#

Junjie

2025-04-02 15356da6eeca013fafc9bb6ed2d2a4a12422ce04

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -8,21 +8,16 @@
import com.zy.asrs.common.domain.param.SearchLocParam;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
import com.zy.asrs.wcs.core.domain.param.CreateInTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.OpenUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -33,17 +28,13 @@
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LedThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.rcs.thread.*;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;

/**
@@ -91,6 +82,12 @@
    private ShuttleChargeStaService shuttleChargeStaService;
    @Autowired
    private OpenUtils openUtils;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

    /**
     * 组托
@@ -168,6 +165,11 @@
                            && staProtocol.isPakMk()
                    ) {

                        Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo());
                        if (object != null) {
                            continue;
                        }

                        // 获取条码扫描仪信息
                        DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
                        if(deviceBarcode == null) {
@@ -180,21 +182,6 @@
                        String barcode = barcodeThread.getBarcode();
                        if (!Cools.isEmpty(barcode)) {
                            News.info("{}号条码扫描器检测条码信息：{}", deviceBarcode.getId(), 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);
                                devpThread.writeWorkSta(staProtocol.getSiteId(), (short) 32002, inSta.getBackSta().shortValue());

                                // 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";
                                    ledThread.error(errorMsg);
                                }
                                continue;
                            }
                        }

                        // 判断重复工作档
@@ -205,7 +192,7 @@
                        if (task1 != null) {
                            News.error("工作档已存在,工作号={}", task1.getTaskNo());
                            if (staProtocol.getWorkNo().intValue() != Integer.parseInt(task1.getTaskNo())) {
                                devpThread.writeWorkSta(staProtocol.getSiteId(), Short.parseShort(task1.getTaskNo()), Short.parseShort(task1.getDestSite()));
                                devpThread.writeWorkSta(staProtocol.getSiteId(), Short.parseShort(task1.getTaskNo()), Short.parseShort(task1.getOriginSite()));
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(task1));
                            }
@@ -238,24 +225,49 @@
                            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));
                                row -= 16;
                                String wcsLocNo = Utils.getLocNo(row, bay, lev);
//                                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){
//
//                                }

                                CreateInTaskParam createInTaskParam = new CreateInTaskParam();
                                createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
                                createInTaskParam.setDestLoc(wcsLocNo);
                                createInTaskParam.setOriginSite("31002");
                                createInTaskParam.setDestSite("31004");
                                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));
                                redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo(), "in", 10);
                            }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) {
@@ -437,6 +449,7 @@

                //将地图数据存入redis
                redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
                redisUtil.set(DeviceRedisConstant.BASE_MAP + lev, JSON.toJSONString(map));
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -445,86 +458,202 @@

    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
            if (basConveyorSta == null) {
                continue;
            }
            BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
            if (basConveyor == null) {
                continue;
            }
//            DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
//            if (deviceBarcode == null) {
//                continue;
//            }
//            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
//            if (barcodeThread == null) {
//                continue;
//            }
//            if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
//                continue;
//            }
            if (Cools.isEmpty(basConveyorSta.getTaskNo())){
                continue;
            }
            if (!basConveyorSta.getTaskNo().toString().equals(task.getTaskNo())){
                continue;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if (devpThread == null) {
                continue;
            }
            StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
            if (staProtocol == null) {
                continue;
            }
            if (!(staProtocol.isAutoing()
                    && staProtocol.isLoading()
                    && staProtocol.isInEnable())) {
                continue;
            }
        try {
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                    .eq(Device::getStatus, 1));
            for (Device devp : list) {
                BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
                // 遍历入库口
                for (StaDto inSta : JSON.parseArray(basConveyor.getDeviceInSta(), StaDto.class)) {
                    BasConveyorSta basConveyorSta = basConveyorStaService.selectBySiteNo(inSta.getStaNo().toString());
                    if(basConveyorSta == null) {
                        continue;
                    }

            //解析前判断内部目标值是否有物 有工作号
            StaProtocol staProtocolInside = devpThread.getStation().get(Utils.getStaByLev(Utils.getLev(task.getDestLoc())));
            if (staProtocolInside == null) {
                continue;
            }
            if (staProtocolInside.isLoading() || staProtocolInside.getWorkNo() !=0) {
                continue;
            }
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    int workNo = staProtocol.getWorkNo().intValue();

            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isInEnable()
                            && (workNo >= 0)
                            && staProtocol.isPakMk()
                    ) {

                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
                                .eq(Task::getTaskNo, workNo));
                        if (task != null) {
                            if (!Cools.isEmpty(task.getLiftNo())) {
                                if (task.getLiftNo() > 0) {
                                    task.setLiftNo(0);
                                    task.setUpdateTime(new Date());
                                    if (!taskService.updateById(task)) {
                                        News.info("{}任务更新释放提升机失败", task.getTaskNo());
                                    }
                                }
                            }

                            //获取距离目标位置最近的可换层提升机(可能不空闲)
                            LiftThread liftThread = liftDispatcher.searchLift(task.getDestLoc(), task.getHostId(), true);
                            if (liftThread == null) {
                                continue;
                            }
                            Device transferLiftDevice = liftThread.getDevice();
                            //获取小车待机库位 ==> 进提升机
                            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(task.getDestLoc()))
                                    .eq(ShuttleStandby::getStatus, 1));
                            //穿梭车进提升机库位号
                            String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
                            //穿梭车进提升机待机位库位号  输送线位置
                            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

                            //不走提升机
                            if (staProtocol.getSiteId() == 1015 || staProtocol.getSiteId() == 1026) {
                                standbyLocNoTo = staProtocol.getLocNo();
                            }

                            if (Cools.isEmpty(task.getShuttleNo())) {
                                //分配小车
                                //调度空闲车去取货待机位
                                Device shuttleDevice = shuttleDispatcher.dispatchShuttle(task, standbyLocNoTo);
                                if (shuttleDevice == null) {
                                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                                    continue;
                                }

                                task.setShuttleNo(Integer.valueOf(shuttleDevice.getDeviceNo()));//保存穿梭车号
                                task.setUpdateTime(new Date());
                                if (!taskService.updateById(task)) {
                                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                                }
                                continue;
                            }

                            //判断小车是否到达取货待机位置
                            String shuttleLocNo = shuttleDispatcher.findShuttleLocNo(task.getShuttleNo(), task.getHostId());
                            if (shuttleLocNo == null) {
                                continue;
                            }

                            if (!standbyLocNoTo.equals(shuttleLocNo)) {
                                continue;
                            }

                            // generate motion list
                            List<Motion> motionList = analyzeService.generateMotion(task);
                            if (motionList.isEmpty()) {
                                continue;
                            }
                            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

                            // 更新工作主档
                            task.setTaskSts(TaskStsType.ANALYZE_INBOUND.sts); // 工作状态
                            task.setUpdateTime(new Date());
                            if (!taskService.updateById(task)) {
                                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
                            }
                            break;
                        }

                    }
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_INBOUND.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        } catch (Exception e) {
            e.printStackTrace();
        }

//        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
//            BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
//            if (basConveyorSta == null) {
//                continue;
//            }
//            BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
//            if (basConveyor == null) {
//                continue;
//            }
////            DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
////            if (deviceBarcode == null) {
////                continue;
////            }
////            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
////            if (barcodeThread == null) {
////                continue;
////            }
////            if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
////                continue;
////            }
//            if (Cools.isEmpty(basConveyorSta.getTaskNo())){
//                continue;
//            }
//            if (!basConveyorSta.getTaskNo().toString().equals(task.getTaskNo())){
//                continue;
//            }
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
//            if (devpThread == null) {
//                continue;
//            }
//            StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
//            if (staProtocol == null) {
//                continue;
//            }
//            if (!(staProtocol.isAutoing()
//                    && staProtocol.isLoading()
//                    && staProtocol.isInEnable())) {
//                continue;
//            }
//
//            //解析前判断内部目标值是否有物 有工作号
//            StaProtocol staProtocolInside = devpThread.getStation().get(Utils.getStaByLev(Utils.getLev(task.getDestLoc())));
//            if (staProtocolInside == null) {
//                continue;
//            }
//            if (staProtocolInside.isLoading() || staProtocolInside.getWorkNo() !=0) {
//                continue;
//            }
//
//            if (Cools.isEmpty(task.getShuttleNo())) {
//                //分配小车
//                //搜索空闲车
//                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
//                if (shuttleThread == null) {
//                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
//                    continue;
//                }
//
//                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
//                task.setUpdateTime(new Date());
//                if (!taskService.updateById(task)) {
//                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
//                }
//                continue;
//            }
//
//            // generate motion list
//            List<Motion> motionList = analyzeService.generateMotion(task);
//            if (motionList.isEmpty()) {
//                continue;
//            }
//            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
//
//            // 更新工作主档
//            task.setTaskSts(TaskStsType.ANALYZE_INBOUND.sts); // 工作状态
//            task.setUpdateTime(new Date());
//            if (!taskService.updateById(task)) {
//                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
//            }
//        }
    }

    /**
@@ -610,23 +739,6 @@
    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
            if (motionList.isEmpty()) {
@@ -636,6 +748,54 @@

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    // 解析小车充电工作档
    public synchronized void analyzeChargeTask() {
        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.NEW_CHARGE.sts));
        for (Task task : list) {
            String locNo = task.getDestLoc();

            Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceNo, task.getShuttleNo())
                    .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                    .eq(Device::getHostId, task.getHostId())
                    .eq(Device::getStatus, 1));
            if (shuttleDevice == null) {
                continue;
            }

            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }
            String shuttleLocNo = task.getOriginLoc();

            if (Utils.getLev(locNo) != Utils.getLev(shuttleLocNo)) {
                shuttleDispatcher.dispatchShuttle(task, task.getDestLoc());
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateChargeMotion(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", task.getTaskNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
@@ -770,15 +930,6 @@
            task.setMemo("charge");
            task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));

            // generate motion list
            List<Motion> motionList = analyzeService.generateChargeMotion(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
            if (!taskService.save(task)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
@@ -860,7 +1011,7 @@
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);
            task.setOriginLoc(null);
            task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
            task.setDestSite(null);
            task.setDestLoc(standByLocNo); // 避让位置
            task.setIoTime(new Date());
@@ -905,7 +1056,7 @@
                    .eq(BasLed::getDeviceId, ledDevice.getId()));
            List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);

            BasConveyor basConveyor = basConveyorService.getById(new LambdaQueryWrapper<BasConveyor>()
            BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>()
                    .eq(BasConveyor::getDeviceId, led.getConveyorId().intValue()));
            if (basConveyor == null) {
                continue;
@@ -920,26 +1071,26 @@
            for (Integer staNo : staArr) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
                if (null == staProtocol || null == staProtocol.getWorkNo()) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                // 获取工作档数据
                Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, staProtocol.getWorkNo()));
                if (null == task) {
                    continue;
                }
                String taskNo = "0";
                if (staProtocol.isOutEnable() && staProtocol.getSiteId() == 31001 ){
                    if (0 != staProtocol.getWorkNo()){
                        Motion motion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getMotionCtg, 9).eq(Motion::getTemp, staProtocol.getWorkNo()));
                        // 获取工作档数据
                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
                        if (null == task) {
                            continue;
                        }
                        taskNo = task.getWmsTaskNo();
                    }

                tasks.add(task);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(task.getTaskNo());
                ledCommand.setIoType(task.getTaskCtg().intValue());
                ledCommand.setTitle(task.getTaskCtg$());
                ledCommand.setSourceLocNo(task.getOriginLoc());
                ledCommand.setLocNo(task.getDestLoc());
                ledCommand.setStaNo(Integer.parseInt(task.getDestSite()));
                } else if (staProtocol.isInEnable() && staProtocol.getSiteId() == 31002) {
                    taskNo = staProtocol.getStaNo().toString();
                }

                try {
                    //获取WMS地址
@@ -948,32 +1099,24 @@
                        String wmsUrl = dict.getValue();

                        HashMap<String, Object> param = new HashMap<>();
                        param.put("taskNo", task.getTaskNo());
                        param.put("taskNo", taskNo);
                        param.put("sta",staNo);
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/queryTask")
                                .setPath("/rpc/led/getTask")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            List<MatDto> matDtos = JSON.parseArray(jsonObject.getString("data"), MatDto.class);
                            ledCommand.setMatDtos(matDtos);

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

                commands.add(ledCommand);
            }
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                ledThread.write(commands);
                ledThread.setLedMk(false);
            }
        }
    }
@@ -1055,4 +1198,39 @@
        }
    }

    // 解析小车载货移动工作档
    public synchronized void analyzeLadenMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleLadenMoveMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_LADEN_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }
}