#

zjj

7 天以前 3644989d8aa96bcb5ac837f6c79dff4de5f83736

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java

@@ -2,28 +2,54 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.HashMap;
import java.util.*;
import java.util.concurrent.TimeUnit;

@Slf4j
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {

    private static final String API_URL = "http://127.0.0.1:8082";
    private static String API_URL = "http://127.0.0.1:8082";

    private Device device;
    private RedisUtil redisUtil;
@@ -32,6 +58,7 @@
    public SurayShuttleThread(Device device,RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;
        API_URL = "http://" + device.getIp() + ":" + device.getPort();
    }

    @Override
@@ -76,52 +103,109 @@
            if (data != null) {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(device.getDeviceNo());
                    shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    shuttleProtocol.setDevice(device);

                    InnerSuhttleExtend extend = new InnerSuhttleExtend();
                    shuttleProtocol.setExtend(extend);
                }

                //----------读取四向穿梭车状态-----------
                //小车忙状态位
                shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("deviceLocation") == null ? "0" : data.getString("deviceLocation"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
                //小车设备状态
                Integer deviceStatus = data.getInteger("deviceStatus");
                if (deviceStatus == 255) {
                    //离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }else if (deviceStatus == 3) {
                    //就绪状态且离线
                    if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE)) {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    }
                }

                if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
                    shuttleProtocol.setMode(1);//自动状态
                }

                shuttleProtocol.setDeviceStatus(deviceStatus);
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0" : data.getString("battery"));
                //故障
                shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
                //是否为充电状态
                shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);

                //*********读取扩展字段**********
                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
                extend.setMapVersion(data.getString("version"));//地图版本
                extend.setStatusDescription(data.getString("statusDescription"));//状态描述
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

//                //小车处于忙碌状态，将标记置为true
//                if (shuttleProtocol.getDeviceStatusType() == ShuttleDeviceStatusType.BUSY) {
//                    shuttleProtocol.setPakMk(true);
//                }
//
//                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) {
//                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
//                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
//                }
                //小车处于忙碌状态，将标记置为true
                if (deviceStatus == 1 || deviceStatus == 2 || deviceStatus == 5) {
                    shuttleProtocol.setPakMk(true);
                }

//                if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
//                    //采集时间超过5s，保存一次数据记录
//                    //保存数据记录
//                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
//                    DeviceDataLog deviceDataLog = new DeviceDataLog();
//                    deviceDataLog.setOriginData(Base64.getEncoder().encodeToString(result.Content));
//                    deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
//                    deviceDataLog.setType("shuttle");
//                    deviceDataLog.setDeviceNo(shuttleProtocol.getShuttleNo().intValue());
//                    deviceDataLog.setCreateTime(new Date());
//                    deviceDataLogService.insert(deviceDataLog);
//
//                    //更新采集时间
//                    shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
//                }
                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                }

                if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
                    //采集时间超过5s，保存一次数据记录
                    //保存数据记录
                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                    DeviceDataLog deviceDataLog = new DeviceDataLog();
                    deviceDataLog.setOriginData(JSON.toJSONString(data));
                    deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                    deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
                    deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
                    deviceDataLog.setCreateTime(new Date());
                    deviceDataLog.setHostId(device.getHostId());
                    deviceDataLogService.save(deviceDataLog);

                    //更新采集时间
                    shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
                }

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                        .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
                        .eq(BasShuttle::getHostId, device.getHostId()));
                if (basShuttle == null) {
                    basShuttle = new BasShuttle();
                    //四向穿梭车号
                    basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    basShuttle.setDeviceId(device.getId().intValue());
                    shuttleService.save(basShuttle);
                }
                //任务号
                basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //设备状态
                basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
                if (shuttleService.updateById(basShuttle)) {
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
                }
            } else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}读取四向穿梭车状态信息失败", DateUtils.convert(new Date()), device.getDeviceNo()));
                throw new CoolException(MessageFormat.format("读取四向穿梭车状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getDeviceNo(), device.getIp(), device.getPort()));
@@ -144,15 +228,578 @@

    @Override
    public ShuttleProtocol getStatus() {
        return this.shuttleProtocol;
        return getStatus(true);
    }

    @Override
    public ShuttleProtocol getStatus(boolean clone) {
        if (this.shuttleProtocol == null) {
            return null;
        }
        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
    }

    @Override
    public Device getDevice() {
        return this.device;
    }

    @Override
    public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
        try {
            //默认地图母轨方向x
            String mapDirection = "x";
            DictService dictService = SpringUtils.getBean(DictService.class);
            Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "direction_map")
                    .eq(Dict::getStatus, 1));
            if (dict != null) {
                mapDirection = dict.getValue();
            }

            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
            for (int idx = 0; idx < data.size(); idx++) {
                ArrayList<NavigateNode> sectionNodes = data.get(idx);
                boolean isRemoveFooterNode = false;//是否剔除尾节点
                if (idx != data.size() - 1) {
                    isRemoveFooterNode = true;//剔除尾节点
                }

                boolean flag = true;
                int oper;
                //开始路径
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
                if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                        || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
                    //母轨方向
                    oper = 5;
                } else {
                    //子轨方向
                    oper = 6;
                }

                for (int i = 0; i < sectionNodes.size(); i++) {
                    if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
                        continue;
                    }
                    NavigateNode node = sectionNodes.get(i);
                    HashMap<String, Object> map = new HashMap<>();
                    map.put("nodeX", node.getX());
                    map.put("nodeY", node.getY());
                    map.put("nodeZ", node.getZ());
                    if (flag) {
                        map.put("oper", oper);
                        flag = false;
                    }
                    modes.add(map);
                }
            }


            HashMap<String, Object> param = new HashMap<>();
            param.put("messageName", "runRoute");
            param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
            param.put("deviceNo", device.getDeviceNo());
            param.put("taskId", taskNo);
            param.put("nodeNum", nodes.size());
            param.put("modes", modes);
            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/runRoute")
                    .setHeaders(headers)
                    .setJson(JSON.toJSONString(param))
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println("路径下发" + taskNo);
            System.out.println(JSON.toJSONString(jsonObject));
            System.out.println(JSON.toJSONString(param));
            if (code.equals(200)) {
                System.out.println("路径下发" + taskNo);
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public synchronized boolean move(ShuttleCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/runOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println(JSON.toJSONString(command.getBody()));
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public synchronized boolean lift(ShuttleCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public synchronized boolean charge(ShuttleCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public synchronized boolean reset(ShuttleCommand command) {
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
    }

    @Override
    public boolean updateLocation(ShuttleCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/changeLocation")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id);
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                ;
        return res;
    }

    @Override
    public boolean isRequireCharge() {
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                ;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值需要进行充电
            try {
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;
                }
                BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, this.device.getId()));
                if (basShuttle == null) {
                    return false;
                }
                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
            } catch (Exception e) {
                return false;
            }
        }
    }

    @Override
    public boolean isCharging() {
        if (this.shuttleProtocol.getDeviceStatus() == null) {
            return false;
        }

        if (this.shuttleProtocol.getDeviceStatus() == 5 || this.shuttleProtocol.getDeviceStatus() == 13) {
            //充电中和电池均衡 =》 充电
            return true;
        }
        return false;
    }

    @Override
    public boolean isChargingCompleted() {
        Integer maxPower = 100;
        DictService dictService = SpringUtils.getBean(DictService.class);
        if (dictService != null) {
            Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "chargeMaxValue")
                    .eq(Dict::getStatus, 1));
            if (chargeMaxValue != null) {
                maxPower = Integer.parseInt(chargeMaxValue.getValue());
            }
        }

        if (this.shuttleProtocol.getBatteryPower() == null) {
            return false;
        }

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
            return true;
        }
        return false;
    }

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
            Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = null;
                try {
                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
                } catch (JsonProcessingException e) {
                    return path;
                }
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
                if (nodes == null) {
                    return path;
                }
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }
            }
        }
        return path;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
        int deviceTaskNo = taskNo;
        try {
            deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE");
        } catch (Exception e) {
            return taskNo;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){
            case SHUTTLE_MOVE://穿梭车移动
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
            case SHUTTLE_MOVE_TO_LIFT://进提升机
            case SHUTTLE_PALLET_LIFT://托盘顶升
            case SHUTTLE_PALLET_DOWN://托盘下降
            case SHUTTLE_CHARGE_ON://充电开
            case SHUTTLE_CHARGE_OFF://充电关
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                return deviceTaskNo;
            default:
                return taskNo;
        }
    }

    @Override
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setPakMk(boolean pakMk) {
        this.shuttleProtocol.setPakMk(pakMk);
        return true;
    }

    @Override
    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
        if (enable) {
            shuttleProtocol.setMoveLoc(true);//开启跑库
            shuttleProtocol.setMoveType(param.getMoveType());
            shuttleProtocol.setXStart(param.getStartX());
            shuttleProtocol.setXTarget(param.getTargetX());
            shuttleProtocol.setXCurrent(param.getStartX());
            shuttleProtocol.setYStart(param.getStartY());
            shuttleProtocol.setYTarget(param.getTargetY());
            shuttleProtocol.setYCurrent(param.getStartY());
        }else {
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
        }
        return true;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", taskNo);

        LocService locService = SpringUtils.getBean(LocService.class);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getCode, distCodeNum)
                .eq(Loc::getHostId, this.device.getHostId()));
        if (loc == null) {
            throw new CoolException("库位信息不存在");
        }
        body.put("nodeX", loc.getRow());
        body.put("nodeY", loc.getBay());
        body.put("nodeZ", loc.getLev());

        //检测目标点是否为提升机
        BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
        BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getRow, loc.getRow())
                .eq(BasLift::getBay, loc.getBay())
                .eq(BasLift::getHostId, this.device.getHostId()));
        if (basLift != null) {
            LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
            Integer realLev = liftDispatcher.getLiftLevOffset(basLift.getDeviceId().intValue(), loc.getLev());
            body.put("nodeZ", realLev);
        }

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(loc.getLocNo());
        return command;
    }

    @Override
    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
        int deviceTaskNo = this.generateDeviceTaskNo(taskNo, lift ? MotionCtgType.SHUTTLE_PALLET_LIFT : MotionCtgType.SHUTTLE_PALLET_DOWN);

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "actionOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", deviceTaskNo);
        body.put("action", lift ? 1 : 2);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        return command;
    }

    @Override
    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
        int deviceTaskNo = this.generateDeviceTaskNo(taskNo, charge ? MotionCtgType.SHUTTLE_CHARGE_ON : MotionCtgType.SHUTTLE_CHARGE_OFF);

        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", deviceTaskNo);
        body.put("action", charge ? 3 : 4);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));

        String coord = "(" + Utils.getRow(locNo) + "," + Utils.getBay(locNo) + "," + Utils.getLev(locNo) + ")";
        body.put("coord", coord);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
        return command;
    }

    //***************设备层通讯-不同厂商设备通讯方案不一致***************

    //请求登录
    private String requestLoginToken() {
        try {
            Object redisToken = redisUtil.get(DeviceRedisConstant.RDS_LOGIN_TOKEN);
            if(redisToken != null) {
                return redisToken.toString();
            }

            HashMap<String, Object> param = new HashMap<>();
            param.put("username", "admin");
            param.put("password", "admin123");
@@ -166,7 +813,9 @@
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                return jsonObject.getString("token");
                String token = jsonObject.getString("token");
                redisUtil.set(DeviceRedisConstant.RDS_LOGIN_TOKEN, token, 60 * 15);
                return token;
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -206,4 +855,20 @@
        }
        return null;
    }

    @Data
    private class InnerSuhttleExtend {

        /**
         * 地图版本
         */
        private String mapVersion;

        /**
         * 状态描述
         */
        private String statusDescription;

    }

}