zy-wcs.git - Gitblit

			@@ -11,6 +11,7 @@
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.model.enums.WrkChargeType;
			import com.zy.common.service.CommonService;
			import com.zy.common.service.erp.ErpService;
			@@ -23,10 +24,7 @@
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.protocol.CrnProtocol;
			import com.zy.core.model.protocol.ShuttleProtocol;
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.model.protocol.SteProtocol;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import lombok.extern.slf4j.Slf4j;
			@@ -55,6 +53,8 @@
			@Autowired
			private WrkMastMapper wrkMastMapper;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkDetlService wrkDetlService;
			@Autowired
			private LocMastService locMastService;
			@@ -63,13 +63,17 @@
			@Autowired
			private StaDescService staDescService;
			@Autowired
			private BasCrnpService basCrnpService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasErrLogService basErrLogService;
			@Autowired
			private BasSteErrLogService basSteErrLogService;
			@Autowired
			private BasShuttleService basShuttleService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			@@ -82,6 +86,8 @@
			private CommonService commonService;
			@Autowired
			private WrkChargeMapper wrkChargeMapper;
			@Autowired
			private BasMapService basMapService;
			@Autowired
			private ErpService erpService;
			@Autowired
			@@ -149,11 +155,12 @@
			}
			continue;
			}

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

			// 获取条码扫描仪信息
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			@@ -164,10 +171,10 @@
			if(!Cools.isEmpty(barcode)) {
			// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)\|\| "00000000".equals(barcode)) {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			@@ -178,10 +185,10 @@
			continue;
			}
			} else {
			staProtocol.setWorkNo((short) 32002);
			staProtocol.setStaNo(inSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// staProtocol.setWorkNo((short) 32002);
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			@@ -232,6 +239,18 @@
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}

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

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

			} else if (code == 500){
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			@@ -543,88 +562,104 @@
			}

			/**
			* 堆垛机站出库到出库站
			* 初始化实时地图
			*/
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			public synchronized void initRealtimeBasMap() {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			Object data = redisUtil.get("realtimeBasMap_" + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			//载入地图
			NavigateMapData mapData = new NavigateMapData(i);
			List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)

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

			if (!basMapService.insert(basMap)) {
			log.info("地图数据存储失败");
			}
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 \|\| staProtocol.getStaNo() == null)) {
			// 查询工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
			if (wrkMast == null) {
			continue;
			}
			// 判断工作档条件
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getStaNo() == null \|\| wrkMast.getSourceStaNo() == null) {
			continue;
			}
			// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol.statusType == CrnStatusType.FETCHING \|\| crnProtocol.statusType == CrnStatusType.PUTTING) {
			// 移动中
			continue;
			}
			// 判断堆垛机状态等待确认
			if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
			&& crnProtocol.statusType == CrnStatusType.WAITING
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {

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

			// 下发站点信息
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
			continue;
			}

			// 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 {
			News.error("更新工作档的工作状态为 17.出库完成失败！！！ [工作号:{}]", wrkMast.getWrkNo());
			}

			}

			}
			//将数据库地图数据存入redis
			redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
			}
			}
			}

			/**
			* 入出库 ===>> 四向穿梭车入出库作业下发
			* 从redis中重启任务
			*/
			public synchronized void shuttleIoExecute() {
			public synchronized void restartTaskFromRedis() {
			HashMap<Object, Object> map = redisUtil.getRedis();
			for (Object key : map.keySet()) {
			if (key.toString().contains("lift_wrk_no_")) {//提升机任务
			LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
			if (redisCommand == null) {
			continue;
			}

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

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

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

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

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

			}

			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleIoInExecute() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历入库站
			for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
			for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

			StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
			StaProtocol staProtocol105 = devpThread.getStation().get(105);
			staProtocol105.setWorkNo((short) 752);
			staProtocol105.setStaNo((short) 100);

			StaProtocol staProtocol106 = devpThread.getStation().get(106);
			staProtocol106.setWorkNo((short) 753);
			staProtocol106.setStaNo((short) 100);

			StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			@@ -632,29 +667,85 @@
			}
			Short workNo = staProtocol.getWorkNo();

			// 判断是否满足入库条件
			if (true \|\| staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
			// 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
			WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			ShuttleProtocol shuttleProtocol = null;
			HashMap<String, Object> searchIdleShuttle = null;

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 4) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			}else {
			//状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle()) {
			continue;
			}
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}
			}else if(wrkMast.getWrkSts() == 8){//状态8，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号
			//状态8，等待命令进行入库搬运动作

			//判断提升机是否空闲
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			String locNo = wrkMast.getLocNo();
			int lev = Utils.getLev(locNo);//目标二维码所在楼层
			int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
			if (liftLev != lev) {
			continue;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			if (staProtocol1 == null) {
			continue;//站点信息不存在
			}
			if (!staProtocol1.isLiftArrival()) {
			continue;//站点提升机到位信号false
			}

			Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}

			if (shuttleThread == null) {
			continue;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle()) {
			if (shuttleProtocol == null) {
			continue;
			}

			@@ -665,41 +756,132 @@
			//分配源库位
			shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());

			//创建分配命令
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			//四向穿梭车号
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			//任务号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			//入出库模式
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
			//源库位(小车当前位置)
			Short currentCode = shuttleProtocol.getCurrentCode();
			LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
			assignCommand.setSourceLocNo(currentLocMast.getLocNo());
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)

			if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			//同一层
			String locNo = wrkMast.getLocNo();//当前工作档库位号
			Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//小车当前层高

			//提升机口站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			if (wrkMast.getWrkSts() == 4) {
			if (currentLev == Utils.getLev(locNo)) {
			//小车和目标在同一楼层
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//小车和目标不在同一楼层
			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 8) {
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}

			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}else {
			//不同层，将目标库位分配成提升机库位号

			//小车当前层高
			String currentLocNo = currentLocMast.getLocNo();
			Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));

			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String liftLocNo = liftSlave.getLiftLocNo(currentLev);
			shuttleProtocol.setLocNo(liftLocNo);
			//目标库位
			assignCommand.setLocNo(liftLocNo);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}

			// if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层直接取货无需经过提升机
			// //直接计算车到提升机取货再到库位路径指令
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//找不到路径等待下一次
			// }
			// if (wrkMast.getWrkSts() == 8) {
			// //此时车在提升机内部，下达一步指令让车移动到提升机口
			// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			// BasDevp basDevp = basDevpService.selectById(staNo);
			//
			// short startCode = liftProtocol.getBarcode();//提升机内部二维码
			// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			// //获取命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			// commands.add(0, moveCommand);//将该指令添加到队头
			// }
			// assignCommand.setCommands(commands);
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// assignCommand.setLocNo(wrkMast.getLocNo());
			// wrkMast.setWrkSts(9L);//小车入库中
			// }else {
			// //不同层，将目标库位分配成提升机库位号
			//
			// //小车移动到提升机口，计算路径
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//未找到路径
			// }
			//
			// //获取当前小车所在楼层的站点信息
			// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
			//
			// //增加移动进提升机命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
			// commands.add(moveCommand);
			//
			// //分配目标库位
			// shuttleProtocol.setLocNo(liftSiteLocNo);
			// //目标库位
			// assignCommand.setLocNo(liftSiteLocNo);
			// assignCommand.setCommands(commands);
			// wrkMast.setWrkSts(5L);//小车迁移状态
			// }

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			@@ -715,88 +897,542 @@

			}

			//获取起点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			if (basShuttle != null) {
			Integer runSpeed1 = basShuttle.getRunSpeed();
			if (runSpeed1 != null) {
			runSpeed = runSpeed1;
			}
			}

			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
			List<ShuttleCommand> commands = new ArrayList<>();
			if (calc == null) {
			return null;
			}
			if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			}
			List<NavigateNode> allNode = new ArrayList<>();
			allNode.addAll(calc);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(command);
			}

			assignCommand.setNodes(allNode);//当前任务所占用的节点list
			//所使用的路径进行锁定禁用
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
			navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

			return commands;
			}

			//获取起点-中点-终点指令
			public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
			//获取小车移动速度
			BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
			Integer runSpeed = 1000;
			if (basShuttle != null) {
			Integer runSpeed1 = basShuttle.getRunSpeed();
			if (runSpeed1 != null) {
			runSpeed = runSpeed1;
			}
			}

			List<NavigateNode> allNode = new ArrayList<>();

			//计算小车起点到中点所需命令
			List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道
			List<ShuttleCommand> commands = new ArrayList<>();

			if (calc != null) {
			if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			}

			allNode.addAll(calc);
			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
			//将每一段路径分成command指令
			for (ArrayList<NavigateNode> nodes : data) {
			//开始路径
			NavigateNode startPath = nodes.get(0);

			//中间路径
			NavigateNode middlePath = null;
			//通过xy坐标小车二维码
			Short middleCodeNum = null;
			Integer middleToDistDistance = null;//计算中间点到目标点行走距离
			if (nodes.size() > 10) {//中段码传倒数第三个
			//中间路径
			middlePath = nodes.get(nodes.size() - 3);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
			} else if (nodes.size() > 5) {//中段码传倒数第二个
			//中间路径
			middlePath = nodes.get(nodes.size() - 2);
			//通过xy坐标小车二维码
			middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
			}

			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			//获取移动命令
			ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(command);
			}
			}

			//小车指令到达目标位置后，再发出一条顶升指令
			commands.add(shuttleThread.getPalletCommand((short) 1));

			//计算小车中点到终点所需命令
			List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道
			if (calc2 == null) {
			return null;
			}
			if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
			return null;
			}
			allNode.addAll(calc2);

			//获取分段路径
			ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
			for (ArrayList<NavigateNode> nodes : data2) {
			//开始路径
			NavigateNode startPath = nodes.get(0);
			//中间路径
			NavigateNode middlePath = nodes.get(nodes.size() - 2);
			//目标路径
			NavigateNode endPath = nodes.get(nodes.size() - 1);
			Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
			Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			//通过xy坐标小车二维码
			Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
			commands.add(moveCommand);
			}

			//小车指令到达目标位置后，再发出一条托盘下降指令
			commands.add(shuttleThread.getPalletCommand((short) 2));

			assignCommand.setNodes(allNode);//当前任务所占用的节点list
			//所使用的路径进行锁定禁用
			NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
			navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

			return commands;
			}

			/**
			* 搜索空闲且最近的四向穿梭车
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleIoOutExecute() {
			for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			//提取一条待出库任务
			if (wrkMast != null) {
			String outStaLocNo = null;//出库站点库位号
			//获取出库站点
			for (DevpSlave devpSlave : slaveProperties.getDevp()) {
			for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
			if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
			//出库站点和工作档出库站点一致
			outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
			}
			}

			}

			if (wrkMast.getWrkSts() == 21
			\|\| wrkMast.getWrkSts() == 25
			\|\| wrkMast.getWrkSts() == 31) {
			ShuttleThread shuttleThread = null;
			HashMap<String, Object> searchIdleShuttle = null;

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 21) {
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			if (shuttleThread == null) {
			continue;
			}
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}
			}else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

			//判断提升机是否空闲
			if (!liftProtocol.isIdleNoTask()) {
			try {
			Thread.sleep(1000);//休眠1s
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			continue;//提升机忙
			}
			//判断提升机任务号和当前工作档任务号是否一致
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			continue;
			}

			//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
			String locNo = wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//目标二维码所在楼层
			Short liftLev = liftProtocol.getLev();//提升机所在楼层
			if (liftLev == null) {//提升机可能在输送线楼层
			continue;
			}
			if (liftLev.intValue() != lev) {
			continue;//提升机不在目标楼层跳过
			}

			Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			//获取目标站信息
			StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
			if (staProtocol1 == null) {
			continue;//站点信息不存在
			}
			if (!staProtocol1.isLiftArrival()) {
			continue;//站点提升机到位信号false
			}

			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			} else if (wrkMast.getWrkSts() == 31) {
			//继续完成之前小车未完成的任务
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}

			if (shuttleThread == null) {
			continue;
			}

			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (outStaLocNo == null) {
			continue;
			}

			if (wrkMast.getWrkSts() == 21) {

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

			//源库位(小车当前位置)
			String currentLocNo = shuttleProtocol.getCurrentLocNo();

			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);
			//当前楼层提升机输送站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			//四向穿梭车号
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			//任务号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			//入出库模式
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
			assignCommand.setSourceLocNo(currentLocNo);

			//判断小车和库位是否在同一层
			if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
			//同一层(将小车移动到货物位置)

			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (commands == null) {
			//未找到路径，等待下一次
			continue;
			}

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(currentLocNo);
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

			//小车到提升机口指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
			if (commands == null) {
			if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口
			continue;//未找到路径
			}
			commands = new ArrayList<>();
			}
			shuttleProtocol.setLocNo(liftSiteLocNo);
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(currentLocNo);

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
			commands.add(moveCommand);

			//目标库位
			assignCommand.setLocNo(liftSiteLocNo);
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(22L);//小车迁移状态

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;
			}

			wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

			//当前楼层提升机输送站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			//四向穿梭车号
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			//任务号
			assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			//入出库模式
			assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
			assignCommand.setSourceLocNo(liftSiteLocNo);

			List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = commands.get(0).getStartCodeNum();//目标二维码
			//获取移动命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//分配任务号
			shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			//分配源库位
			shuttleProtocol.setSourceLocNo(liftSiteLocNo);
			//目标库位
			assignCommand.setLocNo(wrkMast.getSourceLocNo());
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(26L);//小车搬运中

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

			}
			}
			}
			}

			/**
			* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
			*/
			public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
			HashMap<String, Object> map = new HashMap<>();
			String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
			LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
			String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高
			int lev = Utils.getLev(locNo);//当前工作档库位层高
			ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程

			ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
			ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

			//判断其他空闲穿梭车是否离任务最近
			String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
			if (wrkMast.getIoType() < 101) {
			//入库
			distLocNo = Utils.levToOutInStaLocNo(lev);
			}else {
			//出库
			distLocNo = locNo;
			}

			//判断当前任务所在楼层是否有其他任务已经分配了小车，如有则直接用该小车(一层楼仅分配一台车)
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//判断当前穿梭车楼层是否已有分配车辆的任务，如果有则分配这辆车
			if (wrkMasts.size() > 0) {
			//存在其他任务，分配这辆车
			WrkMast wrkMast1 = wrkMasts.get(0);
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());

			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}

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

			Short currentCode = shuttleProtocol.getCurrentCode();//四向穿梭车当前位置二维码
			LocMast shuttleLocMast = locMastService.queryByQrCode(currentCode.toString());//找到二维码对应的库位记录
			String shuttleLocNo = shuttleLocMast.getLocNo();//二维码对应库位号
			String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高
			if (lay.equals(shuttleLocNoLay)) {
			//当前四向穿梭车和工作档任务在同一层，则调配该车辆
			map.put("sameLay", true);//同一层
			String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
			if (shuttleLocNo == null) {
			continue;
			}

			if (shuttleLocNo.equals(distLocNo)) {
			//车辆当前位置已经是目标库位，无需计算
			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}

			//更新当前最近的四向穿梭车
			if (recentShuttle == null) {
			recentShuttle = shuttleThread;
			int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
			if (lev == shuttleLocNoLey) {
			//工作档楼层相同的穿梭车
			sameLev.add(shuttleThread);
			}else {
			ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
			Short recentShuttleCurrentCode = recentShuttleProtocol.getCurrentCode();//目前最近穿梭车位置二维码
			LocMast recentShuttleLocMast = locMastService.queryByQrCode(recentShuttleCurrentCode.toString());//找到二维码对应的库位记录
			String recentShuttleLocNo = recentShuttleLocMast.getLocNo();//二维码对应库位号
			String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高

			int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
			int layInt = Integer.parseInt(lay);
			int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
			int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
			int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值
			if (i < j) {
			//更新最近穿梭车
			recentShuttle = shuttleThread;
			} else if (i == j) {
			//楼层相同情况
			//找距离出库点最近的车

			if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
			//只要有一辆车不是空闲则不进行调度
			map.put("sameLay", false);//不同层
			map.put("result", null);
			return map;
			}

			//获取提升机
			LiftSlave liftSlave = slaveProperties.getLift().get(0);
			//提升机库位号
			String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
			String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);

			//当前最近四向穿梭车到提升机路径
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			//当前楼层四向穿梭车到提升机路径
			List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
			//判断哪一个路径最短
			if (shuttlePath.size() < recentShuttlePath.size()) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}
			//工作档不同楼层的穿梭车
			diffLev.add(shuttleThread);
			}

			}

			map.put("sameLay", false);//不同层
			map.put("result", recentShuttle);
			Integer recentAllDistance = 9999999;
			if (sameLev.size() > 0) {
			//同一楼层有空闲穿梭车，则只在工作档楼层寻找
			//寻找离任务最近的穿梭车
			for (ShuttleThread shuttleThread : sameLev) {
			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			//当前穿梭车线程到目标地点距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
			if (currentShuttlePath == null) {
			continue;
			}
			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}

			map.put("sameLay", true);//同层
			map.put("result", recentShuttle);
			}else {
			//同一楼层，没有空闲穿梭车，只能从其他楼层调度
			//寻找离任务最近的穿梭车
			for (ShuttleThread shuttleThread : diffLev) {

			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			int currentLev = Utils.getLev(currentLocNo);
			List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
			if (wrkMasts1.size() > 0) {
			//存在其他任务，跳过这辆车
			continue;
			}

			//当前穿梭车线程到当前车子所在楼层的提升机口距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
			if (currentShuttlePath == null) {
			continue;
			}

			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			recentShuttle = shuttleThread;
			}
			}

			map.put("sameLay", false);//不同层
			map.put("result", recentShuttle);
			}
			return map;
			}

			@@ -812,22 +1448,81 @@
			continue;
			}

			//四向穿梭车状态为等待确认
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
			//四向穿梭车状态为等待确认、小车处于空闲状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
			&& shuttleProtocol.getTaskNo() != 0
			&& shuttleProtocol.getBusyStatus() == 0
			) {
			//标记复位
			shuttleProtocol.setPakMk(true);

			ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue());
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			ShuttleAssignCommand moveAssignCommand = null;//避让命令
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			case 9:
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 5:
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			break;
			case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
			wrkMast.setWrkSts(23L);
			break;
			case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
			//任务执行完后，小车进入移开提升机口站点位置，以免坠落
			//搜索一条没有小车的空巷道，并调度小车
			int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
			String startLocNo = "180020" + distLev;
			moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
			if (moveAssignCommand == null) {//调度小车命令为空
			continue;
			}

			wrkMast.setWrkSts(27L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			default:
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());

			if (wrkMast.getWrkSts() == 27) {
			if (moveAssignCommand != null) {
			try {
			Thread.sleep(4000);
			//下发任务
			shuttleProtocol.setPakMk(true);
			MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			}
			}

			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}

			if (assignCommand != null) {
			if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
			//避让任务
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			@@ -836,637 +1531,469 @@
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			News.info("四向穿梭车已确认且任务完成状态,复位。堆垛机号={}", shuttleProtocol.getShuttleNo());
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			}
			}

			}

			//四向穿梭车状态为充电状态
			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
			&& shuttleProtocol.getTaskNo() != 0) {
			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			switch (wrkCharge.getWrkSts().intValue()) {
			case 52://四向穿梭车迁移到提升机口
			wrkCharge.setWrkSts(53L);//迁移完成
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			break;
			case 56://小车去充电桩中
			wrkCharge.setWrkSts(57L);//到达充电桩
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			if (wrkCharge.getWrkSts() == 60) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			}
			if (wrkCharge.getWrkSts() != 57) {
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			shuttleProtocol.setLocNo(null);
			//标记复位
			shuttleProtocol.setPakMk(true);
			//任务指令清零
			shuttleProtocol.setAssignCommand(null);
			}
			News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
			} else {
			News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
			}
			}

			}

			}
			}

			/**
			* 入出库 ===>> 堆垛机入出库作业下发
			* 提升机任务
			*/
			public synchronized void crnIoExecute(){
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
			if (basCrnp == null) {
			News.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
			public synchronized void liftIoExecute() {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			if (liftThread == 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) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			// 入库
			if (this.crnStnToLoc(crn, crnProtocol)) {
			}
			crnProtocol.setLastIo("O");
			} else if (basCrnp.getOutEnable().equals("Y")) {
			// 出库
			if (this.locToCrnStn(crn, crnProtocol)) {
			}
			crnProtocol.setLastIo("I");
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			// 出库
			if (this.locToCrnStn(crn, crnProtocol)) {
			}
			crnProtocol.setLastIo("I");
			} else if (basCrnp.getInEnable().equals("Y")) {
			// 入库
			if (this.crnStnToLoc(crn, crnProtocol)) {
			}
			crnProtocol.setLastIo("O");
			}
			}
			// 库位移转
			// this.locToLoc(crn, crnProtocol);
			// 演示
			// this.steMoveDemo(crn, crnProtocol);
			}
			}
			}

			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			boolean flag = false;
			// 获取堆垛机入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 获取工作状态为 2,3,4,5,6 的入库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
			if(null == wrkMast) {
			// News.error("{}站点查询无待入库数据工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			// 同库位组进行校验
			List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getLocNo());
			if (!Cools.isEmpty(groupLocNo)) {
			if (null != wrkMastMapper.selectPakoutWorkingByGroupLoc(groupLocNo)) {
			continue;
			}
			}

			if (wrkMast.getWrkSts() < 3) {
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
			&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
			flag = true;
			}
			if (!flag) {
			continue;
			}
			}
			// 获取库位信息
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			if (locMast == null) {
			News.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
			continue;
			}
			if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
			News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
			// if (!liftProtocol.isIdle()) {
			// continue;
			// }

			//判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
			if (!liftProtocol.isIdleNoTask()) {
			continue;
			}

			List<LocMast> locMasts = null;
			boolean sign=false;
			if (locMast.getRow1()>=5){
			locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
			.eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
			for (LocMast locMast1:locMasts){
			if (locMast1.getRow1()>locMast.getRow1()){
			if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
			if (!locMast1.getLocSts().equals("X")){
			sign=true;
			break;
			}
			}
			}else if (locMast1.getRow1()<locMast.getRow1()){
			if (locMast1.getLocSts().equals("F") \|\| locMast1.getLocSts().equals("D")){
			News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
			sign=true;
			break;
			}
			}
			}
			}else {
			locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
			.eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
			for (LocMast locMast1:locMasts){
			if (locMast1.getRow1()>locMast.getRow1()){
			if (locMast1.getLocSts().equals("F") \|\| locMast1.getLocSts().equals("D")){
			News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
			sign=true;
			break;
			}
			}else if (locMast1.getRow1()<locMast.getRow1()){
			if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
			if (!locMast1.getLocSts().equals("X")){
			sign=true;
			break;
			}
			}
			}
			}
			}
			if (sign){
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
			if (wrkMasts.size() == 0) {
			continue;
			}

			// 检测是否存在出库任务
			if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
			News.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
			continue;
			}

			// 置顶任务
			if (wrkMast.getIoPri()<8000){
			wrkMast.setIoPri(wrkMast.getIoPri()+9000d);
			}
			wrkMastMapper.updateById(wrkMast);

			// 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());
			return true;
			}
			}
			// 小车搬走
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveOut(wrkMast, steNo, crnProtocol);
			return true;
			}
			// 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
			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))) {
			News.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) {
			News.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			} else {
			return true;
			}
			}
			}

			}

			// 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) {
			// 小车行走到待机位
			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());
			} else {
			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()) {

			// 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))) {
			News.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) {
			News.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 {
			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());
			return true;
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			return true;
			}
			}
			}
			}
			return false;
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			*/
			public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
			if (wrkMast == null) {
			continue;
			}
			// 工作档状态判断
			if (wrkMast.getIoType() < 100 \|\| wrkMast.getSourceStaNo() == null){
			News.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
			continue;
			}
			// 获取源库位信息
			LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
			if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
			News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}
			List<LocMast> locMasts = null;
			boolean sign=false;
			if (sourceSta.getRow1()>=5){
			locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
			.eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
			for (LocMast locMast1:locMasts){
			if (locMast1.getRow1()<sourceSta.getRow1()){
			if (!locMast1.getLocSts().equals("O")){
			News.error("当前工作档源库位所在排前边存在货物！", wrkMast.getWrkNo());
			sign=true;
			break;
			}
			}
			}
			}else {
			locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
			.eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
			for (LocMast locMast1:locMasts){
			if (locMast1.getRow1()>sourceSta.getRow1()){
			if (!locMast1.getLocSts().equals("O")){
			News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
			sign=true;
			break;
			}
			}
			}
			}
			if (sign){
			continue;
			}

			// 同库位组进行校验
			List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getSourceLocNo());
			if (!Cools.isEmpty(groupLocNo)) {
			if (null != wrkMastMapper.selectPakinWorkingByGroupLoc(groupLocNo)) {
			continue;
			}
			}

			// 判断是否有同库位组的出库任务，如果有，则暂停
			List<String> outsideLoc = Utils.getGroupOutsideLoc(wrkMast.getSourceLocNo());
			if (!Cools.isEmpty(outsideLoc)) {
			if (!Cools.isEmpty(wrkMastMapper.selectWorkingOfPakOutBySource(outsideLoc))) {
			// News.warn("{}工作档出库失败，原因：外层库位{}正在执行出库任务！", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
			continue;
			}
			}

			// 获取堆垛机出库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
			StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 查询站点详细信息
			BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
			if (staDetl == null) {
			News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
			continue;
			}
			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
			&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
			// 命令下发区 --------------------------------------------------------------------------

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			for (WrkMast wrkMast : wrkMasts) {
			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			continue;
			}

			// 过滤
			if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
			News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
			continue;
			//命令list
			ArrayList<LiftCommand> commands = new ArrayList<>();

			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			}

			// 置顶任务
			if (wrkMast.getIoPri()<8000){
			wrkMast.setIoPri(wrkMast.getIoPri()+8999d);
			}
			wrkMastMapper.updateById(wrkMast);

			// 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) {
			if (wrkMast.getWrkSts() == 2) {//2.设备上走
			if (liftProtocol.getTaskNo().intValue() != 0) {
			//存在未完成任务号
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			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(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))) {
			News.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) {
			News.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());
			} else {
			return true;
			}
			//获取目标站
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
			if (staProtocol.isLoading() \|\| !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
			continue;
			}
			// 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()) {
			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			// 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))) {
			News.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);
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			Integer outCrnNo = locMastService.getOutCrnNo(locMast);
			wrkMast.setCrnNo(outCrnNo);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.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());
			} else {
			return true;
			}
			}
			}
			}
			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(), 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))) {
			News.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) {
			News.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());
			} else {
			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) {
			// 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());
			return true;
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 12L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			return true;
			}
			Integer levTmp = wrkMastLocNoLey;
			if (wrkMastLocNoLey >= 2) {
			levTmp += 1;
			}
			Integer distStaNo = Utils.levToOutInStaNo(levTmp);

			if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
			//提升机不在输送线楼层，获取到输送线层的提升机命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
			commands.add(command1);//将命令添加进list
			}

			//输送线将货物运进来(无货正转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
			command2.setOperaStaNo((short) 102);//操作102站
			command2.setRotationDire(1);//给输送线下发链条转动信号，正转
			command2.setDevpId(devpId);
			command2.setStaNo(distStaNo.shortValue());//设置目标站
			commands.add(command2);//将命令添加进list

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
			commands.add(command3);//将命令添加进list

			//提升机到达指定楼层，输送线将货物移出去(正转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
			command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
			command4.setRotationDire(1);//给输送线下发链条转动信号，正转
			command4.setDevpId(devpId);
			command4.setStaNo(distStaNo.shortValue());//设置目标站
			commands.add(command4);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
			if (wrkMastLocNoLey >= 2) {
			wrkMastLocNoLey++;
			}

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

			//判断小车是否在提升机内，且处于空闲状态
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
			}
			if (!liftProtocol.getPlatShuttleCheck()) {
			//提升机未检测到小车，禁止执行
			continue;
			}

			//工作档目标库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档目标库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
			if (wrkMastLocNoLey >= 2) {
			wrkMastLocNoLey++;
			}

			//提升机前往目标楼层(工作档目标楼层)
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
			continue;
			}
			if (liftProtocol.getPlatShuttleCheck()) {
			//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
			continue;
			}

			//工作档源库位号
			String wrkMastLocNo = wrkMast.getSourceLocNo();
			//工作档源库位楼层
			int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

			//提升机当前楼层
			int liftLev = liftProtocol.getLev().intValue();

			//判断提升机是否到位
			StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
			if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
			//提升机不在工作档源库位楼层，调度提升机
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
			commands.add(command1);//将命令添加进list
			}

			//输送线将货物运进来(无货反转)
			LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
			command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号
			command2.setRotationDire(2);//给输送线下发链条转动信号，反转
			command2.setDevpId(devpId);//输送线iD
			command2.setStaNo((short) 104);//写入出库目标站104
			commands.add(command2);//将命令添加进list

			//提升机前往出库口，输送线楼层
			LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
			commands.add(command3);//将命令添加进list

			//提升机到达指定楼层，输送线将货物移出去(反转)
			//输送线将货物移出去
			LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
			command4.setOperaStaNo((short) 102);//操作102站
			command4.setRotationDire(2);//给输送线下发链条转动信号，反转
			command4.setDevpId(devpId);
			commands.add(command4);//将命令添加进list

			//提升机链条执行完毕后，给102站写入资料
			LiftCommand command5 = liftThread.getResetCommand();
			command5.setDevpId(devpId);//输送线iD
			command5.setOperaStaNo((short) 102);//操作102站
			command5.setStaNo((short) 104);//写入出库目标站104
			command5.setRotationDire(0);//链条转动停止
			commands.add(command5);

			//给提升机分配任务
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(28L);//28.提升机搬运中
			}

			//所需命令组合完毕，更新数据库，提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			}

			}
			return false;
			}

			/**
			* 库位移转
			* 提升机任务完成
			*/
			@Deprecated
			public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
			// 获取工作档信息
			WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
			if (null == wrkMast) {
			return;
			}
			// 获取源库位信息
			LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
			if (null == sourceLoc) {
			News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return;
			}
			// 源库位库位状态判断
			if (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) {
			return;
			}
			// 获取目标库位信息
			LocMast loc = locMastService.selectById(wrkMast.getLocNo());
			if (null == loc) {
			News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
			return;
			}
			// 获取堆垛机信息并判断是否可入出
			BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
			if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
			return;
			}
			public synchronized void liftFinished() {
			for (LiftSlave liftSlave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}

			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			return;
			}
			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
			&& liftProtocol.getTaskNo() != 0
			&& !liftProtocol.getRunning()
			) {

			// 已经存在吊车执行任务时，则过滤
			if (wrkMastMapper.selectWorking(slave.getId()) != null) {
			return;
			}
			DevpThread devpThread = null;
			Integer devpId = null;
			for (DevpSlave devp : slaveProperties.getDevp()){
			// 获取入库站信息
			devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			devpId = devp.getId();
			}

			// 置顶任务
			wrkMast.setIoPri((double) 9999);
			wrkMastMapper.updateById(wrkMast);
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
			if (wrkMast != null) {
			//判断提升机是否到达任务楼层
			String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			int lev = Utils.getLev(locNo);//任务目标楼层

			// 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))) {
			News.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) {
			News.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());
			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkMast.getWrkSts().intValue()) {
			case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			//给目标站设置工作号
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
			if (!result) {
			throw new CoolException("更新plc站点信息失败");
			}
			wrkMast.setWrkSts(4L);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(8L);
			break;
			case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			continue;//提升机没有到达目标
			}
			wrkMast.setWrkSts(25L);
			break;
			case 28://28.提升机搬运中 ==> 29.提升机搬运完成
			if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
			continue;//提升机是否达到输送线楼层
			}
			wrkMast.setWrkSts(29L);
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			default:
			}

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

			//查询是否有充电任务
			WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
			if (wrkCharge != null) {
			//标记复位
			liftProtocol.setPakMk(true);

			switch (wrkCharge.getWrkSts().intValue()) {
			case 54://提升机搬运中
			wrkCharge.setWrkSts(55L);//提升机搬运完成
			break;
			default:
			}

			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			} else {
			News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

			//不是入出库调度任务、工作档任务，进行提升机的复位
			if (liftProtocol.getAssignCommand() != null) {
			//设置提升机为空闲状态
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
			//判断是否为四向穿梭车调度提升机，如是则无需清理任务号
			if (!liftProtocol.getSecurityMk()) {
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			}
			//标记复位
			liftProtocol.setPakMk(true);
			//任务指令清零
			liftProtocol.setAssignCommand(null);
			News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
			}

			}
			}

			}

			/**
			@@ -1752,741 +2279,59 @@
			}

			/**
			* 入出库 ===>> 堆垛机搬入小车
			*/
			public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			if (steProtocol.isIdle()) {
			// 堆垛机空闲
			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) {
			News.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();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.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(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))) {
			News.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(), 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);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 3.小车待搬 => 4.迁入小车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			// 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) {
			News.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();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.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(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))) {
			News.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(), 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);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 12.小车待搬 => 13.迁入小车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}

			}
			}

			/**
			* 入库 ===>> 堆垛机搬出小车
			*/
			public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { return; }
			// 穿梭车空闲
			if (steProtocol.isIdle()) {
			// 堆垛机空闲
			if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {

			BasSte basSte = basSteService.selectById(steNo);
			if (basSte == null) {
			News.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) {
			News.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();
			crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.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(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))) {
			News.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, 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);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 3.小车待搬 => 5.迁出小车失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			}


			/**
			* 执行对工作档的完成操作
			*/
			@Transactional
			public void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) { continue; }
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue());
			if (wrkMast == null) {

			// 充电任务
			WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
			if (wrkCharge == null) {
			News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			wrkMast = wrkMastMapper.selectCrnWaiting2(crnProtocol.getTaskNo().intValue());
			if (wrkMast.getIoType() != 11) {
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			News.error("堆垛机处于等待确认且任务完成状态,复位，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			} else {
			News.error("堆垛机处于等待确认且任务完成状态,复位失败，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			}
			}
			continue;
			} else {
			// 小车搬至指定库位完成
			if (wrkCharge.getWrkSts() == 23) {
			// 23.吊车搬运 ===>> 24.小车到达
			wrkCharge.setWrkSts(24L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改充电任务状态 23.吊车搬运 ===>> 24.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()) {
			News.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)) {
			News.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 {
			News.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)) {
			News.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()) {
			News.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)) {
			News.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()) {
			News.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)) {
			News.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()) {
			News.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
			}
			}
			}
			}

			}
			if (wrkMast == null) { continue; }
			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(), 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 {
			News.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))) {
			News.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 {
			News.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
			} 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()) {
			News.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))) {
			News.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 {
			News.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() == 5) {
			// 5.迁出小车 ==> 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()) {
			News.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))) {
			News.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 {
			News.error("修改工作档状态 5.迁出小车 => 6.小车待入失败！！，工作号={}", wrkMast.getWrkNo());
			}
			// 出库 ===>> 迁入小车完成
			} 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()) {
			News.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))) {
			News.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);
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			Integer outCrnNo = locMastService.getOutCrnNo(locMast);
			wrkMast.setCrnNo(outCrnNo);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			News.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());
			}
			}
			// 移库 ===>> 堆垛机搬至目标库位组完成
			} else if (wrkMast.getWrkSts() == 16) {
			// 16.吊车出库中 ==> 17.出库完成
			wrkMast.setWrkSts(17L);
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			Integer outCrnNo = locMastService.getOutCrnNo(locMast);
			wrkMast.setCrnNo(outCrnNo);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			crnThread.setResetFlag(true);
			} else {
			News.error("修改工作档状态 16.吊车出库中 ==> 17.出库完成失败！！，工作号={}", wrkMast.getWrkNo());
			}
			}
			}
			}
			}
			}

			/**
			* 执行对工作档的完成操作
			*/
			public synchronized void carGenerateStore() {
			Date now = new Date();
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取穿梭车信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
			if (steProtocol.getTaskNo() == 9999) {
			steThread.setResetFlag(true);
			} else {
			// 查询是否有待入库的任务
			WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue());
			if (wrkMast == null) {
			// 充电任务
			WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo());
			if (wrkCharge == null) {
			continue;
			} else {
			if (wrkCharge.getWrkSts() == 21) {
			// 21.准备充电 ===>> 22.小车待搬
			wrkCharge.setWrkSts(22L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬失败！！，工作号={}", wrkCharge.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			} else if (wrkCharge.getWrkSts() == 25) {
			// 25.小车走行 ===>> 26.等待充电
			wrkCharge.setWrkSts(26L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.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)) {
			// News.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)) {
			News.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)) {
			News.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)) {
			News.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);
			}
			}
			}
			}

			if (wrkMast == null) { continue; }
			switch (wrkMast.getWrkSts().intValue()) {
			case 2:
			// 修改工作档状态 2.设备上走 => 3.小车待搬
			wrkMast.setWrkSts(3L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 2.设备上走 => 3.小车待搬失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			case 8:
			// 修改工作档状态 8.小车搬入库 => 9.入库完成
			wrkMast.setWrkSts(9L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 8.小车搬入库 => 9.入库完成失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			case 11:
			if (wrkMast.getIoType() != 11) {
			// 修改工作档状态 11.生成出库ID => 12.小车待搬
			wrkMast.setWrkSts(12L);
			} else {
			if (Cools.isEmpty(wrkMast.getMk())) {
			News.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo());
			} else {
			if (wrkMast.getMk().equals("I")) {
			String locNo = wrkMast.getLocNo();
			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 {
			// 修改工作档状态 11.生成出库ID => 3.小车待搬
			wrkMast.setWrkSts(3L);
			}
			} else if (wrkMast.getMk().equals("O")) {
			// 修改工作档状态 11.生成出库ID => 12.小车待搬
			wrkMast.setWrkSts(12L);
			}
			}
			}
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 11.生成出库ID => 12.小车待搬失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			case 14:
			// 修改工作档状态 14.小车搬出库 => 15.等待吊车
			wrkMast.setWrkSts(15L);
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			News.error("修改工作档状态 14.小车搬出库 => 15.等待吊车失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			steThread.setResetFlag(true);
			}
			break;
			}
			}
			}
			}
			}

			/**
			* 异常信息记录
			*/
			public void recErr() {
			try {
			this.recCrnErr();
			this.recSteErr();
			this.recShuttleErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			}

			/**
			* 堆垛机异常信息记录
			* 四向穿梭车异常信息记录
			*/
			private void recCrnErr(){
			private void recShuttleErr() {
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			// 有任务
			if (crnProtocol.getTaskNo() != 0) {
			BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? "未知异常":crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (crnProtocol.getAlarm() == null \|\| crnProtocol.getAlarm() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasErrLog latest = basErrLogService.findLatest(crn.getId());
			// 有异常
			if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
			BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
			String errName = crnError==null? "未知异常":crnError.getErrName();
			BasErrLog basErrLog = new BasErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			crn.getId(), // 堆垛机
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)crnProtocol.getAlarm(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basErrLogService.insert(basErrLog)) {
			News.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basErrLogService.updateById(latest)) {
			News.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
			}
			}
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}
			}
			}

			/**
			* 穿梭车异常信息记录
			*/
			private void recSteErr(){
			Date now = new Date();
			for (SteSlave ste : slaveProperties.getSte()) {
			// 获取堆垛机信息
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) {
			continue;
			}
			// 有任务
			if (steProtocol.getTaskNo() != 0) {
			BasSteErrLog latest = basSteErrLogService.findLatestByTaskNo(ste.getId(), steProtocol.getTaskNo().intValue());
			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
			WrkMast wrkMast = wrkMastMapper.selectById(steProtocol.getTaskNo());
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
			String errName = steErr==null? "未知异常":steErr.getErrName();
			BasSteErrLog basSteErrLog = new BasSteErrLog(
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			ste.getId(), // 堆垛机
			shuttleSlave.getId(), // 四向穿梭车
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) steProtocol.getAlarm(), // 异常码
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -2495,45 +2340,45 @@
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basSteErrLogService.insert(basSteErrLog)) {
			News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (steProtocol.getAlarm() == null \|\| !steProtocol.isAlarm()) {
			if (shuttleProtocol.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basSteErrLogService.updateById(latest)) {
			News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			}
			}
			}
			// 无任务
			} else {
			BasSteErrLog latest = basSteErrLogService.findLatest(ste.getId());
			}else {
			//无任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// 有异常
			if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != steProtocol.getAlarm().intValue())) {
			BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
			String errName = steErr==null? "未知异常":steErr.getErrName();
			BasSteErrLog basSteErrLog = new BasSteErrLog(
			if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			ste.getId(), // 堆垛机
			shuttleSlave.getId(), // 四向穿梭车
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)steProtocol.getAlarm(), // 异常码
			(int)shuttleProtocol.getStatusErrorCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			@@ -2542,8 +2387,8 @@
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basSteErrLogService.insert(basSteErrLog)) {
			News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			}
			}
			// 无异常
			@@ -2553,15 +2398,14 @@
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basSteErrLogService.updateById(latest)) {
			News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			}
			}
			}
			}
			}
			}


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

			@@ -2818,648 +2662,310 @@
			}

			/**
			* 小车电量检测 ===>> 发起充电
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			@SuppressWarnings("serial")
			public synchronized void loopSteCharge() {
			if (!Cools.isEmpty(wrkMastMapper.selectAllC())){
			return;
			}
			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();
			BasSte basSte = basSteService.selectById(ste.getId());
			if (Cools.isEmpty(steProtocol, basSte)) { continue; }
			try {
			// 在线空闲无作业标记不在充电
			if (steProtocol.getMode() == 0
			\|\| !steProtocol.statusType.equals(SteStatusType.IDLE)
			\|\| basSte.getPakMk().equals("Y")
			\|\| basSte.getAutoCharge().equals("N")
			// \|\| steProtocol.getChargeStatus() == 1
			) {
			continue;
			}
			if (!steProtocol.isEnable()) {
			continue;
			}
			if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
			continue;
			}
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			public synchronized void loopShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
			// 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);
			//判断当前小车是否满足需要充电要求
			if (!shuttleProtocol.isRequireCharge()) {
			continue;
			}

			if (steCharge == null) {
			// News.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(1); // 固定1号堆垛机
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
			continue;
			}
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
			if (wrkCharge != null) {//已有充电任务
			continue;
			}

			// 处于充电库位组
			if ( 0<steProtocol.getRow().intValue() && steProtocol.getRow().intValue()<=4
			&& steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
			&& steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
			// 修改工作档状态 21.准备充电 => 24.小车到达
			wrkCharge.setWrkSts(24L);
			wrkCharge.setModiTime(new Date());
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.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());
			}
			} else {
			this.letCarBeWaiting(wrkCharge, ste.getId());
			}

			ShuttleChargeType shuttleCharge = null;
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
			shuttleCharge = chargeType;
			break;
			}
			} catch (Exception e) {
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			News.error("loopSteCharge fail", e);
			}

			if (shuttleCharge == null) {
			continue;
			}

			String chargeLocNo = shuttleCharge.locNo;
			wrkCharge = new WrkCharge();
			wrkCharge.setShuttleNo(shuttle.getId());
			wrkCharge.setCharge(shuttleCharge.id);
			wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
			wrkCharge.setWrkSts(51L); // 21.准备充电
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(chargeLocNo);
			wrkCharge.setMemo("charge");
			wrkCharge.setAppeTime(new Date());
			if (!wrkChargeService.insert(wrkCharge)) {
			News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
			continue;
			}

			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
			News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
			}
			}

			/**
			* 执行小车充电任务
			* 执行四向穿梭车充电任务
			*/
			public synchronized void executeSteCharge() {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
			SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, 1);
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (null == wrkCharge) {
			try{
			if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(1); // 穿梭车编号
			steCommand.setTaskNo(10060); // 工作号
			steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
			if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			}
			}
			}catch (Exception e){
			return;
			}
			return;
			}
			Integer steNo = wrkCharge.getSteNo();

			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 (!steProtocol.isEnable()) {
			return;
			}
			if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())+40) {
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
			wrkCharge.setWrkSts(30L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.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 {
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			}
			}
			return;
			}else if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine()) && steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()) {
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
			wrkCharge.setWrkSts(30L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.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 {
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			}
			}
			return;
			}
			try {
			// filter
			if (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1) {
			return;
			public synchronized void executeShuttleCharge() {
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
			if (wrkCharge == null) {
			continue;
			}

			// 22.小车待搬
			if (wrkCharge.getWrkSts() == 22) {

			// 入出库任务优先
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast locMast = locMastService.selectById(basSte.getIdleLoc());

			// 搬小车至小车走向通道
			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(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, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
			News.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(), true), 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)) {
			News.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.BACK_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))) {
			News.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)) {
			News.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) {
			//26.等待充电 ===>
			// 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))) {
			News.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)) {
			News.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());
			}
			}
			} else if (wrkCharge.getWrkSts() == 29) {
			Float idle2 = steProtocol.isIdle2();
			String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(1).getChargeLine();
			if (idle2<(Float.parseFloat(chargeLine)+2)){
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 666));//充电标记
			}else if (idle2 >= 100f){
			MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
			// 29.开始充电 ===>> 30.完成充电
			wrkCharge.setWrkSts(30L);
			if (!wrkChargeService.updateById(wrkCharge)) {
			News.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 {
			SteCommand steCommand = new SteCommand();
			steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
			steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
			steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
			if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
			News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
			}
			}
			}
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
			if (shuttleThread == null) {
			continue;
			}
			} catch (Exception e) {
			News.error("executeSteCharge fail", e);
			}
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			/**
			* 轮询充电桩是否有空闲小车
			*/
			@Deprecated
			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)) {
			//获取提升机
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			if (liftProtocol == null) {
			continue;
			}
			//充电库位号
			String chargeLocNo = wrkCharge.getLocNo();
			//充电库位层高
			Integer chargeLocNoLev = Utils.getLev(chargeLocNo);

			if (wrkCharge.getWrkSts() == 51) {
			//当前穿梭车库位号
			String currentLocNo = shuttleProtocol.getCurrentLocNo();
			if (currentLocNo == null) {
			continue;
			}
			if (steProtocol.getCharge() < 99) {
			continue;
			//小车当前层高
			Integer currentLev = Utils.getLev(currentLocNo);

			if (currentLev == chargeLocNoLev) {
			//同一层无需经过提升机
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//获取小车到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}
			//进行充电中
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

			//创建充电指令
			ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
			commands.add(command);

			//指令集分配
			assignCommand.setCommands(commands);

			wrkCharge.setWrkSts(56L);//充电中状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else {
			//不同层，调度小车到充电桩目标层

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			//获取小车当前楼层的站点号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			//小车移动到提升机口站点，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			//获取当前小车所在楼层的站点信息
			BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			if (basDevp == null) {
			continue;//找不到站点信息
			}
			Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

			//增加移动进提升机命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
			commands.add(moveCommand);

			//分配目标库位
			shuttleProtocol.setLocNo(chargeLocNo);
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务
			//目标库位
			assignCommand.setLocNo(chargeLocNo);
			//源库位
			assignCommand.setSourceLocNo(currentLocNo);
			assignCommand.setCommands(commands);
			wrkCharge.setWrkSts(52L);//小车迁移状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}
			if (steProtocol.getMode() == 0) {
			continue;
			}
			if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			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())) {

			}else if(wrkCharge.getWrkSts() == 53){
			//小车已经达到提升机内

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle(wrkCharge.getWrkNo().shortValue())) {
			continue;
			}

			WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
			//判断小车是否在提升机内
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			//小车不在提升机内
			continue;
			}

			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)) {
			News.error("保存{}号穿梭车复位任务失败!!!", steNo);
			} else {
			break;
			//给提升机分配任务
			liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号
			liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			//命令list
			ArrayList<LiftCommand> commands = new ArrayList<>();

			//提升机前往目标楼层
			//获取充电库位目标楼层命令
			LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
			commands.add(command1);//将命令添加进list

			wrkCharge.setWrkSts(54L);//提升机搬运中
			//所需命令组合完毕，更新数据库，提交到线程去工作
			LiftAssignCommand assignCommand = new LiftAssignCommand();
			assignCommand.setCommands(commands);
			assignCommand.setLiftNo(liftProtocol.getLiftNo());
			assignCommand.setTaskNo(liftProtocol.getTaskNo());
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}

			}else if(wrkCharge.getWrkSts() == 55){//55.提升机迁移小车完成
			//直接计算车到充电库位

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

			Short liftLev = liftProtocol.getLev();
			if (liftLev == null) {
			continue;
			}
			//判断提升机楼层是否到达目标楼层
			if (liftLev.intValue() != chargeLocNoLev) {
			continue;//没有到达目标楼层
			}

			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);
			if (basDevp == null) {
			continue;//站点不存在
			}

			//获取提升机口到充电库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//未找到路径
			}

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			//进行充电中
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			assignCommand.setTaskMode((short) 9);//充电
			assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			assignCommand.setCharge(true);//充电任务

			//创建充电指令
			ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
			commands.add(command);

			//指令集分配
			assignCommand.setCommands(commands);

			wrkCharge.setWrkSts(56L);//充电中状态
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() == null \|\| shuttleProtocol.getCurrentVoltage() == null) {
			continue;
			}
			if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
			//充满，断开充电
			// List<ShuttleCommand> commands = new ArrayList<>();
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			// assignCommand.setTaskMode((short) 0);
			// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
			// assignCommand.setCharge(true);
			//
			// //创建充电指令
			// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
			// commands.add(command);
			//
			// //指令集分配
			// assignCommand.setCommands(commands);
			//
			// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

			//将小车移动到空闲的巷道
			ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
			if (assignCommand == null) {
			continue;
			}

			wrkCharge.setWrkSts(60L);//60.充电任务完成
			if (wrkChargeMapper.updateById(wrkCharge) > 0) {
			//下发任务
			MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			}
			}

			if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
			}
			}
			}
			}

			/**
			* 小车从充电桩至待机库位
			*/
			@Deprecated
			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) {
			News.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;
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			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(steProtocol.getRow()); // 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))) {
			News.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)) {
			News.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;
			}

			}
			}
			} 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))) {
			News.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)) {
			News.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) {
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
			if (null != otherSte) {
			News.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))) {
			News.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)) {
			News.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());
			}
			}
			}

			}
			}
			}


			/**
			* 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) {
			News.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) {
			News.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)) {
			News.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)) {
			News.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 {
			News.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)) {
			News.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 {
			News.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) {
			News.error("双深库位阻塞，对浅库位进行移转失败", e);
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			}
			}

			public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";