寻路算法和避障

Junjie

2023-06-28 0f2eaeeb387850acfede95c5c061b5392dae8688

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -571,7 +571,7 @@
                    //数据库中也不存在地图数据，从地图文件中获取
                    //载入地图
                    NavigateMapData mapData = new NavigateMapData(i);
                    List<List<MapNode>> lists = mapData.getJsonData(-1, null);//获取完整地图(包括入库出库)
                    List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)

                    //存入数据库
                    basMap = new BasMap();
@@ -684,13 +684,17 @@
                                //状态8，等待命令进行入库搬运动作

                                //判断提升机是否空闲
                                if (!liftProtocol.isIdle()) {
                                if (!liftProtocol.isIdleNoTask()) {
                                    try {
                                        Thread.sleep(1000);//休眠1s
                                    } catch (InterruptedException e) {
                                        throw new RuntimeException(e);
                                    }
                                    continue;//提升机忙
                                }
                                //判断提升机任务号和当前工作档任务号是否一致
                                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                                    continue;
                                }

                                //判断提升机楼层是否到位，判断站点是否给出提升机到位信号
@@ -822,12 +826,14 @@
        }

        //计算小车起点到中点所需命令
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
        List<ShuttleCommand> commands = new ArrayList<>();
        if (calc == null) {
            return null;
        }

        if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
            return null;
        }
        List<NavigateNode> allNode = new ArrayList<>();
        allNode.addAll(calc);

@@ -877,10 +883,14 @@
        List<NavigateNode> allNode = new ArrayList<>();

        //计算小车起点到中点所需命令
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id);//小车无货，走正常库位通道
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道
        List<ShuttleCommand> commands = new ArrayList<>();

        if (calc != null) {
            if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
                return null;
            }

            allNode.addAll(calc);
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -911,11 +921,13 @@
        commands.add(shuttleThread.getPalletCommand((short) 1));

        //计算小车中点到终点所需命令
        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id);//小车有货，走禁用过DFX库位的地图通道
        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道
        if (calc2 == null) {
            return null;
        }

        if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
            return null;
        }
        allNode.addAll(calc2);

        //获取分段路径
@@ -986,7 +998,7 @@
                    }else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

                        //判断提升机是否空闲
                        if (!liftProtocol.isIdle()) {
                        if (!liftProtocol.isIdleNoTask()) {
                            try {
                                Thread.sleep(1000);//休眠1s
                            } catch (InterruptedException e) {
@@ -994,12 +1006,19 @@
                            }
                            continue;//提升机忙
                        }
                        //判断提升机任务号和当前工作档任务号是否一致
                        if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                            continue;
                        }

                        //判断提升机楼层是否到位，判断站点是否给出提升机到位信号
                        String locNo = wrkMast.getSourceLocNo();
                        int lev = Utils.getLev(locNo);//目标二维码所在楼层
                        int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
                        if (liftLev != lev) {
                        Short liftLev = liftProtocol.getLev();//提升机所在楼层
                        if (liftLev == null) {//提升机可能在输送线楼层
                            continue;
                        }
                        if (liftLev.intValue() != lev) {
                            continue;//提升机不在目标楼层跳过
                        }

@@ -1061,25 +1080,32 @@
                        //判断小车和库位是否在同一层
                        if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                            //同一层(将小车移动到货物位置)

                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                            if (commands == null) {
                                //未找到路径，等待下一次
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            NavigateMapData navigateMapData = new NavigateMapData(currentLev);
                            navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                            //获取当前小车所在楼层的站点信息
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                            if (locMast1 == null) {
                                continue;//找不到库位
                            }
                            short disCode = Short.parseShort(locMast1.getQrCodeValue());
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                            commands.add(moveCommand);
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                            String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                            ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                            commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                            List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                            nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                            assignCommand.setNodes(nodes);
                            navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1151,6 +1177,27 @@
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));
                        navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        //搜索一条没有小车的空巷道，并调度小车
                        int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                        String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                        ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                        if (moveAssignCommand == null) {//调度小车命令为空
                            continue;
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                        commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                        List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                        nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                        assignCommand.setNodes(nodes);
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
@@ -1193,11 +1240,21 @@
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        //判断其他空闲穿梭车是否离任务最近
        String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
        if (wrkMast.getIoType() < 101) {
            //入库
            distLocNo = Utils.levToOutInStaLocNo(lev);
        }else {
            //出库
            distLocNo = locNo;
        }

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }
            if (!shuttleProtocol.isIdle()) {
@@ -1208,6 +1265,14 @@
            if (shuttleLocNo == null) {
                continue;
            }

            if (shuttleLocNo.equals(distLocNo)) {
                //车辆当前位置已经是目标库位，无需计算
                map.put("sameLay", true);//同层
                map.put("result", shuttleThread);
                return map;
            }

            int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
            if (lev == shuttleLocNoLey) {
                //工作档楼层相同的穿梭车
@@ -1227,25 +1292,15 @@
                    recentShuttle = shuttleThread;
                }

                //判断其他空闲穿梭车是否离任务最近
                String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
                if (wrkMast.getIoType() < 101) {
                    //入库
                    distLocNo = Utils.levToOutInStaLocNo(lev);
                }else {
                    //出库
                    distLocNo = locNo;
                }

                //当前穿梭车库位号
                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
                //目前最近穿梭车库位号
                String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();

                //当前最近四向穿梭车到目标地点距离
                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图
                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(recentShuttle.getSlave().getId(), Utils.getLev(recentLocNo)));//搜索空闲穿梭车，使用正常通道地图
                //当前穿梭车线程到目标地点距离
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
                if (recentShuttlePath == null || currentShuttlePath == null) {
                    continue;
                }
@@ -1275,9 +1330,9 @@
                int recentLev = Utils.getLev(recentLocNo);

                //当前最近四向穿梭车到当前车子所在楼层的提升机口距离
                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图
                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图
                //当前穿梭车线程到当前车子所在楼层的提升机口距离
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图
                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
                if (recentShuttlePath == null || currentShuttlePath == null) {
                    continue;
                }
@@ -1313,6 +1368,9 @@
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getBusyStatus() == 0
            ) {
                //标记复位
                shuttleProtocol.setPakMk(true);

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
@@ -1341,8 +1399,6 @@
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
@@ -1411,8 +1467,13 @@
                continue;
            }

            //判断提升机是否处于空闲状态
            if (!liftProtocol.isIdle()) {

//            if (!liftProtocol.isIdle()) {
//                continue;
//            }

            //判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
            if (!liftProtocol.isIdleNoTask()) {
                continue;
            }

@@ -1434,6 +1495,21 @@
            }

            if (wrkMast.getWrkSts() == 2) {//2.设备上走
                if (liftProtocol.getTaskNo().intValue() != 0) {
                    //存在未完成任务号
                    continue;
                }
                if (liftProtocol.getPlatShuttleCheck()) {
                    //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
                    continue;
                }

                //获取目标站
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
                if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
                    continue;
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getLocNo();
                //工作档目标库位楼层
@@ -1478,6 +1554,10 @@

                wrkMast.setWrkSts(3L);//3.提升机搬运中
            } else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //判断小车是否在提升机内，且处于空闲状态
@@ -1494,6 +1574,10 @@
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }
                if (!liftProtocol.getPlatShuttleCheck()) {
                    //提升机未检测到小车，禁止执行
                    continue;
                }

                //工作档目标库位号
@@ -1514,6 +1598,10 @@

                wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
            } else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //判断小车是否在提升机内，且处于空闲状态
@@ -1531,6 +1619,10 @@
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }
                if (!liftProtocol.getPlatShuttleCheck()) {
                    //提升机未检测到小车，禁止执行
                    continue;
                }

                //工作档目标库位号
@@ -1551,6 +1643,15 @@

                wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
            } else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                if (liftProtocol.getPlatShuttleCheck()) {
                    //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
                    continue;
                }

                //工作档源库位号
                String wrkMastLocNo = wrkMast.getSourceLocNo();
                //工作档源库位楼层
@@ -1643,8 +1744,18 @@
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    //判断提升机是否到达任务楼层
                    String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
                    int lev = Utils.getLev(locNo);//任务目标楼层

                    //标记复位
                    liftProtocol.setPakMk(true);

                    switch (wrkMast.getWrkSts().intValue()) {
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            //给目标站设置工作号
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1656,12 +1767,21 @@
                            wrkMast.setWrkSts(4L);
                            break;
                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            wrkMast.setWrkSts(8L);
                            break;
                        case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            wrkMast.setWrkSts(25L);
                            break;
                        case 28://28.提升机搬运中 ==> 29.提升机搬运完成
                            if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
                                continue;//提升机是否达到输送线楼层
                            }
                            wrkMast.setWrkSts(29L);
                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
                            break;
@@ -1671,13 +1791,11 @@
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //设置提升机为空闲状态
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                        //标记复位
                        liftProtocol.setPakMk(true);
                        //任务指令清零
                        liftProtocol.setAssignCommand(null);
                        News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                        News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                    }
@@ -1686,6 +1804,9 @@
                //查询是否有充电任务
                WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
                if (wrkCharge != null) {
                    //标记复位
                    liftProtocol.setPakMk(true);
                    
                    switch (wrkCharge.getWrkSts().intValue()) {
                        case 54://提升机搬运中
                            wrkCharge.setWrkSts(55L);//提升机搬运完成
@@ -1712,8 +1833,11 @@
                if (liftProtocol.getAssignCommand() != null) {
                    //设置提升机为空闲状态
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                    //任务号清零
                    liftProtocol.setTaskNo((short) 0);
                    //判断是否为四向穿梭车调度提升机，如是则无需清理任务号
                    if (!liftProtocol.getSecurityMk()) {
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                    }
                    //标记复位
                    liftProtocol.setPakMk(true);
                    //任务指令清零
@@ -2407,7 +2531,7 @@
                continue;
            }

            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue(), WrkChargeType.charge);
            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
            if (wrkCharge != null) {//已有充电任务
                continue;
            }
@@ -2449,7 +2573,7 @@
     */
    public synchronized void executeShuttleCharge() {
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
            if (wrkCharge == null) {
                continue;
            }
@@ -2657,23 +2781,33 @@
                //判断小车是否充满电量，满电1000或电压54V以上
                if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
                    //充满，断开充电
                    List<ShuttleCommand> commands = new ArrayList<>();
                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    assignCommand.setTaskMode((short) 0);
                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                    assignCommand.setCharge(true);
//                    List<ShuttleCommand> commands = new ArrayList<>();
//                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
//                    assignCommand.setTaskMode((short) 0);
//                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
//                    assignCommand.setCharge(true);
//
//                    //创建充电指令
//                    ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
//                    commands.add(command);
//
//                    //指令集分配
//                    assignCommand.setCommands(commands);
//
//                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

                    //创建充电指令
                    ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
                    commands.add(command);
                    //将小车移动到空闲的巷道
                    ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
                    if (assignCommand == null) {
                        continue;
                    }

                    //指令集分配
                    assignCommand.setCommands(commands);

                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    wrkCharge.setWrkSts(60L);//60.充电任务完成
                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                        //下发任务
                        MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    }
                }

                if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
@@ -2682,222 +2816,6 @@
            }
        }

    }

    /**
     * 轮询充电桩是否有空闲小车
     */
    @Deprecated
    public synchronized void queryChargeLocOfComplete() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        // 检索充电桩
        for (SteChargeType value : SteChargeType.values()) {
            Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
            if (steNo != null) {
                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) {
                    continue;
                }
                if (steProtocol.getCharge() < 99) {
                    continue;
                }
                if (steProtocol.getMode() == 0) {
                    continue;
                }
                if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                    continue;
                }
//                // 1号充电桩
//                if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
//                    continue;
//                }
//                // 2号充电桩
//                if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
//                    continue;
//                }
//                // 3号充电桩
//                if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
//                    continue;
//                }
//                // 小车是否处于充电状态
//                if (steProtocol.getChargeStatus() == 1) {
//                    continue;
//                }
                // case 1 : 自动充电开   馈电      ×
                // case 2 : 自动充电开   满电      ✔
                // case 3 : 自动充电关   馈电      ✔
                // case 4 : 自动充电关   满电      ✔
                if (basSte.getAutoCharge().equals("Y")
                        && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }

                WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

                if (wrkCharge == null) {
                    // 开始穿梭车复位任务
                    wrkCharge = new WrkCharge();
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
                    wrkCharge.setWrkSts(41L);   // 41.小车准备复位
                    wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(value.locNo);
                    wrkCharge.setLocNo(basSte.getIdleLoc());
                    wrkCharge.setMemo("reset");
                    wrkCharge.setAppeTime(new Date());
                    if (!wrkChargeService.insert(wrkCharge)) {
                        News.error("保存{}号穿梭车复位任务失败!!!", steNo);
                    } else {
                        break;
                    }
                }
            }
        }
    }

    /**
     * 小车从充电桩 至 待机库位
     */
    @Deprecated
    public synchronized void steFromChargeToIdleLoc() {
        WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
        if (wrkCharge == null) { return; }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
        if (Cools.isEmpty(steProtocol, basSte)) {
            return;
        }
        // 搬运至固定通道
        if (wrkCharge.getWrkSts() == 41L) {
            // 搬小车至小车走向通道
            List<String> channel = slaveProperties.getChannel();
            for (String channelLocNo : channel) {
                Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                if (null != otherSte) {
                    News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                } else {
                    // 固定堆垛机
                    int crnNo = 1;
                    if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
                        return;
                    }

                    LocMast channelLoc = locMastService.selectById(channelLocNo);

                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol == null) { continue; }
                    // 只有当堆垛机空闲 并且 无任务时才继续执行
                    if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                        // 堆垛机命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(crnNo); // 堆垛机编号
                        crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                        crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                        crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                        crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改穿梭车运行中排列层
                            steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
                            // 修改工作档状态 41.小车准备复位 => 42.吊车搬运
                            Date now = new Date();
                            wrkCharge.setWrkSts(42L);
                            wrkCharge.setCrnStrTime(now);
                            wrkCharge.setModiTime(now);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }
                        }
                        break;
                    }

                }
            }
        } else if (wrkCharge.getWrkSts() == 43L) {
            // 小车行驶通道
            if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN);  // 去左端

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());
                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 43.小车到达 ===> 44.小车走行
                    wrkCharge.setWrkSts(44L);
                    Date now = new Date();
                    wrkCharge.setCrnEndTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
        } else if (wrkCharge.getWrkSts() == 45L) {
            if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
                return;
            }

            LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

            Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
            if (null != otherSte) {
                News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
            } else {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) { return; }
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
                        // 修改工作档状态 45.小车待搬 => 46.放至待机位
                        Date now = new Date();
                        wrkCharge.setWrkSts(46L);
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            News.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }

            }
        }
    }

    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";