) 9995);
			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) 9995);
			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) {
			log.error("{}条码错误，暂无拣料任务！", barcode);
			}
			}

			if (wrkMast == null) {
			// 无拣料数据
			continue;
			@@ -305,67 +411,124 @@
			continue;
			}

			// 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", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			try {
			// 保存工作明细档历史档
			// 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)) {
			// log.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("保存工作主档历史档失败");
			// 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();
			// 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.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			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");
			}
			// 修改源库位状态 O.空库位
			LocMast locMast = locMastService.selectById(sourceLocNo);
			locMast.setLocSts("O");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位");
			}
			// 修改目标库位状态 Q.拣料/盘点/并板再入库
			locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException(wrkMast.getWrkNo() + "修改目标库位状态 Q.拣料/盘点/并板再入库");
			}
			// 库存明细转移
			if (!locDetlService.updateLocNo(wrkMast.getLocNo(), sourceLocNo)) {
			throw new CoolException(wrkMast.getWrkNo() + "任务库存明细转移失败！！！");
			}

			// 条码设备处理
			barcodeThread.setBarcode("");

			// 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) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			} 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));
			}
			}
			log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
			} else {
			staProtocol.setWorkNo((short) 9995);
			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));
			}
			}

			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 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(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("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(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

			// 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) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// continue;
			}

			}

			}

			}
			@@ -531,7 +694,7 @@
			continue;
			}

			// 过滤
			// 检测是否存在出库任务
			if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
			log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
			continue;
			@@ -541,87 +704,114 @@
			wrkMast.setIoPri((double) 9999);
			wrkMastMapper.updateById(wrkMast);

			// 目标库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
			Integer steNo = this.hasCar(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			// if (null != wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			// continue;
			// }
			this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
			}
			// 小车搬走
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveOut(wrkMast, steNo, crnProtocol);
			}
			// 没有小车
			} else {
			// 判断是否为穿梭库
			if (!locMastService.isShuttle(wrkMast.getLocNo())) {

			// 当前入库库位组没有小车堆垛机则去站点取货入库
			// case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
			// case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
			if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) \|\| wrkMast.getWrkSts() == 6L) {
			// 非穿梭库入库【堆垛机直接入库】
			if (wrkMast.getWrkSts() == 2) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if (waitWrkMast.getWrkSts() < 17) {
			waitWrkMast.setIoPri(30D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			//20220719 Add，如果浅库位状态为P/R，工作状态为14/15,说明浅库位已经空了，可以执行入库任务
			}
			}
			continue;
			}

			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMast.setIoPri(20D);
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			moveLocForDeepLoc(slave, shallowLoc);
			}
			return true;
			continue;
			}
			if (shallowLoc.getLocSts().equals("Q")) {
			WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
			if (null != waitWrkMast && waitWrkMast.getWrkSts() == 9) {
			continue;
			}
			}
			}

			}

			// 目标库位 ===>> 非最外层库位
			} else {
			// 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
			Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			}
			return true;
			}
			// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
			if (wrkMast.getWrkSts() == 3L \|\| wrkMast.getWrkSts() == 6L) {
			// 小车处于空闲
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			}
			} else {
			// 目标库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
			// 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
			Integer steNo = this.hasCar(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			// 没有其他任务
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
			}
			}
			// 小车搬走
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveOut(wrkMast, steNo, crnProtocol);
			}
			// 没有小车
			} else {

			// 当前入库库位组没有小车堆垛机则去站点取货入库
			// case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
			// case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
			if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) \|\| wrkMast.getWrkSts() == 6L) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -631,37 +821,95 @@
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 3.小车待搬 ===>> 7.吊车入库中
			// 修改工作档状态 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			}
			return true;
			}
			}

			}
			// 没有小车

			// 目标库位 ===>> 非最外层库位
			} else {
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			// 寻找当前堆垛机对应的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
			// 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
			Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			// 没有其他任务
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
			if (wrkMast.getWrkSts() == 3L \|\| wrkMast.getWrkSts() == 6L) {
			// 小车处于空闲
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}
			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 3.小车待搬 ===>> 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			return true;
			}
			}
			}
			// 没有小车
			} else {
			if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
			// 寻找当前堆垛机对应的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 没有其他任务
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			}
			}
			}
			}
			@@ -725,14 +973,47 @@
			wrkMast.setIoPri((double) 9999);
			wrkMastMapper.updateById(wrkMast);

			// 最外层库位，直接堆垛机出库
			if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
			// 判断是否为穿梭库
			if (!locMastService.isShuttle(wrkMast.getLocNo())) {

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
			LocMast shallowLoc = locMastService.selectById(shallowLocNo);
			// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用直接搬！
			if (shallowLoc.getLocSts().equals("P") \|\| shallowLoc.getLocSts().equals("R")) {
			WrkMast waitWrkMast = wrkMastMapper.selectBySourceLocNo(shallowLocNo);
			if (null == waitWrkMast) {
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if(waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(20D);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			}
			}
			continue;
			}
			} else if (shallowLoc.getLocSts().equals("F") \|\| shallowLoc.getLocSts().equals("D")) {
			// 此标记避免多次执行移库任务
			if (Cools.isEmpty(wrkMast.getUpdMk()) \|\| "N".equals(wrkMast.getUpdMk())) {
			wrkMast.setUpdMk("Y");
			wrkMastMapper.updateById(wrkMast);
			// 生成工作档、改变浅库位的源库/目标库库位状态、下发堆垛机命令（立马执行)
			moveLocForDeepLoc(slave, shallowLoc);
			}
			log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
			continue;
			}
			}

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 堆垛机出库命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			@@ -755,93 +1036,132 @@
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			return true;
			break;
			}
			// 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库

			} else {
			// 当前组库位是否有穿梭车
			Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
			// 有小车
			if (steNo != null) {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

			// 给穿梭车下发命令让其将货物挪至堆垛机搬运点
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			// 最外层库位，直接堆垛机出库
			if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点等待堆垛机叉取
			// 堆垛机出库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			return true;
			}
			// 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
			} else {
			// 当前组库位是否有穿梭车
			Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
			// 有小车
			if (steNo != null) {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			// 给穿梭车下发命令让其将货物挪至堆垛机搬运点
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 14.小车搬出库
			Date now = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setSteNo(steNo);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库失败！！，工作号={}", wrkMast.getWrkNo());
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 14.小车搬出库
			Date now = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setSteNo(steNo);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			}
			if (wrkMast.getWrkSts() == 15L) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}

			// 堆垛机出库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 15.等待吊车 => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			if (wrkMast.getWrkSts() == 15L) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			continue;
			}
			return true;
			}
			}

			// 没有小车
			} else {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			// 寻找最近的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			// 堆垛机出库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1(), false).shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 15.等待吊车 => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			return true;
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 12L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);

			// 没有小车
			} else {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			// 寻找最近的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 没有其他任务
			if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 12L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			}
			}
			}
			}
			@@ -896,251 +1216,31 @@
			wrkMast.setIoPri((double) 9999);
			wrkMastMapper.updateById(wrkMast);

			// 源库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
			// 目标库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// todo:luxiaotao 判断目标库位是否存在小车，如果存在，则搬走小车

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			} else {
			Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
			// 有小车
			if (steNo != null) {
			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			// 标记移库当前流程
			wrkMast.setMk("I");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
			}
			this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
			}
			// 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中
			if (wrkMast.getWrkSts() == 6L) {
			// 小车处于空闲
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}
			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 6.小车待入 ===>> 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			} else {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			// 寻找当前堆垛机对应的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 标记移库当前流程
			wrkMast.setMk("I");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			}
			}
			}

			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {

			// 当前组库位是否有穿梭车
			Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
			// 有小车
			if (steNo != null) {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {

			// 给穿梭车下发命令让其将货物挪至堆垛机搬运点
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 11.生成出库ID => 14.小车搬出库
			Date now = new Date();
			wrkMast.setWrkSts(14L);
			wrkMast.setSteNo(steNo);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			if (wrkMast.getWrkSts() == 15L) {
			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}

			// 目标库位 ===>> 最外层库位
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// 堆垛机出库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 15.等待吊车 => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// wrkMastMapper.setSteEmpty(wrkMast.getWrkNo());
			}
			} else {

			// 把货搬到临时存放货位 todo:luxiaotao


			// 小车行走到堆垛机待搬移点
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
			}
			// 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中
			if (wrkMast.getWrkSts() == 6L) {
			// 小车处于空闲
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}
			// 堆垛机入库命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
			crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
			crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改工作档状态 6.小车待入 ===>> 7.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(7L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}

			}
			} else {
			if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
			// 寻找最近的小车
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 标记移库当前流程
			wrkMast.setMk("O");
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 12L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			}
			// 修改工作档状态 11.生成出库ID => 16.吊车出库中
			Date now = new Date();
			wrkMast.setWrkSts(16L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("【库位移转】修改工作档状态 11.生成出库ID => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}

			}

			/**
			@@ -1151,12 +1251,46 @@
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
			return steProtocol.getSteNo().intValue();
			BasSte basSte = basSteService.selectById(ste.getId());
			if (Cools.isEmpty(steProtocol, basSte)) { continue; }
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
			&& basSte.getBay() == Utils.getBay(locNo)
			&& basSte.getLev() == Utils.getLev(locNo)) {
			return ste.getId();
			}
			}
			return null;
			}

			/**
			* 当前库位组是否存在其他小车
			*/
			public Integer existOtherSte(String locNo, Integer steNo) {
			Integer otherSteNo = null;
			for (SteSlave ste : slaveProperties.getSte()) {
			if (ste.getId().equals(steNo)) { continue; }
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isEnable()) {
			BasSte basSte = basSteService.selectById(ste.getId());
			if (basSte != null) {
			if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
			&& basSte.getBay() == Utils.getBay(locNo)
			&& basSte.getLev() == Utils.getLev(locNo))
			\|\|
			(Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay() == Utils.getBay(locNo)
			&& steProtocol.getLev() == Utils.getLev(locNo))
			) {
			otherSteNo = ste.getId();
			break;
			}
			}
			}
			}
			return otherSteNo;
			}

			/**
			@@ -1169,7 +1303,9 @@
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay() == Utils.getBay(locNo)
			&& steProtocol.getLev() == Utils.getLev(locNo)) {
			return steProtocol.getSteNo().intValue();
			}
			}
			@@ -1181,17 +1317,32 @@
			* 查找当前库位最适合的穿梭车来作业
			*/
			public SteThread queryIdleCar(WrkMast wrkMast) {
			Integer crnNo = wrkMast.getCrnNo();
			BasSte basSte = basSteService.findByCrnNo(crnNo);
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol != null) {
			if (steProtocol.isIdle()) {
			return steThread;
			List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
			int val = 0;
			SteThread result = null;
			for (BasSte basSte : basStes) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (!steProtocol.isIdle()) { continue; }
			String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			LocMast locMast = locMastService.selectById(locNo);
			int lev = locMast.getLev1();
			int bay = locMast.getBay1();
			int levAbs = Math.abs(lev - steProtocol.getLev());
			int bayAbs = Math.abs(bay - steProtocol.getBay());
			if (val == 0) {
			val = levAbs + bayAbs;
			result = steThread;
			} else {
			if ((levAbs + bayAbs) < val) {
			val = levAbs + bayAbs;
			result = steThread;
			}
			}
			}
			return null;
			return result;
			}

			/**
			@@ -1211,7 +1362,7 @@
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			@@ -1243,9 +1394,9 @@
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow())); // 任务模式: 去近点等待堆垛机叉取
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			@@ -1278,7 +1429,7 @@
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点等待堆垛机叉取

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());

			@@ -1305,10 +1456,18 @@
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {
			// 堆垛机空闲
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() == 0) {
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
			LocMast locMast;
			// 入库搬
			if (wrkMast.getWrkSts() <= 10) {

			// 判断被移库位是否存在其他小车
			Integer otherSte = existOtherSte(wrkMast.getLocNo(), steNo);
			if (otherSte != null) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getLocNo(), otherSte);
			return;
			}

			locMast = locMastService.selectById(wrkMast.getLocNo());
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1316,17 +1475,17 @@
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
			// 修改工作档状态 3.小车待搬 => 4.迁入小车
			Date now = new Date();
			wrkMast.setWrkSts(4L);
			@@ -1338,6 +1497,13 @@
			}
			// 出库搬
			} else {
			// 判断被移库位是否存在其他小车
			Integer otherSte = existOtherSte(wrkMast.getSourceLocNo(), steNo);
			if (otherSte != null) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getSourceLocNo(), otherSte);
			return;
			}

			locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1345,17 +1511,17 @@
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
			// 修改工作档状态 12.小车待搬 => 13.迁入小车
			Date now = new Date();
			wrkMast.setWrkSts(13L);
			@@ -1382,14 +1548,22 @@
			// 穿梭车空闲
			if (steProtocol.isIdle()) {
			// 堆垛机空闲
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() == 0) {
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {

			BasSte basSte = basSteService.selectById(steNo);
			if (basSte == null) {
			log.error("{}号穿梭车在数据库不存在！！！", steNo);
			return;
			}

			String idleLocNo = basSte.getIdleLoc();

			// 判断被移库位是否存在其他小车
			Integer otherSte = existOtherSte(idleLocNo, steNo);
			if (otherSte != null) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, idleLocNo, otherSte);
			return;
			}

			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			@@ -1397,17 +1571,17 @@
			crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue()); // 目标库位排
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo, true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列
			crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
			steThread.modifyPos(Utils.getGroupRow(idleLocNo, true), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
			// 修改工作档状态 3.小车待搬 => 5.迁出小车
			Date now = new Date();
			wrkMast.setWrkSts(5L);
			@@ -1460,6 +1634,62 @@
			log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			}
			} else if (wrkCharge.getWrkSts() == 27) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			// 穿梭车重新定位排列层
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			if (steThread.confirmPos()) {
			// 27.放至充电位 ===>> 28.充电就绪
			wrkCharge.setWrkSts(28L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			} else {
			log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			} else if (wrkCharge.getWrkSts() == 34) {
			// 34.吊车搬运 ===>> 35.小车就绪
			wrkCharge.setWrkSts(35L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			// 穿梭车重新定位排列层
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			if (!steThread.confirmPos()) {
			log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			}
			} else if (wrkCharge.getWrkSts() == 42) {
			// 42.吊车搬运 ===>> 43.小车到达
			wrkCharge.setWrkSts(43L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改复位任务状态 42.吊车搬运 ===>> 43.小车到达失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			// 穿梭车重新定位排列层
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			if (!steThread.confirmPos()) {
			log.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			}
			} else if (wrkCharge.getWrkSts() == 46) {
			// 46.放至待机位 ===>> 47.复位成功
			wrkCharge.setWrkSts(47L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改复位任务状态 46.放至待机位 ===>> 47.复位成功失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			// 穿梭车重新定位排列层
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			if (!steThread.confirmPos()) {
			log.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			}
			}
			}

			@@ -1468,8 +1698,7 @@
			if (wrkMast.getIoType() != 11) {
			// 入库 ==>> 货物搬入库
			if (wrkMast.getWrkSts() == 7){
			// 判断是否需要小车入库
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			if (!locMastService.isShuttle(wrkMast.getLocNo())) {
			// ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			Date now = new Date();
			@@ -1483,35 +1712,51 @@
			log.error("修改工作档状态 7.吊车入库中 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			}
			} else {
			// 给穿梭车下发命令
			Integer steNo = wrkMast.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			// 判断是否需要小车入库
			if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
			// ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
			wrkMast.setWrkSts(8L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			log.error("修改工作档状态 7.吊车入库中 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			}
			} else {
			// 给穿梭车下发命令
			Integer steNo = wrkMast.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库失败！！，工作号={}", wrkMast.getWrkNo());
			// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
			wrkMast.setWrkSts(8L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			}
			// 入库 ===>> 迁入小车完成
			// 入库 ===>> 迁入小车完成
			} else if (wrkMast.getWrkSts() == 4) {
			// 4.迁入小车 ==> 6.小车待入
			wrkMast.setWrkSts(6L);
			@@ -1609,128 +1854,16 @@
			}
			// 库位移转
			} else {
			if (wrkMast.getWrkSts() == 16) {
			Date now = new Date();
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// 16.吊车出库中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			wrkMast.setCrnEndTime(now);
			} else {
			// 16.吊车出库中 ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			}
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			}
			} else if (wrkMast.getWrkSts() == 4) {
			// 4.迁入小车 ==> 6.小车待入
			wrkMast.setWrkSts(6L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			// 穿梭车重新定位排列层
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
			if (!steThread.confirmPos()) {
			log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
			}
			// 穿梭车去待机位
			BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(9999); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点等待堆垛机叉取
			// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
			// steCommand.setBay(steProtocol.getBay());
			// steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
			}
			} else {
			log.error("修改工作档状态 4.迁入小车 => 6.小车待入失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// 入库 ===>> 迁出小车完成
			} else if (wrkMast.getWrkSts() == 7){
			// 判断是否需要小车入库
			if (locMastService.isOutMost(wrkMast.getLocNo())) {
			// ==> 9.入库完成
			wrkMast.setWrkSts(9L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			if (!locMastService.isShuttle(wrkMast.getLocNo())) {
			if (wrkMast.getWrkSts() == 16 && wrkMast.getIoType() == 11){
			// 更新工作档状态为 17.出库完成
			wrkMast.setWrkSts(17L);
			wrkMast.setCrnEndTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) != 0) {
			// 复位堆垛机
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			}
			} else {
			// 给穿梭车下发命令
			Integer steNo = wrkMast.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.isIdle()) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
			wrkMast.setWrkSts(8L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			} else if (wrkMast.getWrkSts() == 13) {
			// 给穿梭车下发命令
			Integer steNo = wrkMast.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			// 穿梭车重新定位排列层
			if (!steThread.confirmPos()) {
			log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
			}
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(steNo); // 穿梭车编号
			steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库
			if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
			} else {
			// 13.迁入小车 ==> 14.小车搬出库
			wrkMast.setWrkSts(14L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库失败！！，工作号={}", wrkMast.getWrkNo());
			log.error("更新工作档的工作状态为 17.出库完成失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}
			}
			}
			@@ -1770,10 +1903,42 @@
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 25) {
			// 25.小车去充电 ===>> 26.等待充电
			// 25.小车走行 ===>> 26.等待充电
			wrkCharge.setWrkSts(26L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电失败！！，工作号={}", wrkCharge.getWrkNo());
			log.error("修改充电任务状态 25.小车走行 ===>> 26.等待充电失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 29) {
			// 29.开始充电 ===>> 30.完成充电
			wrkCharge.setWrkSts(30L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 32) {
			// 32.小车走行 ===>> 33.小车待搬
			wrkCharge.setWrkSts(33L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 36) {
			// 36.小车走行 ===>> 37.演示完成
			wrkCharge.setWrkSts(37L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 44) {
			// 44.小车走行 ===>> 45.小车待搬
			wrkCharge.setWrkSts(45L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改演示任务状态 44.小车走行 ===>> 45.小车待搬失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			@@ -1813,7 +1978,9 @@
			} else {
			if (wrkMast.getMk().equals("I")) {
			String locNo = wrkMast.getLocNo();
			if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
			if (Utils.getGroupRow(locNo, false).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), false))
			&& steProtocol.getBay() == Utils.getBay(locNo)
			&& steProtocol.getLev() == Utils.getLev(locNo)) {
			// 修改工作档状态 11.生成出库ID => 6.小车待入
			wrkMast.setWrkSts(6L);
			} else {
			@@ -2315,7 +2482,15 @@
			/**
			* 小车电量检测 ===>> 发起充电
			*/
			@SuppressWarnings("serial")
			public synchronized void loopSteCharge() {
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
			return;
			}
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) {
			return;
			}
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			for (SteSlave ste : slaveProperties.getSte()) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			@@ -2326,6 +2501,7 @@
			if (steProtocol.getMode() == 0
			\|\| !steProtocol.statusType.equals(SteStatusType.IDLE)
			\|\| basSte.getPakMk().equals("Y")
			\|\| basSte.getAutoCharge().equals("N")
			// \|\| steProtocol.getChargeStatus() == 1
			) {
			continue;
			@@ -2336,323 +2512,574 @@
			if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}
			WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);

			if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
			String idleLoc = basSte.getIdleLoc();
			// 寻找空闲充电桩
			SteChargeType steCharge = null;
			do {
			String locNo;
			if (!devpThread.charge0) {
			SteChargeType first = SteChargeType.FIRST;
			locNo = first.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(first.ssbm) != null) {
			steCharge = first;
			break;
			}
			}
			if (!devpThread.charge1) {
			SteChargeType second = SteChargeType.SECOND;
			locNo = second.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(second.ssbm) != null) {
			steCharge = second;
			break;
			}
			}
			if (!devpThread.charge2) {
			SteChargeType third = SteChargeType.THIRD;
			locNo = third.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(third.ssbm) != null) {
			steCharge = third;
			break;
			}
			}
			break;
			} while (false);

			if (steCharge == null) {
			log.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
			continue;
			}
			String chargeLocNo = steCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setSteNo(ste.getId());
			wrkCharge.setCharge(steCharge.ssbm);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(21L); // 21.准备充电
			wrkCharge.setCrnNo(basSte.getCrnNo());
			wrkCharge.setCrnNo(2); // 固定2号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(idleLoc);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			log.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
			continue;
			}

			// 处于充电库位组
			if (Utils.getGroupRow(idleLoc).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(idleLoc) && steProtocol.getLev() == Utils.getLev(idleLoc)) {
			// 修改工作档状态 21.准备充电 => 24.小车到达
			wrkCharge.setWrkSts(24L);
			if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
			&& steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
			&& steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
			// 修改工作档状态 21.准备充电 => 28.充电就绪
			wrkCharge.setWrkSts(28L);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 21.准备充电 => 24.小车到达失败！！，工作号={}", wrkCharge.getWrkNo());
			log.error("修改充电任务状态 21.准备充电 => 28.充电就绪失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			} else {
			this.letCarBeWaiting(wrkCharge, ste.getId());
			}

			} else {
			// filter
			if (wrkCharge == null \|\| (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
			continue;
			}

			// 22.小车待搬
			if (wrkCharge.getWrkSts() == 22) {
			// 搬小车至充电库位
			LocMast locMast = locMastService.selectById(basSte.getIdleLoc());

			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
			// 修改工作档状态 22.小车待搬 => 23.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(23L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}

			} else if (wrkCharge.getWrkSts() == 24L) {
			// 小车行驶至充电位
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			if (steProtocol.getChargeStatus() == 1) { continue; }
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue()));
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 24.小车到达 ===> 25.小车去充电
			wrkCharge.setWrkSts(25L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 24.小车到达 ===> 25.小车去充电失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 26) {
			if (steProtocol.getChargeStatus() == 0) { continue; }
			// 给输送线下发充电任务
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
			if (null != steChargeType) {
			if (devpThread.charge(steChargeType.ssbm - 1, true)) {
			// 修改工作档状态 26.等待充电 ===> 28.完成充电
			wrkCharge.setWrkSts(28L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 26.等待充电 ===> 28.完成充电失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			}
			} else {
			log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo());
			}
			}
			break;
			}
			} catch (Exception e) {
			log.error("fail", e);
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			log.error("loopSteCharge fail", e);
			}
			}
			}


			public List<String> crn1DemoLocs = new ArrayList<String>(); public String crn1LastLoc = "";
			public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
			public List<String> crn3DemoLocs = new ArrayList<String>(); public String crn3LastLoc = "";
			public synchronized void demo() {
			if (Cools.isEmpty(crn1DemoLocs)) {
			crn1DemoLocs = locMastService.getDemoNextLoc(1);
			/**
			* 执行小车充电任务
			*/
			public synchronized void executeSteCharge() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			if (null == wrkCharge) { return; }
			Integer steNo = wrkCharge.getSteNo();
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) { return; }
			if (steProtocol.getMode() == 0
			\|\| !steProtocol.statusType.equals(SteStatusType.IDLE)
			\|\| basSte.getPakMk().equals("Y")
			\|\| basSte.getAutoCharge().equals("N")
			// \|\| steProtocol.getChargeStatus() == 1
			) {
			return;
			}
			if (Cools.isEmpty(crn2DemoLocs)) {
			crn2DemoLocs = locMastService.getDemoNextLoc(2);
			if (!steProtocol.isEnable()) {
			return;
			}
			if (Cools.isEmpty(crn3DemoLocs)) {
			crn3DemoLocs = locMastService.getDemoNextLoc(3);
			if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
			wrkCharge.setWrkSts(30L);
			wrkChargeMapper.updateById(wrkCharge);
			return;
			}
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) {
			continue;
			} // 必须为演示状态
			try {
			// filter
			if (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1) {
			return;
			}

			// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			// if (crnProtocol == null) {
			// continue;
			// }
			// 22.小车待搬
			if (wrkCharge.getWrkSts() == 22) {

			// 只有当堆垛机空闲并且无任务时才继续执行
			// if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

			String locNo = null;
			Iterator<String> iterator = crn1DemoLocs.iterator();
			if (crn.getId() == 1) {
			iterator = crn1DemoLocs.iterator();
			} else if (crn.getId() == 2) {
			iterator = crn2DemoLocs.iterator();
			} else if (crn.getId() == 3) {
			iterator = crn3DemoLocs.iterator();
			}
			while (iterator.hasNext()) {
			String next = iterator.next();
			String lastLoc = "";
			if (crn.getId() == 1) {
			lastLoc = crn1LastLoc;
			} else if (crn.getId() == 2) {
			lastLoc = crn2LastLoc;
			} else if (crn.getId() == 3) {
			lastLoc = crn3LastLoc;
			}
			if (!Cools.isEmpty(lastLoc)) {
			if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) \|\| !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
			locNo = next;
			iterator.remove();
			break;
			} else {
			iterator.remove();
			}
			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
			} else {
			locNo = next;
			iterator.remove();
			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
			// 修改工作档状态 22.小车待搬 => 23.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(23L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			break;
			}

			}
			}

			} else if (wrkCharge.getWrkSts() == 24L) {
			// 小车行驶通道
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			if (steProtocol.getChargeStatus() == 1) { return; }
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN); // 去右端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 24.小车到达 ===> 25.小车走行
			wrkCharge.setWrkSts(25L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 24.小车到达 ===> 25.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 26) {
			// 固定堆垛机
			int crnNo = 1;
			// 充电位
			LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { return; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
			// 修改工作档状态 26.等待充电 => 27.放至充电位
			Date now = new Date();
			wrkCharge.setWrkSts(27L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改工作档状态 26.等待充电 => 27.放至充电位失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 28L) {
			// 穿梭车下发充电任务
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 28.充电就绪 ===>> 29.开始充电
			wrkCharge.setWrkSts(29L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} catch (Exception e) {
			log.error("executeSteCharge fail", e);
			}
			}

			/**
			* 轮询充电桩是否有空闲小车
			*/
			public synchronized void queryChargeLocOfComplete() {
			// 与充电任务不同步进行
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
			if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			// 检索充电桩
			for (SteChargeType value : SteChargeType.values()) {
			Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
			if (steNo != null) {
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(steNo);
			if (Cools.isEmpty(steProtocol, basSte)) {
			continue;
			}
			// 1号充电桩
			if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			continue;
			}
			// 2号充电桩
			if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			continue;
			}
			// 3号充电桩
			if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			continue;
			}
			// 小车是否处于充电状态
			if (steProtocol.getChargeStatus() == 1) {
			continue;
			}
			// case 1 : 自动充电开馈电 ×
			// case 2 : 自动充电开满电 ✔
			// case 3 : 自动充电关馈电 ✔
			// case 4 : 自动充电关满电 ✔
			if (basSte.getAutoCharge().equals("Y")
			&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

			if (wrkCharge == null) {
			// 开始穿梭车复位任务
			wrkCharge = new WrkCharge();
			wrkCharge.setSteNo(steNo);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
			wrkCharge.setWrkSts(41L); // 41.小车准备复位
			wrkCharge.setCrnNo(2); // 固定2号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(value.locNo);
			wrkCharge.setLocNo(basSte.getIdleLoc());
			wrkCharge.setMemo("reset");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			log.error("保存{}号穿梭车复位任务失败!!!", steNo);
			} else {
			break;
			}
			}
			}
			}
			}

			/**
			* 小车从充电桩至待机库位
			*/
			public synchronized void steFromChargeToIdleLoc() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
			if (wrkCharge == null) { return; }
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
			SteProtocol steProtocol = steThread.getSteProtocol();
			BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
			if (Cools.isEmpty(steProtocol, basSte)) {
			return;
			}
			// 搬运至固定通道
			if (wrkCharge.getWrkSts() == 41L) {
			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
			} else {
			// 固定堆垛机
			int crnNo = 1;
			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(crnNo); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
			// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
			Date now = new Date();
			wrkCharge.setWrkSts(42L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			break;
			}

			}
			if (!Cools.isEmpty(locNo)) {
			if (crn.getId() == 1) {
			crn1LastLoc = locNo;
			} else if (crn.getId() == 2) {
			crn2LastLoc = locNo;
			} else if (crn.getId() == 3) {
			crn3LastLoc = locNo;
			}
			} else if (wrkCharge.getWrkSts() == 43L) {
			// 小车行驶通道
			if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
			// 命令下发区 --------------------------------------------------------------------------
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			} else {
			// 修改工作档状态 43.小车到达 ===> 44.小车走行
			wrkCharge.setWrkSts(44L);
			Date now = new Date();
			wrkCharge.setCrnEndTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改复位任务状态 43.小车到达 ===> 44.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			} else if (wrkCharge.getWrkSts() == 45L) {
			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
			if (null != otherSte) {
			log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
			} else {
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { return; }
			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// 堆垛机命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
			crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
			crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
			} else {
			// 修改穿梭车运行中排列层
			steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
			// 修改工作档状态 45.小车待搬 => 46.放至待机位
			Date now = new Date();
			wrkCharge.setWrkSts(46L);
			wrkCharge.setCrnStrTime(now);
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改工作档状态 45.小车待搬 => 46.放至待机位失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}

			// log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

			// 获取移库工作档信息
			// WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			// if (null != wrkMast) { continue; }
			//
			// LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			// LocMast loc = locMastService.queryDemoLoc(crn.getId());
			// if (null == sourceLoc \|\| null == loc) { continue; }
			//
			// String sourceLocNo = sourceLoc.getLocNo();
			// String locNo = loc.getLocNo();
			//
			// // 获取工作号
			// int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
			// // 保存工作档
			// wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			// wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			// wrkMast.setIoPri(13D);
			// wrkMast.setCrnNo(crn.getId());
			// wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			// wrkMast.setLocNo(locNo); // 目标库位
			// wrkMast.setFullPlt("N"); // 满板：Y
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			// wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			// wrkMast.setLinkMis("N");
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// int res = wrkMastMapper.insert(wrkMast);
			// if (res == 0) {
			// throw new CoolException("保存工作档失败");
			// }

			}

			// }
			}

			/**
			* 堆垛机演示 ===>> 库位移转
			*/
			public synchronized void crnDemoOfLocMove(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			if (!crn.getDemo()) { continue; } // 必须为演示状态

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }

			log.info("{}号堆垛机正在演示", crn.getId());

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			// // 获取移库工作档信息
			// WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
			// if (null != wrkMast) { continue; }
			//
			// LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
			// LocMast loc = locMastService.queryDemoLoc(crn.getId());
			// if (null == sourceLoc \|\| null == loc) { continue; }
			//
			// String sourceLocNo = sourceLoc.getLocNo();
			// String locNo = loc.getLocNo();
			//
			// // 获取工作号
			// int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
			// // 保存工作档
			// wrkMast = new WrkMast();
			// wrkMast.setWrkNo(workNo);
			// wrkMast.setIoTime(new Date());
			// wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			// wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			// wrkMast.setIoPri(13D);
			// wrkMast.setCrnNo(crn.getId());
			// wrkMast.setSourceLocNo(sourceLocNo); // 源库位
			// wrkMast.setLocNo(locNo); // 目标库位
			// wrkMast.setFullPlt("N"); // 满板：Y
			// wrkMast.setPicking("N"); // 拣料
			// wrkMast.setExitMk("N"); // 退出
			// wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
			// wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
			// wrkMast.setLinkMis("N");
			// wrkMast.setAppeTime(new Date());
			// wrkMast.setModiTime(new Date());
			// int res = wrkMastMapper.insert(wrkMast);
			// if (res == 0) {
			// throw new CoolException("保存工作档失败");
			// }
			// // 工作档明细保存
			// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
			// for (LocDetl locDetl : locDetls) {
			// WrkDetl wrkDetl = new WrkDetl();
			// wrkDetl.sync(locDetl);
			// wrkDetl.setWrkNo(workNo);
			// wrkDetl.setIoTime(new Date());
			// wrkDetl.setAnfme(locDetl.getAnfme());
			// wrkDetl.setAppeTime(new Date());
			// wrkDetl.setModiTime(new Date());
			// if (!wrkDetlService.insert(wrkDetl)) {
			// throw new CoolException("保存工作档明细失败");
			// }
			// }
			// // 修改源库位状态
			// if (sourceLoc.getLocSts().equals("D") \|\| sourceLoc.getLocSts().equals("F")) {
			// sourceLoc.setLocSts("R"); // R.出库预约
			// sourceLoc.setModiTime(new Date());
			// if (!locMastService.updateById(sourceLoc)){
			// throw new CoolException("更新源库位状态失败");
			// }
			// } else {
			// throw new CoolException("源库位出库失败");
			// }
			// // 修改目标库位状态
			// if (loc.getLocSts().equals("O")) {
			// loc.setLocSts("S"); // S.入库预约
			// loc.setModiTime(new Date());
			// if (!locMastService.updateById(loc)) {
			// throw new CoolException("更新目标库位状态失败");
			// }
			// } else {
			// throw new CoolException("移转失败");
			// }

			}

			}
			}


			/**
			* 因双深库位阻塞，对浅库位进行移转（出库版)
			* tip：同步
			*/
			private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
			try {
			List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
			LocMast loc = null;
			for (Integer row : rows) {
			if (Utils.isDeepLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (loc != null) {
			if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
			LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
			if (!shallowLoc1.getLocSts().equals("O")) {
			loc = null;
			}
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			if (null == loc) {
			for (Integer row : rows) {
			if (Utils.isShallowLoc(slaveProperties, row)) {
			loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

			if (null != loc) {//对应深库位非在库状态,不能移库
			String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
			LocMast deepLoc1 = locMastService.selectById(deepLoc);
			if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
			loc = null;
			}
			}

			if (null != loc) {
			break;
			}
			}
			}
			}
			if (null == loc) {
			log.error("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("双深库位 --- 浅库位阻塞异常！待移转浅库位：" + shallowLoc.getLocNo());
			}

			// 获取工作号
			int workNo = commonService.getWorkNo(0);
			// 保存工作档
			WrkMast wrkMast = new WrkMast();
			wrkMast.setWrkNo(workNo);
			wrkMast.setIoTime(new Date());
			wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
			wrkMast.setIoType(11); // 入出库状态： 11.库格移载
			wrkMast.setIoPri(20D);
			wrkMast.setCrnNo(crn.getId());
			wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
			wrkMast.setLocNo(loc.getLocNo()); // 目标库位
			wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
			wrkMast.setPicking("N"); // 拣料
			wrkMast.setExitMk("N"); // 退出
			wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
			wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
			wrkMast.setLinkMis("N");
			wrkMast.setAppeTime(new Date());
			wrkMast.setModiTime(new Date());
			int res = wrkMastMapper.insert(wrkMast);
			if (res == 0) {
			log.error("双深库位 --- 保存工作档失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("保存工作档失败");
			}
			// 工作档明细保存
			if (shallowLoc.getLocSts().equals("F")) {
			List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
			for (LocDetl locDetl : locDetls) {
			WrkDetl wrkDetl = new WrkDetl();
			wrkDetl.sync(locDetl);
			wrkDetl.setWrkNo(workNo);
			wrkDetl.setIoTime(new Date());
			wrkDetl.setAnfme(locDetl.getAnfme());
			wrkDetl.setAppeTime(new Date());
			wrkDetl.setModiTime(new Date());
			if (!wrkDetlService.insert(wrkDetl)) {
			log.error("双深库位 --- 保存工作档明细失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("保存工作档明细失败");
			}
			}
			}
			// 修改源库位状态
			if (shallowLoc.getLocSts().equals("D") \|\| shallowLoc.getLocSts().equals("F")) {
			shallowLoc.setLocSts("R"); // R.出库预约
			shallowLoc.setModiTime(new Date());
			if (!locMastService.updateById(shallowLoc)) {
			log.error("双深库位 --- 更新源库位状态失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("更新源库位状态失败");
			}
			} else {
			log.error("双深库位 --- 源库位出库失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("源库位出库失败");
			}
			// 修改目标库位状态
			if (loc.getLocSts().equals("O")) {
			loc.setLocSts("S"); // S.入库预约
			loc.setModiTime(new Date());
			if (!locMastService.updateById(loc)) {
			log.error("双深库位 --- 更新目标库位状态失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("更新目标库位状态失败");
			}
			} else {
			log.error("双深库位 --- 移转失败！待移转浅库位：" + shallowLoc.getLocNo());
			throw new CoolException("移转失败");
			}
			} catch (Exception e) {
			log.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}


			}