zy-wcs.git - Gitblit

			@@ -1,34 +1,48 @@
			package com.zy.asrs.service.impl;

			import com.alibaba.fastjson.JSON;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.zy.asrs.domain.enums.NotifyMsgType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.NotifyUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.model.*;
			import com.zy.common.model.MapNode;
			import com.zy.common.model.enums.NavigationMapType;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.*;
			import com.zy.core.News;
			import com.zy.core.action.ForkLiftAction;
			import com.zy.core.action.LiftAction;
			import com.zy.core.action.ShuttleAction;
			import com.zy.core.cache.MessageQueue;
			import com.zy.core.cache.SlaveConnection;
			import com.zy.core.dispatcher.ShuttleDispatchUtils;
			import com.zy.core.enums.*;
			import com.zy.core.model.*;
			import com.zy.core.model.command.*;
			import com.zy.core.model.DevpSlave;
			import com.zy.core.model.LiftSlave;
			import com.zy.core.model.ShuttleSlave;
			import com.zy.core.model.Task;
			import com.zy.core.model.command.LiftAssignCommand;
			import com.zy.core.model.command.LiftCommand;
			import com.zy.core.model.command.ShuttleAssignCommand;
			import com.zy.core.model.command.ShuttleCommand;
			import com.zy.core.model.protocol.*;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.*;
			import com.zy.core.thread.DevpThread;
			import com.zy.core.thread.ForkLiftThread;
			import com.zy.core.thread.LiftThread;
			import com.zy.core.thread.ShuttleThread;
			import com.zy.core.thread.impl.FyDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.stereotype.Service;

			import java.util.*;
			import java.util.ArrayList;
			import java.util.Date;
			import java.util.List;
			import java.util.Map;

			/**
			* 立体仓库WCS系统主流程业务
			@@ -38,18 +52,10 @@
			@Service("mainService")
			public class MainServiceImpl {

			@Value("${wms.url}")
			private String wmsUrl;
			@Autowired
			private SlaveProperties slaveProperties;
			@Autowired
			private WrkMastService wrkMastService;
			@Autowired
			private WrkMastLogMapper wrkMastLogMapper;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			@@ -63,493 +69,202 @@
			@Autowired
			private BasMapService basMapService;
			@Autowired
			private BasLiftService basLiftService;
			@Autowired
			private ShuttleDispatchUtils shuttleDispatchUtils;
			@Autowired
			private RedisUtil redisUtil;
			@Autowired
			private BasLiftOptService basLiftOptService;
			@Autowired
			private ConfigService configService;
			@Autowired
			private NavigateMapUtils navigateMapUtils;
			@Autowired
			private NavigateMapData navigateMapData;
			@Autowired
			private NavigateUtils navigateUtils;
			@Autowired
			private ShuttleOperaUtils shuttleOperaUtils;
			@Autowired
			private ShuttleAction shuttleAction;
			@Autowired
			private ForkLiftAction forkLiftAction;
			@Autowired
			private NotifyUtils notifyUtils;
			@Autowired
			private BasShuttleChargeService basShuttleChargeService;
			@Autowired
			private TransportLiftInServiceImpl transportLiftInService;
			@Autowired
			private TransportLiftOutServiceImpl transportLiftOutService;
			@Autowired
			private ShuttleMoveServiceImpl shuttleMoveService;
			@Autowired
			private NoLiftInServiceImpl noLiftInService;
			@Autowired
			private NoLiftOutServiceImpl noLiftOutService;
			@Autowired
			private LiftAction liftAction;
			@Autowired
			private BasWrkStatusService wrkStatusService;


			// /**
			// * 组托
			// * 入库站，根据条码扫描生成入库工作档，工作状态 2
			// */
			// public void generateStoreWrkFile() {
			// try {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库口
			// for (DevpSlave.Sta inSta : devp.getInSta()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			// // 尺寸检测异常
			// boolean back = false;
			// String errMsg = "异常：";
			// if (staProtocol.isFrontErr()) {
			// errMsg = errMsg + "前超限；";
			// back = true;
			// }
			// if (staProtocol.isBackErr()) {
			// errMsg = errMsg + "后超限";
			// back = true;
			// }
			// if (staProtocol.isHighErr()) {
			// errMsg = errMsg + "高超限";
			// back = true;
			// }
			// if (staProtocol.isLeftErr()) {
			// errMsg = errMsg + "左超限";
			// back = true;
			// }
			// if (staProtocol.isRightErr()) {
			// errMsg = errMsg + "右超限";
			// back = true;
			// }
			// if (staProtocol.isWeightErr()) {
			// errMsg = errMsg + "超重";
			// back = true;
			// }
			// if (staProtocol.isBarcodeErr()) {
			// errMsg = errMsg + "扫码失败";
			// back = true;
			// }
			// // 退回
			// if (back) {
			public static List<Integer> staNosIn = new ArrayList<Integer>() {{
			add(1015);
			add(1026);
			}};

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

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

			/**
			* 组托
			* 入库站，根据条码扫描生成入库工作档，工作状态 2
			*/
			public synchronized void generateInboundWrk() {
			try {
			// 遍历入库口
			for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
			if (inSta.getStaNo() == 1014 \|\| inSta.getStaNo() == 1025) {
			// 获取入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			Short workNo = staProtocol.getWorkNo();

			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
			// ledThread.error(errMsg);
			// }
			// continue;
			// }
			//
			// // 判断是否满足入库条件
			// if (staProtocol.isAutoing() && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999))
			// ) {
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (!Cools.isEmpty(barcode)) {
			//// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode) \|\| "00000000".equals(barcode)) {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// // led 异常显示
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// if (ledThread != null) {
			// String errorMsg = "扫码失败，请重试";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// }
			// continue;
			// }
			// } else {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			//// // led 异常显示
			//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			//// if (ledThread != null) {
			//// String errorMsg = "扫码失败，请重试";
			//// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			//// }
			// continue;
			// }
			//
			// // 过滤盘点/拣料/并板任务
			// WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (null != wrkMast1) {
			// continue;
			// }
			//
			// // 判断重复工作档
			// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			// if (wrkMast2 != null) {
			// News.error("工作档中已存在该站状态为（ 2.设备上走）的数据,工作号={}", wrkMast2.getWrkNo());
			// continue;
			// }
			//
			// try {
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			// SearchLocParam param = new SearchLocParam();
			// param.setBarcode(barcode);
			// param.setIoType(1);
			// param.setSourceStaNo(inSta.getStaNo());
			// param.setLocType1(locTypeDto.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// // plc 处理
			// barcodeThread.setBarcode("");
			//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			//// staProtocol.setStaNo(dto.getStaNo().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			////
			//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//// if (!result) {
			//// throw new CoolException("更新plc站点信息失败");
			//// }
			//
			// // 判断重复工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
			// if (wrkMast == null) {
			// continue;
			// }
			//
			// // 更新工作主档
			// wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
			// wrkMast.setModiTime(new Date());
			// if (wrkMastMapper.updateById(wrkMast) == 0) {
			// News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
			// }
			//
			// } else if (code == 500) {
			// if (ledThread != null) {
			// String errorMsg = jsonObject.getString("msg");
			// if (!Cools.isEmpty(errorMsg)) {
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// ledThread.setLedMk(false);
			// }
			// }
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// } else if (code == 700) {
			//// staProtocol.setWorkNo((short) 32002);
			//// staProtocol.setRollback102(1);//102站回退信号
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
			//
			// // led 异常显示
			// if (ledThread != null) {
			// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			// ledThread.setLedMk(false);
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			// 判断是否满足入库条件
			if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 \|\| (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
			String barcode = staProtocol.getBarcode();
			// 判断重复工作档
			WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
			if (wrkMast != null) {
			News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
			//判断时提升机侧，还是无提升机测
			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
			MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			}
			try {
			/*String wmsUrl = "127.0.0.1:8080/fyxcwms";
			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(staProtocol.getLocType1().shortValue());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// /**
			// * 拣料、并板再入库
			// */
			// @Transactional
			// public synchronized void stnToCrnStnPick(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历拣料入库口
			// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// // 获取拣料入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			//// && (staProtocol.getWorkNo() > 0)
			// && staProtocol.isPakMk()) {
			// String wmsLocNo = dto.getLocNo();
			// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
			// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
			// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
			// String wcsLocNo = Utils.getLocNo(row, bay, lev);
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (Cools.isEmpty(barcode)) {
			// continue;
			// }
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// continue;
			// }
			// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
			// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
			// createInTaskParam.setDestLoc(wcsLocNo);
			// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
			// createInTaskParam.setDestSite(dto.getStaNo().toString());
			// createInTaskParam.setPriority(11);
			// createInTaskParam.setBarcode(barcode);
			//
			// WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			// if (wrkMast == null) {//找不到工作档
			// continue;
			// }
			// R result = openUtils.createInTask(createInTaskParam);
			// News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
			// try{
			// String msg = "";
			// HashMap<String, String> hashMap = new HashMap<>();
			// hashMap.put("msg", msg);
			// hashMap.put("sta", inSta.getStaNo().toString());
			// new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/led/getError")
			// .setJson(JSON.toJSONString(hashMap))
			// .build()
			// .doPost();
			// }catch (Exception e){
			//
			// if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
			// \|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// continue;
			// }
			//
			//// //*******************同库位组校验*******************
			//// boolean flag = false;
			//// String th = "";
			//// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
			//// for (String loc : innerLoc) {
			//// LocMast locMast = locMastService.selectById(loc);
			//// if (locMast == null) {
			//// continue;
			//// }
			////
			//// if (!locMast.getLocSts().equals("F")) {
			//// flag = true;
			//// th = loc + "库位存在未回库任务";
			//// break;
			//// }
			//// }
			//// if (flag) {
			//// News.info(th);
			//// continue;
			//// }
			//// //*******************同库位组校验*******************
			//
			//// // 保存工作主档历史档
			//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			//// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			//// continue;
			//// }
			//
			// try {
			// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			// SearchLocParam param = new SearchLocParam();
			// param.setWrkNo(wrkMast.getWrkNo());
			// param.setBarcode(wrkMast.getBarcode());
			// param.setIoType(wrkMast.getIoType());
			// param.setSourceStaNo(pickSta.getStaNo());
			// param.setLiftNo(pickSta.getLiftNo());
			// param.setLocType1(locMast.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			//
			//// //获取回库提升机目标站
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			//// if (liftStaProtocol == null) {
			//// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// wrkMast.setModiTime(new Date());
			//// if (wrkMastMapper.updateById(wrkMast) == 0) {
			//// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// continue;
			//// }
			// } else if (code == 500) {
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			// }
			// }
			//
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			// /**
			// * 盘点再入库
			// */
			// @Transactional
			// public synchronized void stnToCrnStnPlate(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历拣料入库口
			// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
			// // 获取拣料入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			//// && (staProtocol.getWorkNo() > 0)
			// && staProtocol.isPakMk()) {
			//
			// // 获取条码扫描仪信息
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
			// if (barcodeThread == null) {
			// continue;
			// }
			// String barcode = barcodeThread.getBarcode();
			// if (Cools.isEmpty(barcode)) {
			// continue;
			// }
			// if ("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			// continue;
			// }
			// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
			// if (wrkMast == null) {//找不到工作档
			// continue;
			// }
			//
			// if ((wrkMast.getIoType() != 107)
			// \|\| Cools.isEmpty(wrkMast.getStaNo()) \|\| Cools.isEmpty(wrkMast.getSourceStaNo())) {
			// continue;
			// }
			//
			//// // 保存工作主档历史档
			//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			//// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			//// continue;
			//// }
			//
			// //盘点找新库位
			// try {
			// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
			// SearchLocParam param = new SearchLocParam();
			// param.setWrkNo(wrkMast.getWrkNo());
			// param.setBarcode(wrkMast.getBarcode());
			// param.setIoType(107);//盘点
			// param.setSourceStaNo(pickSta.getStaNo());
			// param.setLiftNo(pickSta.getLiftNo());
			// param.setLocType1(locMast.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			//
			//// //获取回库提升机目标站
			//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
			//// if (liftStaProtocol == null) {
			//// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
			//// continue;
			//// }
			////
			//// // 更新工作档数据状态
			//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
			//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
			//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
			//// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
			//// wrkMast.setShuttleNo(null); // 穿梭车清空
			//// wrkMast.setLiftNo(null);// 提升机清空
			//// wrkMast.setModiTime(new Date());
			//// if (wrkMastMapper.updateById(wrkMast) == 0) {
			//// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			//// continue;
			//// }
			//
			//// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
			//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//
			// } else if (code == 500) {
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			//
			// }
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			try {
			for (int i = 1; i <= 4; i++) {//总共四层楼
			Object data = redisUtil.get(RedisKeyType.MAP.key + i);
			if (data == null) {//redis地图数据为空，从数据库中获取
			BasMap basMap = basMapService.selectLatestMap(i);
			if (basMap == null) {
			//数据库中也不存在地图数据，从地图文件中获取
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonData(i, -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");
			// }
			} else {
			String msg = jsonObject.getString("msg");
			HashMap<String, String> hashMap = new HashMap<>();
			hashMap.put("msg", msg);
			hashMap.put("sta", inSta.getStaNo().toString());
			new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/led/getError")
			.setJson(JSON.toJSONString(hashMap))
			.build()
			.doPost();
			News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
			}*/
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			//将数据库地图数据存入redis
			redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
			}
			}
			} catch (Exception e) {
			@@ -557,271 +272,865 @@
			}
			}

			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleInExecute() {
			// try {
			// List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
			// for (WrkMast wrkMast : wrkMasts) {
			// //获取源站
			// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			// if (sourceBasDevp == null) {
			// continue;//站点不存在
			// }
			//
			// //获取目标站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
			// if (liftStaProtocol == null) {
			// continue;//站点不存在
			// }
			//
			// // 判断是否满足入库条件，自动、空闲、有物
			// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
			// News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
			// continue;
			// }
			//
			// boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中
			// if (!step1) {
			// continue;
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			public synchronized void noLiftIn() {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
			for (WrkMast wrkMast : wrkMasts) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) \|\| (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return;
			}
			}
			wrkMast.setLiftNo(1);
			}
			Short finishWorkNo = staProtocol.getFinishWorkNo();
			if (finishWorkNo == null) {
			continue;
			}

			// /**
			// * 入库-小车搬入库中
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
			// if (wrkMast.getWrkSts() == 4) {
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
			// News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleThread.isIdle()) {
			// News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//// //判断小车令牌是否未被占领
			//// if (shuttleProtocol.getToken() != 0) {
			//// News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			//// return false;//小车已被独占，禁止再派发任务
			//// }
			//
			// //判断小车是否存在移动任务
			// WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
			// if (hasMoveWorking != null) {
			// News.info("{}任务，{}小车，存在移动任务，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//存在移动任务，禁止执行入库任务
			// }
			//
			// //判断小车是否到达输送站点库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
			// News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //小车已抵达输送站点位置，进行搬运货物
			// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
			// if (result == null) {//路径计算失败
			// News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id);//入库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(result.getCommands());//运行命令
			// assignCommand.setNodes(result.getNodes());//路径节点
			//
			// wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
			// wrkMast.setModiTime(new Date());
			//// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }

			// /**
			// * 出库 ===>> 四向穿梭车出库作业下发
			// */
			// public synchronized void shuttleOutExecute() {
			// try {
			// for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
			// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			// if (!step1) {
			// continue;
			// }
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1025) {
			locNo = "1200305";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return;
			}
			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
			wrkMast.setLiftNo(null);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			return;
			}
			}


			}
			}


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

			if (!staProtocol.isAutoing()) {
			News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return;
			}
			if (!staProtocol.isOutEnable()) {
			News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return;
			}
			String locNo = "1200301";
			if (wrkMast.getStaNo() == 1024) {
			locNo = "1200305";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return;
			}

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

			/**
			* 出库到出库口
			*/
			public synchronized void stnToOutStn() {
			DevpSlave devpSlave = slaveProperties.getDevp().get(0);
			// 遍历堆垛机出库站
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
			for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
			if (outSta.getStaNo() == 1013 \|\| outSta.getStaNo() == 1024) {
			List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
			for (WrkMast wrkMast : wrkSts) {
			StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (staProtocol.isAutoing() && staProtocol.isLoading()) {
			// 查询工作档
			if (wrkMast == null) {
			continue;
			}
			// boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
			// if (!dispatchShuttle) {
			// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// continue;
			// }

			staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
			staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
			MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
			News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			}
			}
			}
			}
			}



			/**
			* 初始化实时地图
			*/
			public synchronized void initRealtimeBasMap() {
			//初始化配置
			// WrkStsType[] values = WrkStsType.values();
			// for (int i = 0; i < values.length; i++) {
			// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
			// if (basWrkStatus == null) {
			// basWrkStatus = new BasWrkStatus();
			// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
			// basWrkStatus.setWrkSts(values[i].sts);
			// basWrkStatus.setModiTime(new Date());
			// basWrkStatus.setAppeTime(new Date());
			// basWrkStatus.setAppeUser(9527L);
			// basWrkStatus.setModiUser(9527L);
			// wrkStatusService.insert(basWrkStatus);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			//
			// /**
			// * 出库-小车搬出库中
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			// //21.生成出库任务 => 22.小车搬运中
			// if (wrkMast.getWrkSts() == 21) {
			// EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
			// wrapper.eq("type_no", wrkMast.getIoType());//路径类型
			// wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (staDesc == null) {
			// News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
			// return false;//出库路径不存在
			// }
			//
			// //获取出库站点
			// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (basDevp == null) {
			// return false;//出库站点不存在
			// }
			//
			//// if (!basDevp.getAutoing().equals("Y")) {
			//// News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
			//// return false;//不是自动状态
			//// }
			////
			//// if (!basDevp.getOutEnable().equals("Y")) {
			//// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
			//// return false;//出库站点不可出
			//// }
			//
			// Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
			// List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
			// if (!liftWrkMasts.isEmpty()) {
			// News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo);
			// return false;//存在入库任务，禁止出库
			// }
			//
			// //同库位组校验
			// List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
			// List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
			// if (!outerLocMasts.isEmpty()) {
			// News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
			// return false;//浅库位存在未执行任务
			// }
			//
			// //获取源站
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftStaProtocol == null) {
			// return false;//找不到站点
			// }
			//
			// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
			// News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
			// return false;//站点必须自动、空闲、没有托盘
			// }
			//
			// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			// //强制预留一台小车给入库任务
			// int lev = Utils.getLev(wrkMast.getSourceLocNo());
			// //获取当前楼层有几台可用小车
			// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			// if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			// int shuttleWrkInObligateCount = 1;//预留小车数量
			// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			// if (config != null) {
			// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			// }
			// //可用出库小车数量(给入库任务预留一台车)
			// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			// //查询楼层已分配车辆的出库任务数量
			// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			// if (wrkMasts.size() >= useShuttleCount) {
			// News.info("{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			// return false;
			// }
			// }
			// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
			// News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			// return false;
			// }
			//
			// //获取四向穿梭车线程
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol == null) {
			// return false;
			// }
			// if (!shuttleProtocol.isIdle()) {
			// News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// //判断小车令牌是否未被占领
			// if (shuttleProtocol.getToken() != 0) {
			// News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;//小车已被独占，禁止再派发任务
			// }
			//
			// //判断小车是否到达货物库位
			// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			// //小车不在输送站点位置
			// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
			// News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //小车已抵达货物位置，进行搬运货物
			// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
			// if (result == null) {//出库路径计算失败
			// News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			//
			// //创建分配命令
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
			// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
			// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
			// assignCommand.setCommands(result.getCommands());//运行命令
			// assignCommand.setNodes(result.getNodes());//路径节点
			//
			// wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
			// wrkMast.setModiTime(new Date());
			// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			// return false;
			// }
			// return true;
			// }
			try {
			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
			if (data == null) {//redis地图数据为空
			//载入地图
			List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)

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

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

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

			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			*/
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

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

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

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 出库 ===>> 四向穿梭车出库作业下发
			*/
			public synchronized void shuttleOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
			if (!step1) {
			continue;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 出库-小车搬出库中
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
			//101.生成出库任务 => 102.小车搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//通过输送线站号获取提升机号
			liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
			if (liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			return false;
			}

			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
			return false;
			}
			}

			wrkMast.setLiftNo(liftNo);
			wrkMast.setModiTime(new Date());
			wrkMastService.updateById(wrkMast);
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}

			//判断提升机是否处于出库模式
			if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
			return false;
			}

			//获取源站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
			return false;
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			//强制预留一台小车给入库任务
			int lev = Utils.getLev(wrkMast.getSourceLocNo());
			//获取当前楼层有几台可用小车
			int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
			if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
			int shuttleWrkInObligateCount = 1;//预留小车数量
			Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
			if (config != null) {
			shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
			}
			//可用出库小车数量(给入库任务预留一台车)
			int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
			//查询楼层已分配车辆的出库任务数量
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
			if (wrkMasts.size() >= useShuttleCount) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
			return false;
			}
			}
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
			return false;
			}

			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}
			if (!shuttleThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;
			}

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

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

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

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
			wrkMast.setSourceStaNo(liftSta.getStaNo());
			wrkMast.setModiTime(new Date());
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
			return false;
			}
			return false;
			}
			return true;
			}

			public synchronized void liftInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
			if (!step0) {
			return;
			}

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

			boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
			if (!step2) {
			return;
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			private boolean liftInExecuteStep0(WrkMast wrkMast) {
			Date now = new Date();
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			if (devpThread == null) {
			return false;
			}

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

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

			if (!staProtocol.isLoading()) {
			News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
			return false;
			}
			}

			short staNo = 1012;
			if (wrkMast.getSourceStaNo() == 1022) {
			staNo = 1023;
			}

			staProtocol = staProtocol.clone();
			staProtocol.setStaNo(staNo);
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

			wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
			wrkMast.setLiftNo(1);
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}

			return true;
			}

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

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

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

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

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

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

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

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

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

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

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

			if (!staProtocol.isLoading()) {
			News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
			News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
			return false;
			}

			if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
			News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
			return false;
			}

			//获取提升机命令
			List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), 101);
			LiftCommand liftCommand = liftCommands.get(0);

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

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

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

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

			return true;
			}

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

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

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

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

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

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

			return true;
			}

			public synchronized void liftOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021));
			for (WrkMast wrkMast : wrkMasts) {
			boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
			if (!step1) {
			return;
			}

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

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

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

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

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

			String locNo = "0200305";
			if (wrkMast.getStaNo() == 1011) {
			locNo = "0200301";
			}
			boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
			if (!dispatchShuttle) {
			News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
			return false;
			}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

			return true;
			}

			/**
			* 四向穿梭车任务完成
			@@ -838,58 +1147,122 @@

			//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.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
			//5.小车搬运中 ==> 9.入库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
			//102.小车搬运中 ==> 103.小车搬运完成
			wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
			//302.小车移动至站点 ==> 303.小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
			//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
			//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			continue;//小车未到达目标层
			}
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
			//310.小车移动中 ==> 311.小车移动完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
			//小车迁出提升机中 ==> 小车迁出提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
			//小车放货中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
			//小车移动至站点 ==> 小车移动至站点完成
			wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁入提升机中 ==> 小车迁入提升机完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
			//小车迁出提升机中 ==> 小车放货完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
			shuttleThread.setSyncTaskNo(0);
			} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
			//204.小车充电中 ==> 205.小车充电完成
			wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			}else {
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			}
			// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
			// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
			// shuttleThread.setSyncTaskNo(0);
			// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			// }
			else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
			wrkMast.setLiftNo(null);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
			shuttleThread.setSyncTaskNo(0);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else {
			continue;
			}
			// switch (wrkMast.getWrkSts().intValue()) {
			//// case 5://5.小车搬运中 ==> 9.入库完成
			//// wrkMast.setWrkSts(9L);
			//// shuttleProtocol.setTaskNo(0);
			//// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//// //释放小车令牌
			//// shuttleProtocol.setToken(0);
			//// }
			//// break;
			//// case 22://22.小车搬运中 ==> 23.小车搬运完成
			//// wrkMast.setWrkSts(23L);
			//// shuttleProtocol.setTaskNo(0);
			//// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
			//// //释放小车令牌
			//// shuttleProtocol.setToken(0);
			//// }
			//// break;
			// case 302:
			// wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
			// break;
			// case WrkStsType.MOVE_SHUTTLE.sts:
			// wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			// shuttleThread.setSyncTaskNo(0);
			// break;
			// default:
			// }

			if (wrkMastService.updateById(wrkMast)) {
			//设置四向穿梭车为空闲状态
			@@ -900,7 +1273,7 @@
			}
			} else {
			Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
			if(object != null){
			if (object != null) {
			ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
			if (!assignCommand.getAuto()) {
			//手动模式
			@@ -920,385 +1293,237 @@
			}
			}

			// /**
			// * 提升机任务
			// */
			// public synchronized void liftIoExecute() {
			// try {
			// for (LiftSlave liftSlave : slaveProperties.getLift()) {
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
			// if (liftThread == null) {
			// continue;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// continue;
			// }
			//
			// if (!liftProtocol.isIdle()) {
			// News.info("{}号提升机，忙碌中", liftSlave.getId());
			// continue;
			// }
			//
			// //判断提升机令牌是否被占用
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}号提升机，令牌已被独占", liftSlave.getId());
			// continue;
			// }
			//
			// //搜索是否有待处理的任务
			// List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
			// if (wrkMasts.isEmpty()) {
			// continue;
			// }
			//
			// for (WrkMast wrkMast : wrkMasts) {
			// //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			// WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			// if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			// News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
			// continue;
			// }
			//
			// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
			// if (!stepIn) {
			// continue;
			// }
			//
			// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
			// if (!stepOut) {
			// continue;
			// }
			// }
			//
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }
			//
			// /**
			// * 提升机入库
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
			// //--------------------------------------提升机入库-----------------------------------------//
			// Date now = new Date();
			//
			// //2.设备上走 ==> 3.提升机搬运中
			// if (wrkMast.getWrkSts() == 2) {
			// //获取源站
			// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
			// if (sourceBasDevp == null) {
			// return false;//找不到站点
			// }
			//
			// if (!sourceBasDevp.getInEnable().equals("Y")) {
			// News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			// return false;//站点不可入
			// }
			//
			// Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
			// if (barcodeId == null) {
			// News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
			// return false;//站点不可入
			// }
			//
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
			// if (barcodeThread == null) {
			// News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
			// return false;//站点不可入
			// }
			// String barcode = barcodeThread.getBarcode();
			// if(!Cools.isEmpty(barcode)) {
			// if(!("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode))) {
			// //存在条码值，判断是否和当前工作档一致
			// if (!barcode.equals(wrkMast.getBarcode())) {
			// News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
			// return false;//站点不可入
			// }
			// }
			// }else {
			// return false;
			// }
			//
			// //判断提升机整个三楼是否都处于入库模式
			// Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
			// Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
			// Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
			// if (outInModel1 == null \|\| outInModel2 == null \|\| outInModel3 == null) {
			// News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
			// return false;//不存在出入库模式
			// }
			//
			// if (outInModel1 == 2 \|\| outInModel2 == 2 && outInModel3 == 2) {
			// News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo());
			// return false;//只要有一个处于出库模式，禁止入库
			// }
			//
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
			// if (liftThread == null) {
			// return false;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// return false;
			// }
			// if (!liftProtocol.isIdle()) {
			// News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// //判断提升机令牌是否未被占领
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机已被独占，禁止再派发任务
			// }
			//
			// //判断提升机内是否有小车
			// if (liftProtocol.getHasCar()) {
			// News.info("{}任务，{}号提升机，提升机内部有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//有小车，禁止派发
			// }
			//
			// //判断提升机内是否有托盘
			// if (liftProtocol.getHasTray()) {
			// News.info("{}任务，{}号提升机，提升机内部有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//有托盘，禁止派发
			// }
			//
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			// if (liftWrkMast != null) {
			// News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			//
			// //获取源站对应的牛眼提升机站点编号(起点编号)
			// Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
			// //获取提升机站点
			// LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
			// if (targetStaProtocol == null) {
			// return false;//站点不存在
			// }
			//
			// if (targetStaProtocol.getHasTray()) {
			// News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
			// return false;//提升机站点有托盘，禁止派发
			// }
			//
			// Integer targetSta = targetStaProtocol.getStaNo();
			//
			// //获取提升机命令
			// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			// if (wrkMast.getIoType() == 53 \|\| wrkMast.getIoType() == 57) {
			// //拣料再回库，重新分配设备工作号
			// int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
			// BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
			// if (basLiftOpt != null) {
			// News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// liftCommand.setTaskNo((short) deviceWrk);
			// }
			// ArrayList<NyLiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(liftProtocol.getLiftNo());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			//
			// wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
			// wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			// wrkMast.setModiTime(now);
			// liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }
			//
			// /**
			// * 提升机出库
			// * 如需主方法执行continue，请返回false
			// * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			// */
			// private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
			// //--------------------------------------提升机出库-----------------------------------------//
			// Date now = new Date();
			//
			// //23.小车搬运完成 ==> 24.提升机搬运中
			// if (wrkMast.getWrkSts() == 23) {
			// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			// if (shuttleThread == null) {
			// return false;
			// }
			//
			// //获取出库站点(目标站)
			// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (basDevp == null) {
			// News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
			// return false;//出库站点不存在
			// }
			//
			// //获取源站对应的牛眼提升机站点编号(起点编号)
			// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
			// if (liftStaProtocol == null) {
			// News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			// return false;//找不到站点
			// }
			// Integer startSta = liftStaProtocol.getStaNo();
			//
			// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
			// //小车还在输送站点
			// //调度小车避让
			// boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
			// if (!result) {
			// News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			// return false;
			// }
			// }
			//
			// if (!basDevp.getAutoing().equals("Y")) {
			// News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// if (basDevp.getLoading().equals("Y")) {
			// News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// if (!basDevp.getOutEnable().equals("Y")) {
			// News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
			// return false;//出库站点不可出
			// }
			//
			// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
			// if (liftThread == null) {
			// return false;
			// }
			// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
			// if (liftProtocol == null) {
			// return false;
			// }
			//
			// if (!liftProtocol.isIdle()) {
			// News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;
			// }
			// //判断提升机令牌是否未被占领
			// if (liftProtocol.getToken() != 0) {
			// News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//提升机已被独占，禁止再派发任务
			// }
			// //判断提升机是否有其他任务
			// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
			// if (liftWrkMast != null) {
			// News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
			// return false;//当前提升机存在未完成任务，等待下一次轮询
			// }
			//
			// //获目标站源站对应的输送站点
			// BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
			// if (targetBasDevp == null) {
			// News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo());
			// return false;//站点不存在
			// }
			// //获取牛眼提升机站点编号(目标编号)
			// Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());
			//
			// //获取提升机命令
			// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
			//
			// ArrayList<NyLiftCommand> commands = new ArrayList<>();
			// commands.add(liftCommand);
			//
			// //提交到线程去工作
			// LiftAssignCommand assignCommand = new LiftAssignCommand();
			// assignCommand.setCommands(commands);
			// assignCommand.setLiftNo(liftProtocol.getLiftNo());
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
			//
			// wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
			// wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
			// wrkMast.setModiTime(now);
			// liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			// }
			//
			// return false;
			// }
			// return true;
			// }
			//
			/**
			* 货叉提升机任务完成
			* 执行移库任务
			*/
			public synchronized void forkLiftFinished() {
			public synchronized void shuttleLocMoveExecute() {
			try {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			//查询移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
			if (!stepTake) {
			continue;
			}

			boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
			if (!stepPut) {
			continue;
			}

			boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
			if (!stepComplete) {
			continue;
			}

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

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

			//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}

			return false;
			}
			}
			return true;
			}

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

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

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
			return false;
			}

			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
			News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

			if (result) {
			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			}
			return false;
			}
			return true;
			}

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

			//小车移动至站点 503.小车放货中 ==> 509.移库完成
			if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

			if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo());
			return false;
			}

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

			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
			wrkMast.setModiTime(now);
			wrkMast.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			return false;
			}
			return false;
			}
			return true;
			}

			/**
			* 提升机任务完成
			*/
			public synchronized void liftFinished() {
			try {
			for (LiftSlave slave : slaveProperties.getLift()) {
			//获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
			&& forkLiftProtocol.getWrkNo() != 0
			) {
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			switch (wrkMast.getWrkSts().intValue()) {
			// case 3://3.提升机搬运中 ==> 4.提升机搬运完成
			// wrkMast.setWrkSts(4L);
			// wrkMast.setLiftNo(null);//释放提升机
			// if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
			// //释放提升机令牌
			// liftProtocol.setToken(0);
			// }
			// break;
			// case 24://24.提升机搬运中 ==> 25.提升机搬运完成
			// wrkMast.setWrkSts(25L);
			// if (wrkMast.getIoType() == 11) {//库位移转
			// wrkMast.setWrkSts(4L);//4.提升机搬运完成
			// } else {
			// if (wrkMast.getMk() == null \|\| !wrkMast.getMk().equals("Y")) {
			// //不需要用到机械臂，直接转29.出库完成
			// wrkMast.setWrkSts(29L);
			// wrkMast.setShuttleNo(null);//释放小车
			// wrkMast.setLiftNo(null);//释放提升机
			// wrkMast.setModiTime(new Date());
			// }
			// }
			// break;
			case 306://306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			forkLiftThread.setSyncTaskNo(0);
			break;
			default:
			if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
			//3.提升机搬运中 ==> 4.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
			//104.提升机搬运中 ==> 109.出库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setLiftNo(null);//释放提升机
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
			//306.提升机搬运中 ==> 307.提升机搬运完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
			//提升机至放货层 ==> 提升机至放货层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
			} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
			//提升机至小车层 ==> 提升机至小车层完成
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
			}

			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			forkLiftThread.reset();
			News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo());
			liftThread.setSyncTaskNo(0);
			liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
			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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
			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());
			}
			}
			}
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			}

			/**
			* 输送线任务完成
			*/
			public synchronized void devpFinished() {
			try {
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			Map<Integer, StaProtocol> station = devpThread.getStation();
			WrkMast wrkMast = null;
			for (StaProtocol staProtocol : station.values()) {
			if (staProtocol.getSiteId() == 1013 \|\| staProtocol.getSiteId() == 1014) {
			wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
			if (wrkMast != null) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			} else {
			News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
			}
			}
			}
			@@ -1348,9 +1573,8 @@
			}
			int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			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
			@@ -1397,39 +1621,38 @@
			*/
			private void recLiftErr() {
			Date now = new Date();
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			for (LiftSlave slave : slaveProperties.getLift()) {
			// 获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			if (forkLiftThread == null) {
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			if (forkLiftProtocol.getTaskNo() != 0) {
			if (liftProtocol.getTaskNo() != 0) {
			//有任务
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
			BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
			// 有异常
			if (latest == null) {
			if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}

			BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode());
			String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName();
			BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
			String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();

			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
			null, // 编号
			BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			forkLiftSlave.getId(), // 提升机
			slave.getId(), // 提升机
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			@@ -1444,20 +1667,20 @@
			now, // 修改时间
			null, // 修改人员
			"任务中异常", // 备注
			JSON.toJSONString(forkLiftProtocol) // 系统状态数据
			JSON.toJSONString(liftProtocol) // 系统状态数据
			);
			if (!basLiftErrLogService.insert(basLiftErrLog)) {
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
			News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (forkLiftProtocol.getErrorCode() == null \|\| forkLiftProtocol.getErrorCode() == 0) {
			if (liftProtocol.getErrorCode() == null \|\| liftProtocol.getErrorCode().equals("0")) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basLiftErrLogService.updateById(latest)) {
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
			News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
			}
			}
			}
			@@ -1465,112 +1688,17 @@
			}
			}

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

			// /**
			// * 空栈板初始化入库,叉车入库站放货
			// */
			// public void storeEmptyPlt(){
			// try {
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历空板入库口
			// for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
			// // 获取空板入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			// StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// // 站点条件判断
			// if (staProtocol.isAutoing()
			// && staProtocol.isLoading()
			// && staProtocol.isInEnable()
			// && staProtocol.isEmptyMk()
			// && (staProtocol.getWorkNo() == 0 \|\| (staProtocol.getWorkNo() >= 9990 \|\| staProtocol.getWorkNo() <= 9999))
			// && staProtocol.isPakMk()) {
			//
			// // 获取条码扫描仪信息
			// String barcode = null;
			// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
			// if (barcodeThread != null) {
			// String barcode0 = barcodeThread.getBarcode();
			// if (!Cools.isEmpty(barcode0)) {
			//// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
			// if (!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
			// barcode = barcode0;
			// }
			// }
			// }
			//
			// if (!Cools.isEmpty(barcode)) {
			// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档
			// if (wrkMast != null) {
			// continue;
			// }
			// }
			//
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
			//
			// try {
			// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			//
			// SearchLocParam param = new SearchLocParam();
			// param.setIoType(10);
			// if (!Cools.isEmpty(barcode)) {
			// param.setBarcode(barcode);
			// }
			// param.setSourceStaNo(emptyInSta.getStaNo());
			//// param.setLocType1(locTypeDto.getLocType1());
			// String response = new HttpHandler.Builder()
			// .setUri(wmsUrl)
			// .setPath("/rpc/pakin/loc/v2")
			// .setJson(JSON.toJSONString(param))
			// .build()
			// .doPost();
			// JSONObject jsonObject = JSON.parseObject(response);
			// Integer code = jsonObject.getInteger("code");
			// if (code.equals(200)) {
			// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			// barcodeThread.setBarcode("");
			//// // 更新站点信息且下发plc命令
			//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			//// staProtocol.setStaNo(dto.getStaNo().shortValue());
			//// devpThread.setPakMk(staProtocol.getSiteId(), false);
			//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//// if (!result) {
			//// throw new CoolException("更新plc站点信息失败");
			//// }
			// } else {
			// if (ledThread != null) {
			// String errorMsg = jsonObject.getString("msg");
			// if (!Cools.isEmpty(errorMsg)) {
			// MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
			// }
			// }
			// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			// }
			//
			// }
			//
			//
			// }
			// }
			// } catch (Exception e) {
			// e.printStackTrace();
			// }
			// }

			/**
			* 四向穿梭车电量检测 ===>> 发起充电
			*/
			public synchronized void loopShuttleCharge() {
			try {

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

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			@@ -1591,17 +1719,21 @@

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

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

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

			//小车和充电桩在同一层
			if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
			shuttleCharge = chargeType;
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			shuttleCharge = charge;
			break;
			}
			}
			@@ -1609,17 +1741,22 @@
			if (shuttleCharge == null) {
			//同楼层没有找到充电桩，找可用充电桩
			//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
			for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
			if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
			//判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
			int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
			boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
			if (checkLevHasShuttle) {
			//当前充电桩楼层有穿梭车，不分配该充电桩
			for (BasShuttleCharge charge : charges) {
			if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
			//判断当前充电桩是否有小车，如有小车，不分配该充电桩
			ArrayList<String> locs = new ArrayList<>();
			locs.add(charge.getLocNo());
			Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
			if (checkHasShuttle != null) {
			//当前充电桩有穿梭车，不分配该充电桩
			continue;
			}

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

			shuttleCharge = charge;
			break;
			}
			}
			@@ -1629,9 +1766,9 @@
			continue;
			}

			String chargeLocNo = shuttleCharge.locNo;
			String chargeLocNo = shuttleCharge.getLocNo();
			wrkMast = new WrkMast();
			wrkMast.setMk(String.valueOf(shuttleCharge.id));
			wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
			wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
			wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
			wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
			@@ -1660,7 +1797,7 @@
			//查询小车充电任务
			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
			if(wrkMast == null) {
			if (wrkMast == null) {
			continue;
			}

			@@ -1746,7 +1883,7 @@

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

			@@ -1795,7 +1932,7 @@
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);

			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
			return false;
			}
			return true;
			@@ -1846,13 +1983,13 @@
			return false;
			}

			ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
			if(chargeType == null) {
			BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
			if (basShuttleCharge == null) {
			return false;
			}

			//调度小车去待机位
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
			boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
			if (!dispatched) {
			return false;
			}
			@@ -1875,342 +2012,44 @@
			//查询小车移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
			for (WrkMast wrkMast : wrkMasts) {
			boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
			if (!stepMoveSta) {
			continue;
			if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportLift(wrkMast);
			} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
			this.shuttleMoveExecuteTransportNoLift(wrkMast);
			} else {
			shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
			}

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

			boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
			if (!updateShuttleLocation) {
			continue;
			}

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

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

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

			//小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
			//目标库位和小车库位处于同一楼层，不需要通过提升机调度
			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
			}
			return false;
			}

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

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

			//***********尝试锁定目标站路径*************
			List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}
			boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
			if (!checkPathIsAvailable) {
			News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//检测目标站点路径是否未被占用
			}
			//尝试锁定目标站路径
			boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
			if (!result2) {
			News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径锁定失败
			}
			//***********尝试锁定目标站路径*************

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

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());

			//所使用的路径进行锁定禁用
			navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
			return false;//路径解锁失败
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			//触发通知
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_MOVING);
			return false;
			}
			return false;
			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}
			return true;

			String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
			if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
			//取货位置是提升机
			transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
			} else {
			//放货位置是提升机
			transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
			}
			}

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

			//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
			if (forkLiftThread == null) {
			return false;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			return false;
			}
			if (!forkLiftThread.isIdle()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;
			}
			//判断提升机是否有其他任务
			WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
			if (liftWrkMast != null) {
			if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
			return false;//当前提升机存在未完成任务，等待下一次轮询
			}
			}

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

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo());
			return false;//有托盘跳过
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
			ArrayList<ForkLiftCommand> commands = new ArrayList<>();
			commands.addAll(liftCommands);

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

			wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			}
			private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
			if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) {
			//入库
			noLiftInService.shuttleMoveExecute(wrkMast);
			} else {
			//出库
			noLiftOutService.shuttleMoveExecute(wrkMast);
			}
			return true;
			}

			/**
			* 小车迁移-提升机搬运完成更新小车坐标
			* 如需主方法执行continue，请返回false
			* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
			*/
			private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
			//--------------------------------------提升机搬运中-----------------------------------------//
			Date now = new Date();

			//提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if (shuttleProtocol == null) {
			return false;
			}

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

			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
			assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
			assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
			assignCommand.setAuto(true);//自动模式
			assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
			assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

			//更新小车坐标
			ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
			ArrayList<ShuttleCommand> commands = new ArrayList<>();
			commands.add(command);

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			}

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

			//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
			if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {

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

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

			//小车已经在目标库位，直接认定小车移动任务完成
			if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setModiTime(now);
			wrkMastService.updateById(wrkMast);
			return false;
			}

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

			List<ShuttleCommand> commands = null;
			//跨楼层移动任务
			if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			//需要将前两个节点作为白名单节点传入
			List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
			if (targetNodes == null) {
			return false;//未获取到节点
			}

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

			if (commands == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
			return false;//路径计算失败
			}

			assignCommand.setCommands(commands);

			wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
			wrkMast.setLiftNo(null);//释放提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(now);

			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			}
			}
			return true;
			}

			}