#

taisheng

6 天以前 4453cdecbc6e7a925ae76e3223418654f1cf0b18

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

@@ -1,6 +1,7 @@
package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
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;
@@ -9,21 +10,27 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.action.ShuttleAction;
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.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
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.ShuttleThread;
@@ -32,7 +39,7 @@
import org.springframework.web.bind.annotation.*;

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

/**
@@ -51,74 +58,59 @@
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private ShuttleOperaUtils shuttleOperaUtils;
    @Autowired
    private ShuttleAction shuttleAction;
    @Autowired
    private NavigateMapUtils navigateMapUtils;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
    public R steStateTable(){
        List<ShuttleStateTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
    public R shuttleStateTable(){
        ArrayList<JSONObject> list = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            // 表格行
            ShuttleStateTableVo vo = new ShuttleStateTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //四向穿梭车号
            list.add(vo);
            JSONObject baseObj = new JSONObject();
            baseObj.put("shuttleNo", slave.getId());
            list.add(baseObj);
            // 获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                if (shuttleData != null) {
                    baseObj.putAll(shuttleData);
                }
                continue;
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//当前任务状态
            vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
            LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
            if (currentLocMast == null) {
                vo.setLocNo("");//获取当前库位号
                vo.setLocNoX(0);
                vo.setLocNoY(0);
                vo.setLocNoLev(0);//当前库位层高
            }else {
                vo.setLocNo(currentLocMast.getLocNo());//获取当前库位号
                int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//获取库位号XY坐标
                vo.setLocNoX(locNoXY[0]);
                vo.setLocNoY(locNoXY[1]);
                vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//当前库位层高

            shuttleData.put("moveAdvancePath", null);//穿梭车预计路径
            if (shuttleProtocol.getTaskNo() != 0) {
                //存在任务，获取指令
                Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
                if (object != null) {
                    ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                    shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//穿梭车预计路径
                }
            }
            vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//电池电量
            vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "°");//电池温度
            if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                vo.setErrorCode(shuttleProtocol.getErrorCodeType());//错误编号

            Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
            String lowerPower = "N";
            if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
                lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
            }
            vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
                vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
                vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
                vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
                vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
            }
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//错误信息码
            }
            vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            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() * 0.1);//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//当前的升降伺服负载率
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//当前的行走伺服负载率
            shuttleData.put("lowerPower", lowerPower);//是否低电量
            baseObj.putAll(shuttleData);
        }
        return R.ok().add(list);
    }
@@ -127,23 +119,25 @@
    @ManagerAuth(memo = "四向穿梭车数据表")
    public R steMsgTable(){
        List<ShuttleMsgTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            // 表格行
            ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //  四向穿梭车号
            vo.setShuttleNo(slave.getId());   //  四向穿梭车号
            list.add(vo);
            // 获取穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }
            if (shuttleProtocol.getShuttleNo() == null) {
                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) {
@@ -154,17 +148,14 @@
            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(Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高

            BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
            if (basShuttle != null) {
                vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
            }
        }
        return R.ok().add(list);
    }
@@ -188,82 +179,87 @@
        return R.ok().add(str.toString());
    }

    @GetMapping("/detl/{shuttleNo}")
    public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleDataVo vo = new ShuttleDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
                if (!Cools.isEmpty(basShuttle)) {
                    vo.setWorkNo(basShuttle.getWrkNo());
                    vo.setPakMk(basShuttle.getPakMk());
                }
                break;
            }
    @RequestMapping(value = "/command/query")
    public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error("指令不存在");
        }
        return R.ok().add(vo);
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();

        HashMap<String, Object> map = new HashMap<>();
        map.put("commands", commands);
        map.put("shuttleNo", redisCommand.getShuttleNo());
        map.put("commandStep", redisCommand.getCommandStep());
        map.put("wrkNo", redisCommand.getWrkNo());

        return R.ok().add(map);
    }

    @GetMapping("/sensor/detl/{shuttleNo}")
    public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
        ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (shuttleNo.equals(shuttleSlave.getId())) {
                vo.setShuttleNo(shuttleSlave.getId());
                // 获取穿梭车信息
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    return R.error("设备不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    return R.error("设备不在线");
                }

                // 穿梭车异常 -----------

                // 穿梭车提示信息 ----------------------

                // 状态信息 -------------

                break;
            }
        }
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth
    public R steUpdate(ShuttleDataVo vo){
        BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
        if (basShuttle == null) {
    //回退命令
    @RequestMapping(value = "/command/rollback")
    public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep) {
        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        // 获取四向穿梭车信息
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
        }
//        if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
//            if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
//                throw new CoolException("服务器错误");
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } else {
            throw new CoolException("命令下发失败");
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
    //命令完成状态切换
    @RequestMapping(value = "/command/completeSwitch")
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep
            , @RequestParam("complete") Integer complete) {
        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();
        ShuttleCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //重启任务(命令)
    @RequestMapping(value = "/command/restart")
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        Integer shuttleNo = redisCommand.getShuttleNo();
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error();
        }
        if (!shuttleThread.isIdle()) {
            return R.error();
        }
        //四向穿梭车处于空闲状态，进行任务的恢复
        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();
    }

    //删除任务(命令)
    @RequestMapping(value = "/command/del")
    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
        return R.ok();
    }

@@ -280,7 +276,9 @@

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
        if (param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.MOVE_LOC_NO.id
                || param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.MOVE_LOC_NO_TASK.id
                || param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.TRANSPORT.id) {
            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                return R.parse(BaseRes.PARAM);
            }
@@ -288,31 +286,157 @@
            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.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) 9999);
                assignCommand.setAuto(false);//手动模式

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, param.getShuttleNo());
        if (shuttleThread == null) {
            throw new CoolException("四向穿梭车不在线");
        }
        return R.error();
        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(param.getShuttleNo()); // 四向穿梭车编号
        assignCommand.setTaskMode(shuttleTaskModeType.id);
        assignCommand.setTaskNo(commonService.getWorkNo(99));//获取任务号
        assignCommand.setAuto(false);//手动模式

        if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
            //移动到目标库位
            Integer mapType = NavigationMapType.NORMAL.id;
            if (shuttleProtocol.getHasLift()) {
                mapType = NavigationMapType.DFX.id;
            }
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, assignCommand, shuttleThread);
            if (commands == null) {
                throw new CoolException("路径计算失败");
            }

            assignCommand.setCommands(commands);

            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(param.getDistLocNo()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", param.getDistLocNo(), shuttleProtocol.getShuttleNo());
                throw new CoolException("路径锁定失败");
            }

        } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
            //托盘顶升
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
            //托盘下降
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
            //充电开关
            boolean charge = false;
            if (shuttleProtocol.getHasCharge()) {
                //已充电，关闭充电
                charge = false;
            }else {
                //开启充电
                charge = true;
            }
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
            //复位
            shuttleThread.setSyncTaskNo(0);//工作号清空
            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
            shuttleThread.setPakMk(true);//作业标记复位

            shuttleThread.enableMoveLoc(null, false);
            return R.ok();
        } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_TASK) {
            //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 if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_OPEN) {
            //演示模式-开
            shuttleThread.enableDemo(true);
            return R.ok();
        } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_CLOSE) {
            //演示模式-关
            shuttleThread.enableDemo(false);
            return R.ok();
        } else {
            throw new CoolException("未知命令");
        }

        shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
        return R.ok();
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R shuttleUpdate(@RequestParam Integer shuttleNo,
                           @RequestParam Integer workNo,
                           @RequestParam String pakMk) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            shuttleThread.setSyncTaskNo(workNo);
        }
        if (pakMk != null) {
            shuttleThread.setPakMk(pakMk.equals("Y"));
        }
        return R.ok();
    }

    @PostMapping("/runSpeed/{shuttleNo}")
    @ManagerAuth
    public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
        BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
        if (basShuttle == null) {
            return R.error("四向穿梭车不存在");
        }
        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setChargeLine(chargeLine);
        if (!basShuttleService.updateById(basShuttle)) {
            return R.error();
        }
        return R.ok();
    }

    /**
     * 跑库程序
     */
    @PostMapping("/moveLoc")
    @ManagerAuth
    public R moveLoc(@RequestParam Integer shuttleNo,
                     @RequestParam Integer moveType,
                     @RequestParam Integer xStart,
                     @RequestParam Integer xTarget,
                     @RequestParam Integer yStart,
                     @RequestParam Integer yTarget) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error();
        }

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

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

        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();
    }

}