#

Junjie

2025-01-06 0ac76f7d8101903e1d050116f7d3835ce1303dfa

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -3,11 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.WrkMast;
@@ -15,26 +11,19 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NyShuttleOperaResult;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NyHttpUtils;
import com.zy.common.utils.NyShuttleOperaUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.NyShuttleThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -76,11 +65,11 @@
            baseObj.put("shuttleNo", slave.getId());
            list.add(baseObj);
            // 获取四向穿梭车信息
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                if (shuttleData != null) {
@@ -101,8 +90,8 @@

            Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
            String lowerPower = "N";
            if (chargeLine != null && shuttleProtocol.getPowerPercent() != null) {
                lowerPower = shuttleProtocol.getPowerPercent() <= chargeLine ? "Y" : "N";
            if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
                lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
            }
            shuttleData.put("lowerPower", lowerPower);//是否低电量
            baseObj.putAll(shuttleData);
@@ -124,7 +113,7 @@
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }
@@ -132,7 +121,7 @@
                continue;
            }

            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
            vo.setWorkNo(shuttleProtocol.getTaskNo());//任务号
            if (shuttleProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
@@ -143,14 +132,6 @@
            if (shuttleProtocol.getProtocolStatusType() != null) {
                vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态
            }
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
@@ -217,8 +198,8 @@
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
        NyShuttleHttpCommand command = commands.get(commandStep);
        List<ShuttleCommand> commands = assignCommand.getCommands();
        ShuttleCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
@@ -232,21 +213,17 @@
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        Short shuttleNo = redisCommand.getShuttleNo();
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
        Integer shuttleNo = redisCommand.getShuttleNo();
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error();
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return R.error();
        }
        if (!shuttleProtocol.isIdle()) {
        if (!shuttleThread.isIdle()) {
            return R.error();
        }
        //四向穿梭车处于空闲状态，进行任务的恢复
        shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
        shuttleThread.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
        return R.ok();
    }

@@ -265,133 +242,133 @@
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "手动操作")
    @PostMapping("/operator/shuttle")
    public R shuttleOperator(ShuttleOperatorParam param){
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.parse(BaseRes.PARAM);
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                return R.parse(BaseRes.PARAM);
            }
            assignCommand.setSourceLocNo(param.getSourceLocNo());
            assignCommand.setLocNo(param.getDistLocNo());
        }

        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    throw new CoolException("四向穿梭车不在线");
                }
                NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    throw new CoolException("四向穿梭车不在线");
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
                assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
                assignCommand.setAuto(false);//手动模式

                if (shuttleTaskModeType == ShuttleTaskModeType.TRANSPORT) {
                    //搬运货物任务
                    NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getSourceLocNo(), param.getDistLocNo());
                    if (result == null) {
                        throw new CoolException("路径计算失败");
                    }

                    assignCommand.setCommands(result.getCommands());
                    assignCommand.setNodes(result.getNodes());
                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
                    //移动到目标库位
                    Integer mapType = NavigationMapType.NORMAL.id;
                    if (shuttleProtocol.getLiftPosition() == 2) {
                        mapType = NavigationMapType.DFX.id;
                    }
                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
                    if (result == null) {
                        throw new CoolException("路径计算失败");
                    }

                    assignCommand.setCommands(result.getCommands());
                    assignCommand.setNodes(result.getNodes());
                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
                    //托盘顶升
                    NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(command);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
                    //托盘下降
                    NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(command);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
                    //充电开关
                    boolean charge = false;
                    if (shuttleProtocol.getChargState() == 1) {
                        //已充电，关闭充电
                        charge = false;
                    }else {
                        //开启充电
                        charge = true;
                    }
                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(command);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
                    //复位
                    shuttleProtocol.setTaskNo(0);//工作号清空
                    shuttleProtocol.setToken(0);//令牌清空
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
                    shuttleProtocol.setPakMk(false);//作业标记复位

                    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 R.ok();
                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
                    //小车管制
                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(suspendCommand);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
                    //小车取消管制
                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(suspendCommand);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
                    //移动到目标库位(生成移动任务)
                    shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
                    return R.ok();
                } else {
                    throw new CoolException("未知命令");
                }

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return R.error();
    }
//    @ManagerAuth(memo = "手动操作")
//    @PostMapping("/operator/shuttle")
//    public R shuttleOperator(ShuttleOperatorParam param){
//        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
//            return R.parse(BaseRes.PARAM);
//        }
//
//        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//
//        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
//            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
//                return R.parse(BaseRes.PARAM);
//            }
//            assignCommand.setSourceLocNo(param.getSourceLocNo());
//            assignCommand.setLocNo(param.getDistLocNo());
//        }
//
//        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
//            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
//                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
//                if (shuttleThread == null) {
//                    throw new CoolException("四向穿梭车不在线");
//                }
//                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
//                if (shuttleProtocol == null) {
//                    throw new CoolException("四向穿梭车不在线");
//                }
//
//                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode().intValue());
//                assignCommand.setShuttleNo(shuttleSlave.getId()); // 四向穿梭车编号
//                assignCommand.setTaskMode(shuttleTaskModeType.id);
//                assignCommand.setTaskNo(commonService.getWorkNo(3));//获取任务号
//                assignCommand.setAuto(false);//手动模式
//
//                if (shuttleTaskModeType == ShuttleTaskModeType.TRANSPORT) {
//                    //搬运货物任务
//                    NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(shuttleSlave.getId(), assignCommand.getTaskNo(), shuttleProtocol.getCurrentLocNo(), param.getSourceLocNo(), param.getDistLocNo());
//                    if (result == null) {
//                        throw new CoolException("路径计算失败");
//                    }
//
//                    assignCommand.setCommands(result.getCommands());
//                    assignCommand.setNodes(result.getNodes());
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
//                    //移动到目标库位
//                    Integer mapType = NavigationMapType.NORMAL.id;
//                    if (shuttleProtocol.getLiftPosition() == 2) {
//                        mapType = NavigationMapType.DFX.id;
//                    }
//                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
//                    if (result == null) {
//                        throw new CoolException("路径计算失败");
//                    }
//
//                    assignCommand.setCommands(result.getCommands());
//                    assignCommand.setNodes(result.getNodes());
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
//                    //托盘顶升
//                    NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
//                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
//                    commands.add(command);
//                    assignCommand.setCommands(commands);
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
//                    //托盘下降
//                    NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
//                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
//                    commands.add(command);
//                    assignCommand.setCommands(commands);
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
//                    //充电开关
//                    boolean charge = false;
//                    if (shuttleProtocol.getChargState() == 1) {
//                        //已充电，关闭充电
//                        charge = false;
//                    }else {
//                        //开启充电
//                        charge = true;
//                    }
//                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
//                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
//                    commands.add(command);
//                    assignCommand.setCommands(commands);
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
//                    //复位
//                    shuttleProtocol.setTaskNo(0);//工作号清空
//                    shuttleProtocol.setToken(0);//令牌清空
//                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
//                    shuttleProtocol.setPakMk(false);//作业标记复位
//
//                    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 R.ok();
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
//                    //小车管制
//                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
//                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
//                    commands.add(suspendCommand);
//                    assignCommand.setCommands(commands);
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
//                    //小车取消管制
//                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
//                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
//                    commands.add(suspendCommand);
//                    assignCommand.setCommands(commands);
//                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
//                    //移动到目标库位(生成移动任务)
//                    shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
//                    return R.ok();
//                } else {
//                    throw new CoolException("未知命令");
//                }
//
//                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
//                    return R.ok();
//                } else {
//                    throw new CoolException("命令下发失败");
//                }
//            }
//        }
//        return R.error();
//    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
@@ -399,22 +376,15 @@
                           @RequestParam Integer workNo,
                           @RequestParam String pakMk,
                           @RequestParam Integer token) {
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error("plc已掉线");
        }
        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            shuttleProtocol.setTaskNo(workNo);
            shuttleThread.setTaskNo(workNo);
        }
        if (pakMk != null) {
            shuttleProtocol.setPakMk(pakMk.equals("Y"));
        }
        if (token != null) {
            shuttleProtocol.setToken(token);
            shuttleThread.setPakMk(pakMk.equals("Y"));
        }
        return R.ok();
    }
@@ -426,7 +396,7 @@
        if (basShuttle == null) {
            return R.error("四向穿梭车不存在");
        }
//        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setChargeLine(chargeLine);
        if (!basShuttleService.updateById(basShuttle)) {
            return R.error();
@@ -445,28 +415,29 @@
                     @RequestParam Integer xTarget,
                     @RequestParam Integer yStart,
                     @RequestParam Integer yTarget) {
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error();
        }

        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return R.error();
        }

        if (!shuttleProtocol.isIdle()) {
        if (!shuttleThread.isIdle()) {
            return R.error("小车忙碌中");
        }

        shuttleProtocol.setMoveLoc(true);//开启跑库
        shuttleProtocol.setMoveType(moveType);
        shuttleProtocol.setXStart(xStart);
        shuttleProtocol.setXTarget(xTarget);
        shuttleProtocol.setXCurrent(xStart);
        shuttleProtocol.setYStart(yStart);
        shuttleProtocol.setYTarget(yTarget);
        shuttleProtocol.setYCurrent(yStart);
        ShuttleMoveLocParam param = new ShuttleMoveLocParam();
        param.setShuttleNo(shuttleNo);
        param.setMoveType(moveType);
        param.setStartX(xStart);
        param.setTargetX(xTarget);
        param.setStartY(yStart);
        param.setTargetY(yTarget);

        shuttleThread.enableMoveLoc(param, true);
        return R.ok();
    }