四向穿梭车逻辑优化

Junjie

2023-04-08 0b83448133a1af459273318bc5b0c2a4bc6e0448

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -4,30 +4,40 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.RadixTools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
 * 四向穿梭车线程
@@ -39,10 +49,11 @@
    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private SiemensS7Net siemensS7Net;
    private RedisUtil redisUtil;

    public ShuttleThread(ShuttleSlave slave) {
    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }

    @Override
@@ -63,6 +74,10 @@
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
@@ -97,71 +112,154 @@

    @Override
    public void close() {

        modbusTcpNet.ConnectClose();
    }

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17);
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
            if (result.IsSuccess) {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                //----------设置四向穿梭车状态-----------
                //----------读取四向穿梭车状态-----------
                //获取数据
                byte[] content = result.Content;
                //小车忙状态位
                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
                //当前二维码
                shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
                //电池电量百分比
                shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
                //电池温度
                shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
                shuttleProtocol.setPlcOutputLift(booleans[1]);
                shuttleProtocol.setPlcOutputTransfer(booleans[2]);
                shuttleProtocol.setPlcOutputBrake(booleans[3]);
                shuttleProtocol.setPlcOutputCharge(booleans[4]);
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
                //当前或者之前读到的二维码值
                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //读到的二维码X方向偏移量
                shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
                //读到的二维码Y方向偏移量
                shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
                //当前的电压值
                shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
                //当前的模拟量值
                shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
                //当前的升降伺服速度
                shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
                //当前的行走伺服速度
                shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
                //当前的升降伺服负载率
                shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
                //当前的行走伺服负载率
                shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));

                //--------控制字--------
                //控制指令字
                shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0));
                //启始二维编号
                shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2));
                //中间二维编号
                shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4));
                //目标二维编号
                shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6));
                //起点到目标点的距离长度
                shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8));
                //中间点到目标点的距离长度
                shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12));
                //小车运行方向
                shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16));
                //托盘顶升
                shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18));
                //小车强制移动距离
                shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20));
                //充电开关
                shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24));
                //小车IO控制
                shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26));
                //小车运行速度
                shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28));
                //小车雷达备用
                shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30));
                //指令结束位
                shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32));
                ///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.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

                //---------状态字---------
//                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32));
                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
                    //出现错误
                    reset(shuttleProtocol.getAssignCommand());
                }

                ///设置四向穿梭车状态-end
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                //读取四向穿梭车设备信息，提供查询
                //.....
                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getAssignCommand() != null){
                    //处于故障修复状态
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }

                //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()
                        && shuttleProtocol.getAssignCommand() != null) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }

                // 根据实时信息更新数据库
                //.....

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
                if (basShuttle == null) {
                    basShuttle = new BasShuttle();
                    //四向穿梭车号
                    basShuttle.setShuttleNo(slave.getId());
                    shuttleService.insert(basShuttle);
                }
                //小车忙状态位
                basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
                //当前二维码
                basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
                //电池电量百分比
                basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
                //电池温度
                basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
                //错误编号
                basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
                //Plc输出状态IO
                basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
                //错误信息码
                basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
                //PLC输入状态
                basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
                //当前或者之前读到的二维码值
                basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
                //读到的二维码X方向偏移量
                basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
                //读到的二维码Y方向偏移量
                basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
                //当前的电压值
                basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
                //当前的模拟量值
                basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
                //当前的升降伺服速度
                basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
                //当前的行走伺服速度
                basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
                //当前的升降伺服负载率
                basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
                //当前的行走伺服负载率
                basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
                //当前小车状态（内部自我维护）
                basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
                //任务号
                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //作业标记
                basShuttle.setPakMk(shuttleProtocol.getPakMk());
                if (shuttleService.updateById(basShuttle)) {
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                }

            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initShuttle();
        }
@@ -173,34 +271,82 @@
            return false;
        }

        //判断小车是否在充电
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        if (devpThread.charge1){

        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        if (command.getStartCodeNum() != null) {
            //启始二维编号
            array[1] = command.getStartCodeNum();
        }

        command.setShuttleNo(slave.getId());
        OperateResult result = null;
        // 开始任务
        //...
        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }

        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }

        try {
            // 日志记录
            if (!command.getComplete() && command.getTaskMode() != 0) {
                //日志记录保存到数据库中
                //.....
            }
        } catch (Exception ignore) {}
        if (command.getStartToDistDistance() != null) {
            //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
            array[4] = startToDistDistances[0];
            array[5] = startToDistDistances[1];
        }

        if (command.getMiddleToDistDistance() != null) {
            //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
            array[6] = middleToDistDistances[0];
            array[7] = middleToDistDistances[1];
        }

        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
        }

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }

        if (command.getForceMoveDistance() != null) {
            //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
            array[10] = forceMoveDistances[0];
            array[11] = forceMoveDistances[1];
        }

        if (command.getChargeSwitch() != null) {
            //充电开关
            array[12] = command.getChargeSwitch();
        }

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }

        //指令结束位
        array[16] = command.getCommandEnd();

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            // 维护数据库排列层
//            if (!steProtocol.getWaiting()) {
//                if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) {
//                    this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue());
//                }
//            }

            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -218,9 +364,522 @@
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
        shuttleProtocol.setCurrentCode("0");
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();
        if (!assignCommand.getAuto()) {
            List<ShuttleCommand> commands = new ArrayList<>();
            ShuttleCommand command = new ShuttleCommand();
            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
            switch (assignCommand.getTaskMode()) {
                case 1://入库
                case 2://出库
                    //小车移动到提升机口，计算路径
                    //计算小车起点到中点所需命令
                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    if (firstMastResult != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
                        //将每一段路径分成command指令
                        for (ArrayList<NavigateNode> nodes : data) {
                            //开始路径
                            NavigateNode startPath = nodes.get(0);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            ShuttleCommand command1 = new ShuttleCommand();
                            command1.setCommandWord((short) 1);
                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
                            command1.setMiddleCodeNum((short) 1);
                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
                            command1.setStartToDistDistance(allDistance);
                            command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            command1.setForceMoveDistance(0);
                            command1.setIOControl((short) 0);
                            command1.setRunSpeed((short) 1000);
                            command1.setCommandEnd((short) 1);
                            commands.add(command1);
                        }

                        //托盘顶升
                        ShuttleCommand command2 = new ShuttleCommand();
                        command2.setCommandWord((short) 2);
                        command2.setStartCodeNum((short) 0);
                        command2.setMiddleCodeNum((short) 0);
                        command2.setDistCodeNum((short) 0);
                        command2.setStartToDistDistance(0);
                        command2.setMiddleToDistDistance(0);
                        command2.setRunDirection((short) 0);
                        command2.setForceMoveDistance(0);
                        command2.setPalletLift((short) 1);
                        command2.setRunSpeed((short) 0);
                        command2.setCommandEnd((short) 1);
                        commands.add(command2);
                    }else {
                        //没有计算到路径，可能存在小车位置就是起点位置
                        if (currentLocMast.getLocNo().equals(assignCommand.getSourceLocNo())) {
                            //小车位置就是起点位置，无需移动，直接顶升
                            //托盘顶升
                            ShuttleCommand command2 = new ShuttleCommand();
                            command2.setCommandWord((short) 2);
                            command2.setStartCodeNum((short) 0);
                            command2.setMiddleCodeNum((short) 0);
                            command2.setDistCodeNum((short) 0);
                            command2.setStartToDistDistance(0);
                            command2.setMiddleToDistDistance(0);
                            command2.setRunDirection((short) 0);
                            command2.setForceMoveDistance(0);
                            command2.setPalletLift((short) 1);
                            command2.setRunSpeed((short) 0);
                            command2.setCommandEnd((short) 1);
                            commands.add(command2);
                        }
                    }

                    //计算中点到终点路径
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    if (secMastResult != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
                        //将每一段路径分成command指令
                        for (ArrayList<NavigateNode> nodes : data) {
                            //开始路径
                            NavigateNode startPath = nodes.get(0);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            ShuttleCommand command1 = new ShuttleCommand();
                            command1.setCommandWord((short) 1);
                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
                            command1.setMiddleCodeNum((short) 1);
                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
                            command1.setStartToDistDistance(allDistance);
                            command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            command1.setForceMoveDistance(0);
                            command1.setIOControl((short) 0);
                            command1.setRunSpeed((short) 1000);
                            command1.setCommandEnd((short) 1);
                            commands.add(command1);
                        }

                        //托盘下降
                        ShuttleCommand command2 = new ShuttleCommand();
                        command2.setCommandWord((short) 2);
                        command2.setStartCodeNum((short) 0);
                        command2.setMiddleCodeNum((short) 0);
                        command2.setDistCodeNum((short) 0);
                        command2.setStartToDistDistance(0);
                        command2.setMiddleToDistDistance(0);
                        command2.setRunDirection((short) 0);
                        command2.setForceMoveDistance(0);
                        command2.setPalletLift((short) 2);
                        command2.setRunSpeed((short) 0);
                        command2.setCommandEnd((short) 1);
                        commands.add(command2);
                    }
                    break;
                case 3://托盘顶升
                case 4://托盘下降
                    command.setCommandWord((short) 2);
                    command.setStartCodeNum((short) 0);
                    command.setMiddleCodeNum((short) 0);
                    command.setDistCodeNum((short) 0);
                    command.setStartToDistDistance(0);
                    command.setMiddleToDistDistance(0);
                    command.setRunDirection((short) 0);
                    command.setForceMoveDistance(0);
                    command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                    command.setRunSpeed((short) 0);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 5://强制左移
                case 6://强制右移
                case 7://强制上移
                case 8://强制下移
                    command.setCommandWord((short) 3);
                    command.setStartCodeNum((short) 0);
                    command.setMiddleCodeNum((short) 0);
                    command.setDistCodeNum((short) 0);
                    command.setStartToDistDistance(600);
                    command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                    command.setForceMoveDistance(600);
                    command.setIOControl((short) 0);
                    command.setCommandEnd((short) 1);
                    command.setRunSpeed((short) 1000);
                    commands.add(command);
                    break;
                case 9://状态复位
                    command.setCommandWord((short) 6);
                    command.setStartCodeNum((short) 0);
                    command.setMiddleCodeNum((short) 0);
                    command.setDistCodeNum((short) 0);
                    command.setStartToDistDistance(0);
                    command.setMiddleToDistDistance(0);
                    command.setRunDirection((short) 0);
                    command.setPalletLift((short) 0);
                    command.setPalletLift((short) 0);
                    command.setForceMoveDistance(0);
                    command.setChargeSwitch((short) 0);
                    command.setIOControl((short) 0);
                    command.setRunSpeed((short) 0);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 10://向正方向(左)寻库位
                    command.setCommandWord((short) 4);
                    command.setRunDirection((short) 1);
                    command.setStartToDistDistance(3000);
                    command.setRunSpeed((short) 1000);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 11://向负方向(右)寻库位
                    command.setCommandWord((short) 4);
                    command.setRunDirection((short) 2);
                    command.setStartToDistDistance(3000);
                    command.setRunSpeed((short) 1000);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 12://向正方向(前)寻库位
                    command.setCommandWord((short) 4);
                    command.setRunDirection((short) 4);
                    command.setStartToDistDistance(3000);
                    command.setRunSpeed((short) 1000);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 13://向负方向(后)寻库位
                    command.setCommandWord((short) 4);
                    command.setRunDirection((short) 3);
                    command.setStartToDistDistance(3000);
                    command.setRunSpeed((short) 1000);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                case 14://移动到目标库位
                    LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    if (result != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
                        //将每一段路径分成command指令
                        for (ArrayList<NavigateNode> nodes : data) {
                            //开始路径
                            NavigateNode startPath = nodes.get(0);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo());
                            String qrCodeValue = distLocMast.getQrCodeValue();
                            command.setCommandWord((short) 1);
                            command.setStartCodeNum(shuttleProtocol.getCurrentCode());
                            command.setMiddleCodeNum((short) 1);
                            command.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
                            command.setStartToDistDistance(allDistance);
                            command.setRunSpeed((short) 1000);
                            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            command.setForceMoveDistance(0);
                            command.setIOControl((short) 0);
                            command.setCommandEnd((short) 1);
                            commands.add(command);
                        }
                    }
                    break;
                case 15://充电开关
                    command.setCommandWord((short) 8);
                    command.setIOControl((short) 4);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    break;
                default:
            }
            assignCommand.setCommands(commands);
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        //发生错误时尝试执行的指令，优先级最高
        map.put("errorCommands", new ArrayList<ShuttleCommand>());
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        //执行下发任务
        executeWork(assignCommand);
    }

    //执行下发的指令
    private boolean executeWork(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        if (assignCommand == null) {
            return false;
        }

        //将标记置为false(防止重发)
        shuttleProtocol.setPakMk(false);

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);

        List<ShuttleCommand> errorCommands =  JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
        if (errorCommands.size() > 0) {
            //优先执行该指令
            ShuttleCommand errorCommand = errorCommands.get(0);//取出指令

            if(errorCommand.getCommandWord() == 1){//正常行走命令，需要先执行完找库位命令后，再执行
                LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
                LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
                if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
                    //起点和终点属于同一库位，无需再执行移动操作
                    errorCommands.remove(0);//移除该命令
                    map.put("errorCommands", new ArrayList<ShuttleCommand>());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                    //当前步序
                    int commandStep = Integer.parseInt(map.get("commandStep").toString());
                    //步序回退
                    commandStep--;
                    map.put("commandStep", commandStep);
                    //任务数据保存到redis
                    redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
                    shuttleProtocol.setPakMk(true);
                    return true;
                }else {
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    if (result != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
                        //将每一段路径分成command指令
                        for (ArrayList<NavigateNode> nodes : data) {
                            //开始路径
                            NavigateNode startPath = nodes.get(0);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            String qrCodeValue = distLocMast.getQrCodeValue();
                            errorCommand.setCommandWord((short) 1);
                            errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
                            errorCommand.setMiddleCodeNum((short) 1);
                            errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
                            errorCommand.setStartToDistDistance(allDistance);
                            errorCommand.setRunSpeed((short) 1000);
                            errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            errorCommand.setForceMoveDistance(0);
                            errorCommand.setIOControl((short) 0);
                            errorCommand.setCommandEnd((short) 1);
                            break;
                        }
                    }
                }

                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                //当前步序
                int commandStep = Integer.parseInt(map.get("commandStep").toString());
                //步序回退
                commandStep--;
                map.put("commandStep", commandStep);
            }

            if (!write(errorCommand)) {
                News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
                return false;
            } else {
                News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
                errorCommands.remove(0);
                map.put("errorCommands", errorCommands);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
                return true;
            }
        }

        List<ShuttleCommand> commands = assignCommand.getCommands();
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //path路径数目
        int size = commands.size();

        //取出命令
        ShuttleCommand command = commands.get(commandStep);

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
            || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()
        ) {
            //小车失去坐标，禁止下发命令
            if (shuttleProtocol.getCurrentCode() == 0) {
                return false;
            }
        }

        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            return false;
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //判断数据是否执行完成
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(assignCommand)
                    );
                    shuttleOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                if (!assignCommand.getAuto()) {
                    //手动模式不抛出等待状态，直接复位
                    if (assignCommand.getTaskMode() == 9) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                    }
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }else {
                    if (!assignCommand.getCharge()) {
                        //对主线程抛出等待确认状态waiting
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

            }

        }
        return true;
    }

    /**
     * 复位并尝试修复错误
     */
    private boolean reset(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        if (assignCommand == null) {
            return false;
        }

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }

        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        List<ShuttleCommand> commands = assignCommand.getCommands();
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //path路径数目
        int size = commands.size();

        ArrayList<ShuttleCommand> list = new ArrayList<>();

        //取出命令
        ShuttleCommand command = commands.get(commandStep - 1);

        //复位命令
        ShuttleCommand resetCommand = new ShuttleCommand();
        resetCommand.setCommandWord((short) 6);
        resetCommand.setStartCodeNum((short) 0);
        resetCommand.setMiddleCodeNum((short) 0);
        resetCommand.setDistCodeNum((short) 0);
        resetCommand.setStartToDistDistance(0);
        resetCommand.setMiddleToDistDistance(0);
        resetCommand.setRunDirection((short) 0);
        resetCommand.setPalletLift((short) 0);
        resetCommand.setPalletLift((short) 0);
        resetCommand.setForceMoveDistance(0);
        resetCommand.setChargeSwitch((short) 0);
        resetCommand.setIOControl((short) 0);
        resetCommand.setRunSpeed((short) 0);
        resetCommand.setCommandEnd((short) 1);
        list.add(resetCommand);

        //车辆空闲，等待写入找库位命令
        //找库位命令
        ShuttleCommand searchCommand = new ShuttleCommand();
        searchCommand.setCommandWord((short) 4);
        short direction = 1;
        switch (command.getRunDirection()) {
            case 1:
                direction = 2;
                break;
            case 2:
                direction = 1;
                break;
            case 3:
                direction = 4;
                break;
            case 4:
                direction = 3;
                break;
            default:
                direction = 1;
        }

        searchCommand.setRunDirection(direction);//运行方向
        searchCommand.setStartToDistDistance(1200);
        searchCommand.setRunSpeed((short) 1000);
        searchCommand.setCommandEnd((short) 1);
        list.add(searchCommand);

        //移动车辆，需要在执行完寻找定位点后再执行
        ShuttleCommand moveCommand = new ShuttleCommand();
        moveCommand.setCommandWord((short) 1);
        moveCommand.setStartCodeNum(command.getStartCodeNum());//存入目标库位号
        list.add(moveCommand);

        map.put("errorCommands", list);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
        return true;
    }

    /******************************************************************************************/
@@ -231,44 +890,25 @@
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
        ShuttleThread thread = new ShuttleThread(slave);
        thread.connect();
        thread.readStatus();
        System.out.println(JSON.toJSONString(thread.shuttleProtocol));

        // 任务作业
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        Random random = new Random();
//        int taskNo = random.nextInt(9090);
//        command.setTaskNo(taskNo); // 工作号
//        command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式
//        thread.write(command);

        // 任务完成
//        SteCommand command = new SteCommand();
//        command.setSteNo(1); // 堆垛机编号
//        command.setComplete(Boolean.TRUE); // 任务模式
//        thread.write(command);

        // 控制模式
//        SteCommand command = new SteCommand();
//        command.setControlMode((short) 1);
//        thread.write(command);

        // 复位信号
//        SteCommand command = new SteCommand();
//        command.setReset(Boolean.TRUE);
//        thread.write(command);

        // 删除指令
//        SteCommand command = new SteCommand();
//        command.setDelete(Boolean.TRUE);
//        thread.write(command);

        // 穿梭车运行禁止
//        SteCommand command = new SteCommand();
//        command.setRun((short)0);
//        ShuttleThread thread = new ShuttleThread(slave);
//        thread.connect();
//        thread.readStatus();
//
//        ShuttleCommand command = new ShuttleCommand();
//        command.setCommandWord((short) 0);
//        command.setStartCodeNum((short) 12323);
//        command.setMiddleCodeNum((short) 22323);
//        command.setDistCodeNum((short) 29999);
//        command.setStartToDistDistance(109999);
//        command.setMiddleToDistDistance(5000);
//        command.setRunDirection((short) 1);
//        command.setPalletLift((short) 2);
//        command.setForceMoveDistance(3000);
//        command.setChargeSwitch((short) 2);
//        command.setIOControl((short) 0);
//        command.setRunSpeed((short) 0);
//        command.setRadarTmp((short) 0);
//        command.setCommandEnd((short) 1);
//        thread.write(command);

    }