zy-wcs.git - Gitblit

			@@ -7,28 +7,42 @@
			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.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
			@@ -61,28 +75,361 @@
			@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;


			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) {
			// ledThread.error(errMsg);
			// }
			// 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);

			// 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);
			//
			// 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);
			//
			// 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){
			//
			// }
			} 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();
			}
			}

			}
			}
			} 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;
			}


			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);
			// }
			// }
			try {

			List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
			for (BasMap basMap : basMaps) {
			Integer lev = basMap.getLev();
			@@ -114,10 +461,7 @@
			*/
			public synchronized void shuttleInExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
			));
			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) {
			@@ -144,7 +488,7 @@
			}

			if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
			boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货
			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;
			}
			@@ -227,10 +571,7 @@
			*/
			public synchronized void shuttleOutExecute() {
			try {
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts"
			, WrkStsType.NEW_OUTBOUND.sts
			));
			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) {
			@@ -263,7 +604,7 @@
			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(), wrkMast.getLiftNo());
			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;
			}
			}
			@@ -326,7 +667,7 @@
			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
			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;
			}
			@@ -398,6 +739,399 @@
			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
			*/
			@@ -413,8 +1147,7 @@

			//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) {
			@@ -430,8 +1163,15 @@
			//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) {
			@@ -439,16 +1179,87 @@
			wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
			shuttleThread.setSyncTaskNo(0);
			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()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
			} else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
			//502.小车搬运中 ==> 509.移库完成
			wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
			}
			// 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_DELIVERY);//触发通知
			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;
			}
			@@ -462,7 +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
			@@ -488,10 +1299,20 @@
			public synchronized void shuttleLocMoveExecute() {
			try {
			//查询移库任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
			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 stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点
			if (!stepToTarget) {
			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;
			}

			@@ -502,22 +1323,46 @@
			}

			/**
			* 移库任务-小车去目标点
			* 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 shuttleLocMoveExecuteToTarget(WrkMast wrkMast) {
			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.小车搬运中
			//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.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
			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) {
			@@ -533,43 +1378,57 @@
			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
			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");

			//获取小车到输送站点行走命令
			List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), 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());
			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;
			}

			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());
			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;
			}

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

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

			wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中 501.生成移库任务 ==> 502.小车搬运中
			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)) {
			//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_MOVING);
			return false;
			}
			return false;
			@@ -578,79 +1437,68 @@
			}

			/**
			* 货叉提升机任务
			* 提升机任务完成
			*/
			public synchronized void forkLiftIoExecute() {
			public synchronized void liftFinished() {
			try {
			//搜索是否有待处理的任务
			List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
			if (wrkMasts.isEmpty()) {
			return;
			}
			for (LiftSlave slave : slaveProperties.getLift()) {
			//获取提升机信息
			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
			if (liftThread == null) {
			continue;
			}
			LiftProtocol liftProtocol = liftThread.getStatus();
			if (liftProtocol == null) {
			continue;
			}

			for (WrkMast wrkMast : wrkMasts) {
			Integer liftNo = wrkMast.getLiftNo();
			if (liftNo == null) {
			//未分配提升机
			Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
			liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
			if(liftNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
			continue;
			}
			//提升机为等待确认且空闲
			if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
			if (wrkMast != null) {
			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);
			}

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

			if (!forkLiftThread.isIdle()) {
			News.info("{}号提升机，忙碌中", liftNo);
			continue;
			}

			//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());
			continue;//当前提升机存在未完成任务，等待下一次轮询
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			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={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
			}
			}

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

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

			if (!forkLiftThread.isIdle()) {
			News.info("{}号提升机，忙碌中", liftNo);
			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) {
			@@ -659,260 +1507,23 @@
			}

			/**
			* 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
			* 输送线任务完成
			*/
			private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
			//--------------------------------------提升机入库-----------------------------------------//
			Date now = new Date();

			//1.生成入库任务 ==> 3.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
			//获取目标输送站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
			if (liftSta == null) {
			return false;//找不到站点
			}

			if (liftSta.getHasTray()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
			return false;
			}

			if (liftSta.getHasCar()) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.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，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			return false;
			}

			//判断提升机是否处于入库模式
			if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
			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
			}
			}

			//检测楼层是否有穿梭车
			boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
			if (!checkLevHasShuttle) {
			if (wrkMast.getShuttleNo() != null) {
			return false;
			}

			//获取小车待机位
			String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			if (standbyLocNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			return false;
			}

			//调度小车去待机位
			boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
			return false;
			}
			return false;
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), 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.PICK_PUT.id.shortValue());

			wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.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);
			}
			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-----------------------------------------//
			//103.小车搬运完成 ==> 104.提升机搬运中
			if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			if (shuttleThread == null) {
			return false;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
			if(shuttleProtocol == null) {
			return false;
			}

			//获取源站
			ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
			if (liftSta == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
			return false;//找不到站点
			}

			if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
			//小车还在输送站点
			//获取小车待机位
			String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
			if(standbyLocNo == null) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
			return false;
			}
			//调度小车去待机位
			boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
			if (!dispatchShuttle) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", 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，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
			return false;
			}

			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.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，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
			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;
			}

			//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
			}
			}

			//请求上级系统，是否允许出库
			boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
			if (!outMission) {
			News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
			return false;
			}

			//获取提升机命令
			List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
			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.PICK_PUT.id.shortValue());

			wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中
			wrkMast.setShuttleNo(null);//释放小车
			wrkMast.setSystemMsg("");//清空消息
			wrkMast.setModiTime(new Date());
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
			}
			return false;
			}
			return true;
			}

			/**
			* 货叉提升机任务完成
			*/
			public synchronized void forkLiftFinished() {
			public synchronized void devpFinished() {
			try {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			//获取提升机信息
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			//提升机为等待确认且空闲
			if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
			&& forkLiftProtocol.getWrkNo() != 0
			) {
			//将任务档标记为完成
			WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
			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) {
			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);
			wrkMast.setLiftNo(null);//释放提升机
			forkLiftThread.setSyncTaskNo(0);
			} 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
			forkLiftThread.setSyncTaskNo(0);
			} 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);
			forkLiftThread.setSyncTaskNo(0);
			}

			wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.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());
			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("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("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());
			}
			}
			}
			@@ -962,9 +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
			@@ -1011,39 +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
			@@ -1058,20 +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());
			}
			}
			}
			@@ -1138,7 +1747,7 @@
			ArrayList<String> locs = new ArrayList<>();
			locs.add(charge.getLocNo());
			Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
			if(checkHasShuttle != null) {
			if (checkHasShuttle != null) {
			//当前充电桩有穿梭车，不分配该充电桩
			continue;
			}
			@@ -1188,7 +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;
			}

			@@ -1274,7 +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;
			}

			@@ -1375,7 +1984,7 @@
			}

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

			@@ -1403,411 +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
			}

			if (wrkMast.getLiftNo() == null) {
			//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
			}

			wrkMast.setModiTime(now);
			wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
			wrkMast.setSystemMsg("");//清空消息
			wrkMastService.updateById(wrkMast);
			return false;
			}

			//***********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.setSystemMsg("");//清空消息
			if (wrkMastService.updateById(wrkMast)) {
			//下发任务
			shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
			notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
			//触发通知
			return false;
			}
			return false;
			private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
			LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
			if (liftThread == null) {
			return;
			}
			return true;
			}

			/**
			* 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);
			}
			}
			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())) {
			if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
			return false;//小车未到达目标层
			}

			//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;
			}

			//自动切换出入库模式
			public void autoSwitchForkLiftIOMode() {
			for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
			Integer liftNo = forkLiftSlave.getId();
			ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
			if (forkLiftThread == null) {
			continue;
			}
			ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
			if (forkLiftProtocol == null) {
			continue;
			}

			//获取入库任务
			List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("lift_no", liftNo)
			.in("wrk_sts"
			, WrkStsType.NEW_INBOUND.sts
			, WrkStsType.INBOUND_DEVICE_RUN.sts
			, WrkStsType.INBOUND_LIFT_RUN.sts
			, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
			, WrkStsType.INBOUND_SHUTTLE_RUN.sts
			, WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
			));

			//获取出库任务
			List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
			.eq("lift_no", liftNo)
			.in("wrk_sts"
			, WrkStsType.NEW_OUTBOUND.sts
			, WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
			, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
			, WrkStsType.OUTBOUND_LIFT_RUN.sts
			, WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
			));

			if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
			//未知模式
			if (!inWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			} else if (!outWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
			}else {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			}
			} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
			//入库模式
			if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
			}
			} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
			//出库模式
			if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
			forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
			}
			}
			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);
			}
			}

			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);
			}
			}


			}