解决提升机在本层，而没有锁提升机的问题

zc

2025-05-07 dc3483f84d517bfa2cbcc96a0c965f26d63aa3c3

 src/main/java/com/zy/core/thread/LiftThread.java

@@ -1,522 +1,69 @@
//package com.zy.core.thread;
//
//import HslCommunication.Core.Types.OperateResult;
//import HslCommunication.Core.Types.OperateResultExOne;
//import HslCommunication.Profinet.Siemens.SiemensPLCS;
//import HslCommunication.Profinet.Siemens.SiemensS7Net;
//import com.alibaba.fastjson.JSON;
//import com.core.common.DateUtils;
//import com.core.common.SpringUtils;
//import com.core.exception.CoolException;
//import com.zy.asrs.entity.BasLift;
//import com.zy.asrs.entity.BasLiftOpt;
//import com.zy.asrs.entity.DeviceDataLog;
//import com.zy.asrs.mapper.WrkMastMapper;
//import com.zy.asrs.service.BasLiftOptService;
//import com.zy.asrs.service.BasLiftService;
//import com.zy.asrs.service.DeviceDataLogService;
//import com.zy.asrs.utils.Utils;
//import com.zy.common.utils.RedisUtil;
//import com.zy.core.News;
//import com.zy.core.ThreadHandler;
//import com.zy.core.cache.MessageQueue;
//import com.zy.core.cache.OutputQueue;
//import com.zy.core.enums.*;
//import com.zy.core.model.LiftSlave;
//import com.zy.core.model.Task;
//import com.zy.core.model.command.*;
//import com.zy.core.model.protocol.LiftStaProtocol;
//import com.zy.core.model.protocol.LiftProtocol;
//import com.zy.core.model.protocol.StaProtocol;
//import lombok.Data;
//import lombok.extern.slf4j.Slf4j;
//
//import java.text.MessageFormat;
//import java.util.*;
//
///**
// * 提升机线程
// */
//@Data
//@Slf4j
//public class LiftThread implements  Runnable, ThreadHandler {
//
//    private SiemensS7Net siemensS7Net;
//    private LiftSlave slave;
//    private LiftProtocol liftProtocol;
//    private RedisUtil redisUtil;
//    private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>();
//
//    public LiftThread(LiftSlave slave,RedisUtil redisUtil) {
//        this.slave = slave;
//        this.redisUtil = redisUtil;
//
//        //初始化站点
//        for (LiftSlave.Sta sta : this.slave.getSta()) {
//            LiftStaProtocol liftStaProtocol = new LiftStaProtocol();
//            liftStaProtocol.setStaNo(sta.getStaNo());//站点号
//            liftStaProtocol.setLev(sta.getLev());//站点楼层
//            String locNo = Utils.getLocNo(this.slave.getStaRow(), this.slave.getStaBay(), sta.getLev());
//            liftStaProtocol.setLocNo(locNo);//站点库位号
//            liftStaProtocol.setLiftNo(sta.getLiftNo());//提升机号
//            liftStaProtocols.add(liftStaProtocol);
//        }
//
//    }
//
//    @Override
//    public void run() {
//        this.connect();
//        while (true) {
//            try {
//                int step = 1;
//                Task task = MessageQueue.poll(SlaveType.Lift, slave.getId());
//                if (task != null) {
//                    step = task.getStep();
//                }
//                switch (step) {
//                    // 读数据
//                    case 1:
//                        read();
//                        break;
//                    // 写入数据
//                    case 2:
//                        write((NyLiftCommand) task.getData());
//                        break;
//                    //分配任务
//                    case 3:
//                        assignWork((LiftAssignCommand) task.getData());
//                        break;
//                    case 4:
//                        write2((HashMap<String, Object>) task.getData());
//                    default:
//                        break;
//                }
//                Thread.sleep(500);
//            } catch (Exception e) {
//                e.printStackTrace();
//            }
//        }
//    }
//
//    @Override
//    public boolean connect() {
//        boolean result = false;
//        //-------------------------提升机连接方法------------------------//
//        siemensS7Net = new SiemensS7Net(SiemensPLCS.S1200, slave.getIp());
//        OperateResult connect = siemensS7Net.ConnectServer();
//        if(connect.IsSuccess){
//            result = true;
//            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】提升机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.info("提升机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
//        } else {
//            OutputQueue.CRN.offer(MessageFormat.format("【{0}】提升机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            log.error("提升机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
//        }
//        siemensS7Net.ConnectClose();
//        //-------------------------提升机连接方法------------------------//
//        return result;
//    }
//
//    @Override
//    public void close() {
//        siemensS7Net.ConnectClose();
//    }
//
//    private void read() {
//        try {
//            readStatus();
//
//            //提升机处于运行状态，将标记置为false
//            if (liftProtocol.getBusy()) {
//                liftProtocol.setPakMk(false);
//            }
//
//            //提升机处于未运行、就绪、标记true、有任务号
//            if (!liftProtocol.getBusy()
//                    && !liftProtocol.getPakMk()
//                    && liftProtocol.getTaskNo() != 0) {
//                //还有未完成的命令
//                executeWork(liftProtocol.getTaskNo());
//            }
//        } catch (Exception e) {
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//        }
//    }
//
//    private void readStatus() {
//        try {
//            //获取提升机数据
//            OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB82.4.0", (short) 10);
//            if (result1.IsSuccess) {
//                if (null == liftProtocol) {
//                    liftProtocol = new LiftProtocol();
//                    liftProtocol.setLiftNo(slave.getId().shortValue());
//                }
//                //读取4.0-4.7数据
//                boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result1.Content, 0, 1);
//                //读取5.0-5.7数据
//                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result1.Content, 1, 1);
//                //模式
//                liftProtocol.setModel(status1[0]);
//                //忙闲
//                liftProtocol.setBusy(!status1[1]);
//                //前超限
//                liftProtocol.setFrontOverrun(status1[4]);
//                //后超限
//                liftProtocol.setBackOverrun(status1[5]);
//                //左超限
//                liftProtocol.setLeftOverrun(status1[6]);
//                //右超限
//                liftProtocol.setRightOverrun(status1[7]);
//                //超高
//                liftProtocol.setOverHeight(status2[0]);
//                //超重
//                liftProtocol.setOverWeight(status2[1]);
//                //有托盘
//                liftProtocol.setHasTray(status2[5]);
//                //有小车
//                liftProtocol.setHasCar(status2[6]);
//                //设备故障
//                liftProtocol.setDeviceError(status2[7]);
//                //任务号
//                liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
//                //目的地址
//                liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
//                //已完成任务号
//                liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
//                //当前楼层
//                short lev = siemensS7Net.getByteTransform().TransInt16(result1.Content, 8);
//                if (lev >= 7 && lev <= 9) {
//                    lev -= 2;
//                } else if (lev >= 12 && lev <= 14) {
//                    lev -= 4;
//                }
//                liftProtocol.setLev(lev);
//
//                //将提升机状态保存至数据库
//                BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
//                BasLift basLift = liftService.selectById(liftProtocol.getLiftNo());
//                if (basLift == null) {
//                    basLift = new BasLift();
//                    //提升机号
//                    basLift.setLiftNo(slave.getId());
//                    liftService.insert(basLift);
//                }
//                basLift.setStatus(liftProtocol.getProtocolStatus());
//                basLift.setWrkNo(liftProtocol.getTaskNo().intValue());
//                basLift.setUpdateTime(new Date());
//                basLift.setPakMk(liftProtocol.getPakMk());
//                basLift.setDeviceStatus(JSON.toJSONString(liftProtocol));
//                if (liftService.updateById(basLift)) {
//                    OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
////                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                }
//            }else {
//                OutputQueue.LIFT.offer(MessageFormat.format("【{0}】{1}提升机plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
//                throw new CoolException(MessageFormat.format( "提升机plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
//            }
//            Thread.sleep(200);
//
//            //获取提升机站点数据
//            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB82.14.0", (short) (10 * liftStaProtocols.size()));
//            if (result1.IsSuccess) {
//                for (int i = 0; i < slave.getSta().size(); i++) {
//                    LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i);
//                    int i1 = 0 + (i * 10);
//                    int i2 = 1 + (i * 10);
//                    //读取x4.0-x4.7数据
//                    boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result2.Content, i1, 1);
//                    //读取x5.0-x5.7数据
//                    boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result2.Content, i2, 1);
//                    //模式
//                    liftStaProtocol.setModel(status1[0]);
//                    //忙闲
//                    liftStaProtocol.setBusy(!status1[1]);
//                    //有托盘
//                    liftStaProtocol.setHasTray(status1[2]);
//                    //有小车
//                    liftStaProtocol.setHasCar(status2[6]);
//                    //设备故障
//                    liftStaProtocol.setDeviceError(status2[7]);
//                    //任务号
//                    liftStaProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result2.Content, 2));
//                }
//            }
//
//            Thread.sleep(100);
//            //获取提升机异常数据
//            OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB82.22.0", (short) 2);
//            if (result3.IsSuccess) {
//                liftProtocol.setErrorCode(siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));//错误码
//            }
//
//            if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) {
//                //采集时间超过5s，保存一次数据记录
//                //保存数据记录
//                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
//                DeviceDataLog deviceDataLog = new DeviceDataLog();
//                deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result1.Content));
//                deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol));
//                deviceDataLog.setType("lift");
//                deviceDataLog.setDeviceNo(liftProtocol.getLiftNo().intValue());
//                deviceDataLog.setCreateTime(new Date());
//                deviceDataLogService.insert(deviceDataLog);
//
//                //更新采集时间
//                liftProtocol.setDeviceDataLog(System.currentTimeMillis());
//            }
//
//        } catch (Exception e) {
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】提升机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//        }
//    }
//
//    private boolean write(NyLiftCommand command){
//        if (null == command) {
//            News.error("提升机写入命令为空");
//            return false;
//        }
//
//        command.setLiftNo(slave.getId().shortValue());
//        short[] array = getCommandArr(command);//获取命令报文
//
//        OperateResult result = siemensS7Net.Write("DB83.0", array);
//        if (result != null && result.IsSuccess) {
//            liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
//            News.info("提升机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
//            return true;
//        } else {
//            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】写入提升机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
//            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            return false;
//        }
//    }
//
//    //获取命令报文
//    private short[] getCommandArr(NyLiftCommand command) {
//        // 开始任务
//        short[] array = new short[4];
//        if (command.getTaskModel() != null) {
//            //任务类型
//            array[0] = command.getTaskModel();
//        }
//        if (command.getSourceSta() != null) {
//            //源站台编号
//            array[1] = command.getSourceSta();
//        }
//        if (command.getTargetSta() != null) {
//            //目标站台编号
//            array[2] = command.getTargetSta();
//        }
//        if (command.getTaskNo() != null) {
//            //任务号
//            array[3] = command.getTaskNo();
//        }
//        return array;
//    }
//
//    //分配任务
//    private void assignWork(LiftAssignCommand assignCommand) {
//        LiftRedisCommand redisCommand = new LiftRedisCommand();
//        redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号
//        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
//        redisCommand.setCommandStep(0);//命令执行步序
//        redisCommand.setAssignCommand(assignCommand);//命令
//        //任务数据保存到redis
//        redisUtil.set(RedisKeyType.LIFT.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
//        liftProtocol.setAssignCommand(assignCommand);
//        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
//        //执行下发任务
//        executeWork(assignCommand.getTaskNo());
//    }
//
//    //执行任务
//    private boolean executeWork(Short wrkNo) {
//        //读取redis数据
//        if (wrkNo == null) {
//            return false;
//        }
//
//        if (wrkNo >= 20000 && wrkNo <= 30000) {
//            //提升机设备工作号，需要查询对应任务号
//            BasLiftOptService basLiftOptService = SpringUtils.getBean(BasLiftOptService.class);
//            BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftProtocol.getLiftNo().intValue());
//            if (basLiftOpt != null) {
//                wrkNo = basLiftOpt.getWrkNo().shortValue();
//            }
//        }
//
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return false;
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        List<NyLiftCommand> commands = redisCommand.getAssignCommand().getCommands();
//        //当前步序
//        int commandStep = redisCommand.getCommandStep();
//        //总步序
//        int size = commands.size();
//
//        if (!redisCommand.getLiftNo().equals(liftProtocol.getLiftNo())) {
//            return false;
//        }
//
//        if (commandStep != 0) {
//            //判断上一条指令是否做完
//            NyLiftCommand lastCommand = commands.get(commandStep - 1);//上一条指令
//            if (!liftProtocol.getBusy() && liftProtocol.getTaskNo().equals(lastCommand.getTaskNo())) {
//                //提升机空闲、且提升机工作号与上一条指令工作号相同
//                lastCommand.setComplete(true);//标记任务完成
//            }
//
//            //任务数据保存到redis
//            redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//
//            if (!lastCommand.getComplete()) {
//                //上一条任务未完成，禁止下发命令
//                return false;
//            }
//
//            //判断是否为最后一条命令且命令执行完成，抛出等待确认状态
//            NyLiftCommand endCommand = commands.get(commands.size() - 1);
//            if (endCommand.getComplete()) {
//                //已执行完成
//                //删除redis
//                redisUtil.del(RedisKeyType.LIFT.key + redisCommand.getWrkNo());
//
//                //对主线程抛出等待确认状态waiting
//                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
//                News.info("提升机任务执行下发完成执行结束，提升机号={}，任务数据={}", redisCommand.getLiftNo(), JSON.toJSON(redisCommand));
//            }
//
//        }
//
//        //取出命令
//        NyLiftCommand command = commands.get(commandStep);
//
//        //下发命令
//        if (!write(command)) {
//            News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
//            return false;
//        }
//
//        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
//        News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
//
//        //将标记置为true(防止重发)
//        liftProtocol.setPakMk(true);
//
//        //保存数据到数据库做流水
//        BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
//        if (liftOptService != null) {
//            short[] commandArr = getCommandArr(command);//获取命令报文
//            BasLiftOpt opt = new BasLiftOpt(
//                    redisCommand.getWrkNo().intValue(),
//                    liftProtocol.getLiftNo().intValue(),
//                    new Date(),
//                    null,
//                    null,
//                    null,
//                    JSON.toJSONString(command),
//                    JSON.toJSONString(liftProtocol)
//            );
//            opt.setDeviceWrk(command.getTaskNo().toString());//设备工作号
//            liftOptService.insert(opt);
//        }
//
//        //更新redis数据
//        //步序增加
//        commandStep++;
//        redisCommand.setCommandStep(commandStep);
//        //任务数据保存到redis
//        redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//
////        //判断数据是否执行完成
////        if (commandStep < size - 1) {
////            //更新redis数据
////            //步序增加
////            commandStep++;
////            redisCommand.setCommandStep(commandStep);
////            //任务数据保存到redis
////            redisUtil.set(RedisKeyType.LIFT.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
////        }else {
////            //已执行完成
////            //删除redis
////            redisUtil.del(RedisKeyType.LIFT.key + redisCommand.getWrkNo());
////
////            //对主线程抛出等待确认状态waiting
////            liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
////            News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
////        }
//
//        if (redisCommand.getAssignCommand().getTaskMode() == NyLiftTaskModelType.RESET.id.shortValue()) {
//            //复位命令
//            //工作号清零
//            liftProtocol.setTaskNo((short) 0);
//            //令牌清零
//            liftProtocol.setToken(0);
//            //设置提升机为空闲状态
//            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
//            //任务指令清零
//            liftProtocol.setAssignCommand(null);
//        }
//
//        return true;
//    }
//
//    //给提升机写入进出状态
//    private void write2(HashMap<String,Object> data) {
////        //出
////        status = true;
////        //进
////        status = false;
//        int lev = Integer.parseInt(data.get("lev").toString());
//        boolean status = Boolean.parseBoolean(data.get("status").toString());
//
//        ArrayList<String> list = new ArrayList<String>(){{
//            add("83.8.0");
//            add("83.8.1");
//            add("83.8.2");
//            add("83.8.3");
//            add("83.8.4");
//            add("83.8.5");
//            add("83.8.6");
//            add("83.8.7");
//            add("83.9.0");
//            add("83.9.1");
//        }};
//        OperateResult result = siemensS7Net.Write("DB" + list.get(lev - 1), status);
//        if (result != null && result.IsSuccess) {
//            News.info("提升机命令下发[id:{}]", slave.getId());
//        } else {
//            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//        }
//    }
//
//    /******************************************************************************************/
//    /**************************************** 测试专用 *****************************************/
//    /*****************************************************************************************/
//    public static void main(String[] args) throws InterruptedException {
//        LiftSlave slave = new LiftSlave();
//        slave.setId(1);
//        slave.setIp("192.168.4.24");
//        slave.setPort(502);
////        LiftThread thread = new LiftThread(slave,);
////        thread.connect();
////        thread.readStatus();
////
////        LiftCommand command = new LiftCommand();
////        command.setRun((short) 1);
////        command.setDistPosition((short) 12);
////        command.setSpeed((short) 300);
////        command.setHeight2((short) 100);
////        command.setHeight3((short) 200);
////        command.setHeight4((short) 303);
////        command.setLiftLock(true);
////        thread.write(command);
//
//    }
//
//}
package com.zy.core.thread;

import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.LiftCommandModeType;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;

import java.util.List;

public interface LiftThread extends ThreadHandler {

    LiftProtocol getStatus();//获取提升机状态

    LiftProtocol getStatus(boolean clone);//获取提升机状态

    List<LiftStaProtocol> getLiftStaProtocols();

    CommandResponse move(LiftCommand command);//升降移动

    CommandResponse palletInOut(LiftCommand command);//托盘出入

    CommandResponse lock(LiftCommand command);//锁定提升机

    CommandResponse unlock(LiftCommand command);//解锁提升机

    CommandResponse reset(LiftCommand command);//复位

    boolean isIdle();//是否空闲

    boolean isDeviceIdle();//设备是否空闲

    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    boolean setProtocolStatus(LiftProtocolStatusType status);//设置工作状态

    boolean setSyncTaskNo(Integer taskNo);//设置工作号

    boolean isLock(ExecuteSupport support);

    int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type);//生成硬件设备工作号

    String getLiftLocNo(int lev);//获取提升机位置

    String getLiftStandByLocNo(int lev, boolean in);//获取提升机待机位

    List<NavigateNode> getLiftStaNodes(int lev);

    Integer getLevToStaNo(int lev);

    //***************获取命令*****************
    List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//提升机移动

    List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode);//载车移动

    List<LiftCommand> getPalletInCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘入

    List<LiftCommand> getPalletOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev);//托盘出

    List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock);//锁定/解锁提升机

    List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal);//小车已到位/已驶离信号

}