1

zhangc

2025-04-14 7662f4db87c6e5510d4f2429900012f871497ed6

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

@@ -1,1347 +1,80 @@
package com.zy.core.thread;

import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.*;
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.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleTaskNoType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;

import java.util.List;

/**
 * 四向穿梭车线程
 */
@Data
@Slf4j
public class ShuttleThread implements  Runnable, ThreadHandler {
public interface ShuttleThread extends ThreadHandler {

    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private RedisUtil redisUtil;
    ShuttleProtocol getStatus(boolean clone);//获取四向穿梭车状态

    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }
    ShuttleProtocol getStatus();//获取四向穿梭车状态-默认clone

    @Override
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        read();
                        break;
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//路径下发

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------四向穿梭车连接方法------------------------//
        modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
        // 当你需要指定格式的数据解析时，就需要设置下面的这个信息
        modbusTcpNet.setDataFormat(DataFormat.ABCD);
        OperateResult connect = modbusTcpNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】四向穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("四向穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】四向穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("四向穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }
        modbusTcpNet.ConnectClose();
        //-------------------------四向穿梭车连接方法------------------------//
        return result;
    }
    CommandResponse move(ShuttleCommand command);//移动

    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
    }
    CommandResponse lift(ShuttleCommand command);//顶升

    private void read() {
        try {
            readStatus();
            //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()) {
                //执行下一步指令
                executeWork(shuttleProtocol.getTaskNo());
            }
        } 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();
        }
    }
    CommandResponse charge(ShuttleCommand command);//充电开关

    private void readStatus() {
        try {
            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);
                }
    CommandResponse reset(ShuttleCommand command);//复位开关

                //----------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().TransUInt16(content, 6));
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                int plcOutIo = modbusTcpNet.getByteTransform().TransUInt16(content, 10);
                int[] plcOutIos = CommonUtils.byteToBits((byte) plcOutIo);
                shuttleProtocol.setPlcOutputLift(plcOutIos[1] == 1);
                shuttleProtocol.setPlcOutputTransfer(plcOutIos[2] == 1);
                shuttleProtocol.setPlcOutputBrake(plcOutIos[3] == 1);
                shuttleProtocol.setPlcOutputCharge(plcOutIos[4] == 1);
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                int plcInIo = modbusTcpNet.getByteTransform().TransUInt16(content, 14);
                int[] plcInIos = CommonUtils.byteToBits((byte) plcInIo);
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus((short) plcInIos[6]);
                //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().TransUInt16(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));
    CommandResponse updateLocation(ShuttleCommand command);//更新坐标

                ///读取四向穿梭车状态-end
    boolean isIdle();

                //小车处于忙碌状态，将标记置为true
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }
    boolean isIdle(ExecuteSupport support);//是否空闲

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.selectById(slave.getId());
                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()));
                }
    boolean isDeviceIdle();//设备是否空闲

            }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();
        }
    }
    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    private boolean write(ShuttleCommand command){
        if (null == command) {
            News.error("四向穿梭车写入命令为空");
            return false;
        }
        BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
        if (shuttleService == null) {
            News.error("系统错误");
            return false;
        }
    boolean isRequireCharge();//是否满足充电状态

        BasShuttle basShuttle = shuttleService.selectById(slave.getId().shortValue());
        if (basShuttle == null) {
            News.error("四向穿梭车不存在");
            return false;
        }
        command.setShuttleNo(slave.getId().shortValue());
        short[] array = getCommandArr(command);//获取命令报文
        OperateResult result = modbusTcpNet.Write("0", array);
        if (result != null && result.IsSuccess) {
            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)));
    boolean isCharging();//是否充电中

            try {
                Thread.sleep(3000);//命令下发后休眠
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
    boolean isChargingCompleted();//是否充电完成

            for (int i = 0; i < 5; i++) {
                if (command.getCommandWord().intValue() == 5 || command.getCommandWord().intValue() == 6) {
                    break;//充电开关和系统复位不需要重发机制
                }
                readStatus();//重新读取状态
                if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
                    break;
                }
    boolean isFault();//是否故障

                //判断是否运行中，如不运行，重新下发命令
                result = modbusTcpNet.Write("0", array);
                News.info("四向穿梭车命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(300);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
            }
    List<NavigateNode> getMoveAdvancePath();//获取穿梭车任务路径

            return true;
        } else {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入四向穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }
    int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type);//生成硬件设备工作号

    //获取命令报文
    private short[] getCommandArr(ShuttleCommand command) {
        // 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();
        }
    boolean setProtocolStatus(ShuttleProtocolStatusType status);//设置工作状态

        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }
    boolean setTaskNo(Integer taskNo);//设置工作号

        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }
    boolean setSyncTaskNo(Integer taskNo);//设置工作号

        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];
        }
    boolean setPakMk(boolean pakMk);//设置标记

        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];
        }
    boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable);

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

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }
    boolean enableDemo(boolean enable);//演示模式

        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];
        }
    boolean offerSystemMsg(String format, Object... arguments);

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

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }
    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }
    ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//顶升命令 true=>顶升 false=>下降

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }
        //指令结束位
        array[16] = command.getCommandEnd();
        return array;
    }
    ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//充电开关命令 true=>开 false=>关

    /**
     * 初始化四向穿梭车
     */
    private void initShuttle() {
        this.connect();
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();

        if (!assignCommand.getAuto()) {
            List<NavigateNode> allNode = new ArrayList<>();
            List<ShuttleCommand> commands = new ArrayList<>();
            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
            BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
            NavigateMapData navigateMapData;

            //获取小车移动速度
            BasShuttle basShuttle = shuttleService.selectById(slave.getId());
            Integer runSpeed = 1000;
            if (basShuttle != null) {
                Integer runSpeed1 = basShuttle.getRunSpeed();
                if (runSpeed1 != null) {
                    runSpeed = runSpeed1;
                }
            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();

            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(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(currentLocMast.getLocNo())));//小车到中点，处于无货状态，使用正常通道地图
                    boolean checkResult = Utils.checkShuttlePath(firstMastResult, shuttleProtocol.getShuttleNo().intValue());
                    if (firstMastResult != null && checkResult) {
                        allNode.addAll(firstMastResult);//将节点进行保存
                        //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);
                            //中间路径
                            NavigateNode middlePath = nodes.get(nodes.size() - 2);
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, 2);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//目标二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
                            commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
                        }

                        //托盘顶升
                        commands.add(getPalletCommand((short) 1));
                    }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
                            commands.add(getPalletCommand((short) 1));
                        }
                    }

                    //计算中点到终点路径
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(assignCommand.getSourceLocNo())));//小车从中点到终点，处于有货状态，使用DFX地图
                    boolean checkResult2 = Utils.checkShuttlePath(secMastResult, shuttleProtocol.getShuttleNo().intValue());
                    if (secMastResult != null && checkResult2) {
                        allNode.addAll(secMastResult);//将节点进行保存
                        //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);
                            //中间路径
                            NavigateNode middlePath = nodes.get(nodes.size() - 2);
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, 2);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
                            commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
                        }

                        //托盘下降
                        commands.add(getPalletCommand((short) 2));
                    }

                    if (firstMastResult == null || secMastResult == null) {
                        throw new CoolException(MessageFormat.format( "四向穿梭车出入库路径搜索失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
                    }

                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
                    //所使用的路径进行锁定禁用
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用
                    navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////所使用的路径进行锁定禁用
                    break;
                case 3://托盘顶升
                case 4://托盘下降
                    commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
                    break;
                case 5://强制左移
                    commands.add(getForceMoveCommand((short) 2));
                    break;
                case 6://强制右移
                    commands.add(getForceMoveCommand((short) 1));
                    break;
                case 7://强制上移
                    commands.add(getForceMoveCommand((short) 3));
                    break;
                case 8://强制下移
                    commands.add(getForceMoveCommand((short) 4));
                    break;
                case 9://状态复位
                    ShuttleCommand reset = getResetCommand();
                    commands.add(reset);
                    break;
                case 10://正方向(右)寻库位
                    commands.add(getFindLocCommand((short) 1));
                    break;
                case 11://负方向(左)寻库位
                    commands.add(getFindLocCommand((short) 2));
                    break;
                case 12://向正方向(前)寻库位
                    commands.add(getFindLocCommand((short) 4));
                    break;
                case 13://向负方向(后)寻库位
                    commands.add(getFindLocCommand((short) 3));
                    break;
                case 14://移动到目标库位
                    String startQr = shuttleProtocol.getCurrentCode().toString();//起始位置
                    //如果穿梭车在提升机内，移动时需要先下发出提升机命令
                    if (liftProtocol.getBarcode().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
                        //穿梭车出提升机
                        Short liftArrival = liftProtocol.getPositionArrivalFeedback();//提升机位置反馈
                        String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
                        LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
                        ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1600, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
                        commands.add(moveCommand);

                        //起始位置修改为提升机口站点位置
                        startQr = locMast1.getQrCodeValue();
                    }

                    LocMast locMast = locMastService.queryByQrCode(startQr);
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(locMast.getLocNo())));//手动命令-移动命令，使用无过滤地图
                    boolean checkResult3 = Utils.checkShuttlePath(result, shuttleProtocol.getShuttleNo().intValue());
                    if (result != null && checkResult3) {
                        //所使用的路径进行锁定禁用
                        navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
                        navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用

                        allNode.addAll(result);//将节点进行保存
                        //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);
                            //中间路径
                            NavigateNode middlePath = nodes.get(nodes.size() - 2);
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, 2);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
                            //正常移动命令
                            commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
                        }
                    }
                    break;
                case 15://充电开关
                    commands.add(getChargeSwitchCommand());
                    break;
                case 16://移动到提升机
                    LocMast locMast1 = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    int lev = Utils.getLev(locMast1.getLocNo());//穿梭车当前高度
                    String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//当前楼层站点库位号
                    LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo);
                    List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(locMast1.getLocNo())));//移动到提升机，使用无过滤地图
                    boolean checkResult4 = Utils.checkShuttlePath(result1, shuttleProtocol.getShuttleNo().intValue());
                    Short endStartCode = null;
                    if (result1 != null && checkResult4) {
                        //所使用的路径进行锁定禁用
                        navigateMapData = new NavigateMapData(Utils.getLev(locMast1.getLocNo()));
                        navigateMapData.writeNavigateNodeToRedisMap(result1, true);////所使用的路径进行锁定禁用

                        allNode.addAll(result1);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result1);
                        //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);
                            //中间路径
                            NavigateNode middlePath = nodes.get(nodes.size() - 2);
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, 2);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
                            endStartCode = distCode;
                            //正常移动命令
                            commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
                        }
                    }

                    if (endStartCode == null && shuttleProtocol.getCurrentCode() == Short.parseShort(liftSitelocMast.getQrCodeValue())) {
                        //穿梭车已经在提升机站点口
                        endStartCode = shuttleProtocol.getCurrentCode();
                    }

                    //增加移动进提升机命令
                    ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, runSpeed);
                    commands.add(moveCommand);
                    break;
                default:
            }
            assignCommand.setCommands(commands);
            assignCommand.setNodes(allNode);//当前任务所占用的节点list
        }

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

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

        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);

        if (shuttleProtocol.getBusyStatus().intValue() == ShuttleStatusType.BUSY.id) {
            return false;//小车状态忙
        }

        if (!checkLiftStation(wrkNo)) {//检测是否有提升机站点，有则调度提升机
            return false;
        }

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();

        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
        //path路径数目
        int size = commands.size();
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();

        if (commandStep != 0) {
            //判断上一条指令是否完成
            ShuttleCommand command = commands.get(commandStep - 1);
            if (command.getCommandWord().intValue() == 1) {
                //移动命令
                if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    command.setComplete(true);

                    //上一条指令起点是提升机二维码，则清零提升机任务号
                    if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
                        //判断提升机是否处于空闲
                        if (liftProtocol.isIdleNoTask() && liftProtocol.getTaskNo().intValue() == redisCommand.getWrkNo().intValue()) {
                            liftProtocol.setTaskNo((short) 0);//清空任务号
                            WrkMast wrkMast = wrkMastService.selectById(wrkNo);
                            if (wrkMast != null) {
                                wrkMast.setLiftNo(null);//解锁提升机
                                wrkMastService.updateById(wrkMast);
                            }
                        }
                    }

                    //入库命令，当小车取完货后，需要将提升机释放
                    if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.PAK_IN.id) {
                        //判断上一条指令的起点是否为输送站点且目标点不是提升机内部二维码
                        Short startCodeNum = command.getStartCodeNum();
                        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                        BasDevp basDevp = basDevpService.queryByQrCode(startCodeNum.intValue());//目标站点
                        if (basDevp != null && command.getDistCodeNum().intValue() != liftProtocol.getBarcode().intValue()) {
                            //上一条指令的起点为输送站点且目标点不是提升机内部二维码
                            //此时小车应该已经离开输送站点，判断提升机是否空闲且有工作号
                            if (liftProtocol.isIdleNoTask() && liftProtocol.getTaskNo().intValue() == redisCommand.getWrkNo().intValue()) {
                                liftProtocol.setTaskNo((short) 0);//清空任务号
                                WrkMast wrkMast = wrkMastService.selectById(wrkNo);
                                if (wrkMast != null) {
                                    wrkMast.setLiftNo(null);//解锁提升机
                                    wrkMastService.updateById(wrkMast);
                                }
                            }
                        }
                    }

                }
            } else if (command.getCommandWord().intValue() == 2) {
                //托盘顶升命令
                if (command.getPalletLift().intValue() == 1) {
                    //顶升
                    //判断是否顶升到位
                    if (shuttleProtocol.getPlcOutputLift()) {
                        //自动模式
                        if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 1) {
                            //顶升到位,且托盘雷达有物，认定任务完成
                            command.setComplete(true);
                        }else {
                            //手动模式，不判断托盘雷达
                            //顶升到位，认定任务完成
                            command.setComplete(true);
                        }
                    }
                }else {
                    //下降
                    //判断是否下降到位，判断托盘雷达是否无物
                    if (!shuttleProtocol.getPlcOutputLift() && !shuttleProtocol.getPlcOutputTransfer()) {
                        //自动模式
                        if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 0) {
                            //下降到位，且托盘雷达无物，认定任务完成
                            command.setComplete(true);
                        }else {
                            //手动模式，不判断托盘雷达
                            //下降到位，且托盘雷达无物，认定任务完成
                            command.setComplete(true);
                        }
                    }
                }
            } else if (command.getCommandWord().intValue() == 5) {
                //充电命令
                //判断小车充电开关
                if (shuttleProtocol.getPlcOutputCharge()) {
                    //正常充电，认定任务完成
                    command.setComplete(true);
                }
            }
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

            if (!command.getComplete()) {
                //上一条任务未完成，禁止下发命令
                return false;
            }
        }

        if (commands.size() == 0) {
            return false;
        }

        //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;
            }
        }


        //判断小车当前二维码是否为提升机二维码
        if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
            //小车当前命令起始位置就是提升机二维码，说明小车需要向提升机外移动，则需要判断状态是否满足
            if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()){
                //提升机是否空闲，提升机是否到达目标楼层，目标楼层是否给出提升机到位信号位
                if (!liftProtocol.isIdleNoTask()) {
                    return false;//提升机忙，禁止下发命令
                }
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkNo) {
                    //提升机工作号和当前工作不相同，禁止下发命令
                    return false;
                }

                Short distCodeNum = command.getDistCodeNum();//目标二维码
                BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                BasDevp basDevp = basDevpService.queryByQrCode(distCodeNum.intValue());//目标站点
                if (basDevp == null) {
                    return false;//找不到目标站，禁止下发命令
                }

                int lev = Utils.getLev(basDevp.getLocNo());//目标二维码所在楼层
                int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
                if (liftLev != lev) {
                    return false;//提升机不在目标楼层，禁止下发命令
                }

                //获取目标站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                if (staProtocol == null) {
                    return false;//站点信息不存在，禁止下发命令
                }
                if (!staProtocol.isLiftArrival()) {
                    return false;//站点提升机到位信号false，禁止下发命令
                }

                //条件满足，占用提升机
                liftProtocol.setTaskNo(wrkNo);
            }
        }

        //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));

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

            //保存数据到数据库做流水
            BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
            if (shuttleOptService != null) {
                short[] commandArr = getCommandArr(command);//获取命令报文
                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(command),
                        JSON.toJSONString(commandArr)
                );
                shuttleOptService.insert(opt);
            }

            //判断数据是否执行完成
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成

                if (redisCommand.getLiftSecurityMk()) {
                    //曾锁定过提升机，需要进行解锁
                    if (liftProtocol != null) {
                        liftProtocol.setSecurityMk(false);
                    }
                }

                String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
                if (locNo != null) {
                    //解除锁定的库位路径
                    NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
                    navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
                }

                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());

                if (!assignCommand.getAuto()) {
                    //手动模式不抛出等待状态，直接复位
                    //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);
                    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下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

            }

        }
        return true;
    }

    /**
     * 检测是否有提升机站点，有则调度提升机
     */
    private boolean checkLiftStation(Short wrkNo) {
        //读取redis数据
        if (wrkNo == null) {
            return false;
        }

        //拿到提升机线程
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        if (liftThread == null) {
            return false;
        }
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        if (liftProtocol == null) {
            return false;
        }

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        //当前步序
        int commandStep = redisCommand.getCommandStep();

        //检测是否存在提升机口的指令
        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        if (commands.size() > 0) {
            if (commands.get(commandStep).getCommandWord() != 1) {
                //不是行走命令，直接放行
                return true;
            }

            if (commands.get(0).getStartCodeNum() == null) {
                return false;
            }
        }

        if (commands.size() == 0) {
            return false;
        }

        //当前等待执行的指令
        ShuttleCommand command = commands.get(commandStep);

        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
        ArrayList<Short> qrCodeValues = new ArrayList<>();
        for (BasDevp basDevp : basDevpService.selectList(null)) {
            //将所有提升机口二维码存入list
            qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
        }

        Integer siteNo = null;//站点号
        for (Short qrCodeValue : qrCodeValues) {
            //目标位置是提升机口，或起点位置是提升机口且目标是去提升机内
            if (command.getDistCodeNum() == null || command.getStartCodeNum() == null) {
                continue;
            }

            if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
                //存在
                BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue());
                siteNo = basDevp.getDevNo();
                break;
            }
        }

        if (siteNo == null) {
            //找不到站点，说明还未到提升机
            return true;
        }


//        //遍历所有指令，判断是否有到提升机口的指令或从提升机口前往提升机内的指令，并获取到达该提升机口所需步序
//        int step = 0;
//        Integer siteNo = null;//站点号
//        ShuttleCommand command = null;
//        for (int i = 0; i < commands.size(); i++) {
//            command = commands.get(i);
//            for (Short qrCodeValue : qrCodeValues) {
//                //目标位置是提升机口，或起点位置是提升机口且目标是去提升机内
//                if (command.getDistCodeNum() == null || command.getStartCodeNum() == null) {
//                    continue;
//                }
//
//                if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
//                    //存在
//                    step = i + 1;
//                    BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue());
//                    siteNo = basDevp.getDevNo();
//                    break;
//                }
//            }
//        }
//
//        if (step == 0) {
//            //无需后续检测，直接放行
//            return true;
//        }

        //判断下一步是否为提升机口或提升机内
        if (commandStep < commands.size()) {
            ShuttleCommand command1 = commands.get(commandStep);
            Short distCodeNum = command1.getDistCodeNum();
            if (distCodeNum != null) {
                BasDevp basDevp = basDevpService.queryByQrCode(Integer.valueOf(distCodeNum));
                if (basDevp == null && distCodeNum.intValue() != liftProtocol.getBarcode().intValue()) {
                    return true;//下一步不是提升机口，跳过后续流程
                }
            }
        }

        //获取四向穿梭车当前楼层
        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
        Integer shuttleLocNoLev = shuttleLocNo == null ? 0 : Utils.getLev(shuttleLocNo);//库位号对应层高

        //判断穿梭车和提升机是否在目标楼层
        if (shuttleLocNoLev >= 2) {
            shuttleLocNoLev++;
        }

        //判断输送线站点是否给出提升机到位信号
        SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
        if (!staProtocol.isLiftArrival()) {
            //输送线反馈提升机没有到位
            executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机
            return false;
        }

        if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
            //小车处于提升机内
            return true;
        }else {
            if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
                //判断提升机是否有任务号
                if (liftProtocol.getTaskNo().intValue() != 0) {
                    //判断任务号是否和当前小车任务一致
                    if (liftProtocol.getTaskNo().intValue() != wrkNo.intValue()) {
                        return false;//任务号不一致，且提升机任务号不为0
                    }
                }
                liftProtocol.setTaskNo(wrkNo);//给提升机写工作号，防止被占用
                WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
                WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
                    wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//锁定提升机，防止被抢占
                    wrkMastService.updateById(wrkMast);
                }
                return true;//提升机到位
            }
            executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机
            return false;//提升机没有到位
        }

    }

    private boolean executeLift(LiftThread liftThread, LiftProtocol liftProtocol, ShuttleRedisCommand redisCommand, Integer shuttleLocNoLev) {//调度提升机
        if (!liftProtocol.isIdle()) {
            //提升机不空闲禁止下发
            return false;
        }

        if (liftProtocol.getPlatShuttleCheck()) {
            //提升机内有车禁止下发
            return false;
        }

        if (redisCommand.getLiftSecurityMk()) {
            //已经执行过提升机命令，禁止下发
            return false;
        }

        WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
        WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
        if (wrkMast != null) {
            wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//锁定提升机，防止被抢占
            wrkMastService.updateById(wrkMast);
        }

        //给提升机分配任务
        liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//设置任务号
        liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//设置四向穿梭车号
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
        liftProtocol.setSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        redisCommand.setLiftSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

        //命令list
        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
        LiftCommand liftCommand = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), shuttleLocNoLev);
        liftCommands.add(liftCommand);//将命令添加进list

        LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
        liftAssignCommand.setCommands(liftCommands);
        liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
        liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
        //下发任务
        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
        return true;
    }

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

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }

        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
        //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 = getResetCommand();
        list.add(resetCommand);

        //车辆空闲，等待写入找库位命令
        //找库位命令
        short direction = 1;
        switch (command.getRunDirection()) {//转换运行方向
            case 1:
                direction = 2;
                break;
            case 2:
                direction = 1;
                break;
            case 3:
                direction = 4;
                break;
            case 4:
                direction = 3;
                break;
            default:
                direction = 1;
        }
        //找库位命令
        ShuttleCommand searchCommand = getFindLocCommand(direction, 1200, (short) 1000);
        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);

        redisCommand.setErrorCommands(list);
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
        return true;
    }

    /**
     * 获取托盘顶升命令
     * @param lift 1顶升，2下降
     */
    public ShuttleCommand getPalletCommand(Short lift) {
        ShuttleCommand command = new ShuttleCommand();
        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(lift);
        command.setRunSpeed((short) 0);
        command.setCommandEnd((short) 1);
        return command;
    }

    /**
     * 正常移动命令,默认移动速度1000
     */
    public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance) {
        return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 500);
    }

    /**
     * 正常移动命令
     */
    public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance, Integer runSpeed) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 1);
        command.setStartCodeNum(startCodeNum);
        command.setMiddleCodeNum(middleCodeNum);
        command.setDistCodeNum(distCodeNum);
        command.setStartToDistDistance(startToDistDistance);
        command.setMiddleToDistDistance(middleToDistDistance);
        command.setRunDirection(runDirection);
        command.setForceMoveDistance(0);
        command.setIOControl((short) 0);
        command.setRunSpeed(runSpeed.shortValue());
        command.setCommandEnd((short) 1);
        return command;
    }

    /**
     * 强制移动命令
     * @param direction 移动方向 1左移，2右移，3前移，4后移
     */
    public ShuttleCommand getForceMoveCommand(Short direction) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 3);
        command.setStartCodeNum((short) 0);
        command.setMiddleCodeNum((short) 0);
        command.setDistCodeNum((short) 0);
        command.setStartToDistDistance(600);
        command.setRunDirection(direction);
        command.setForceMoveDistance(600);
        command.setIOControl((short) 0);
        command.setCommandEnd((short) 1);
        command.setRunSpeed((short) 1000);
        return command;
    }

    /**
     * 状态复位命令
     */
    public ShuttleCommand getResetCommand() {
        ShuttleCommand command = new ShuttleCommand();
        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);
        return command;
    }

    /**
     * 获取寻库位命令
     * @param direction 1:向正方向(左)寻库位,2:向负方向(右)寻库位,3:向负方向(后)寻库位,4:向正方向(前)寻库位
     */
    public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 4);
        command.setRunDirection(direction);
        command.setStartToDistDistance(startToDistance);
        command.setRunSpeed((short) runSpeed);
        command.setCommandEnd((short) 1);
        return command;
    }

    /**
     * 获取寻库位命令，默认移动距离3000，运行速度1000
     * @param direction 1:向正方向(左)寻库位,2:向负方向(右)寻库位,3:向负方向(后)寻库位,4:向正方向(前)寻库位
     */
    public ShuttleCommand getFindLocCommand(Short direction) {
        return getFindLocCommand(direction, 3000, (short) 1000);
    }

    /**
     * 获取充电开关命令
     */
    public ShuttleCommand getChargeSwitchCommand() {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 5);
        command.setChargeSwitch((short) 1);
        command.setCommandEnd((short) 1);
        return command;
    }

    /**
     * charge：1=>开始充电，2=>断开充电
     */
    public ShuttleCommand getChargeSwitchCommand(Short charge) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 5);//充电
        command.setShuttleNo(shuttleProtocol.getShuttleNo());
        command.setChargeSwitch(charge);//开始充电
        command.setCommandEnd((short) 1);
        return command;
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        ShuttleSlave slave = new ShuttleSlave();
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
//        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);
    ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo);//获取更新坐标命令

    }
}