输送线条码读取bug、出入库模式信号、链条控制信号

Junjie

2023-06-10 b7e0039880d9f6e71230dbf9c13538de4f8135b8

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

@@ -84,6 +84,8 @@
    @Autowired
    private WrkChargeMapper wrkChargeMapper;
    @Autowired
    private BasMapService basMapService;
    @Autowired
    private ErpService erpService;
    @Autowired
    private OrderMapper orderMapper;
@@ -544,10 +546,35 @@
    }

    /**
     * 实时更新地图
     * 初始化实时地图
     */
    public synchronized void refreshMap() {
    public synchronized void initRealtimeBasMap() {
        for (int i = 1; i <= 4; i++) {//总共四层楼
            Object data = redisUtil.get("realtimeBasMap_" + i);
            if (data == null) {//redis地图数据为空，从数据库中获取
                BasMap basMap = basMapService.selectLatestMap(i);
                if (basMap == null) {
                    //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);//获取完整地图(包括入库出库)

                    //存入数据库
                    basMap = new BasMap();
                    basMap.setData(JSON.toJSONString(lists));
                    basMap.setCreateTime(new Date());
                    basMap.setUpdateTime(new Date());
                    basMap.setLev(i);

                    if (!basMapService.insert(basMap)) {
                        log.info("地图数据存储失败");
                    }
                }

                //将数据库地图数据存入redis
                redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
            }
        }
    }

    /**
@@ -577,7 +604,7 @@
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
                liftProtocol.setLiftLock(true);//提升机锁定

            }else {//四向穿梭车任务
            }else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
                ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
                if (redisCommand == null) {
                    continue;
@@ -613,13 +640,13 @@
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
                StaProtocol staProtocol105 = devpThread.getStation().get(105);
                staProtocol105.setWorkNo((short) 752);
                staProtocol105.setStaNo((short) 100);

                StaProtocol staProtocol106 = devpThread.getStation().get(106);
                staProtocol106.setWorkNo((short) 753);
                staProtocol106.setStaNo((short) 100);
//                StaProtocol staProtocol105 = devpThread.getStation().get(105);
//                staProtocol105.setWorkNo((short) 752);
//                staProtocol105.setStaNo((short) 100);
//
//                StaProtocol staProtocol106 = devpThread.getStation().get(106);
//                staProtocol106.setWorkNo((short) 753);
//                staProtocol106.setStaNo((short) 100);

                if (staProtocol == null) {
                    continue;
@@ -681,18 +708,15 @@
                            if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                                //同一层直接取货无需经过提升机
                                //直接计算车到提升机取货再到库位路径指令
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread);
                                if (wrkMast.getWrkSts() == 8) {
                                    //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
                                    BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
                                    ShuttleCommand moveCommand = new ShuttleCommand();
                                    moveCommand.setCommandWord((short) 1);
                                    moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机内部二维码
                                    moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//提升机口二维码
                                    moveCommand.setStartToDistDistance(1300);
                                    moveCommand.setMiddleToDistDistance(0);
                                    moveCommand.setRunDirection(commands.get(0).getRunDirection());
                                    moveCommand.setCommandEnd((short) 1);
                                    short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机内部二维码
                                    Short distCode = commands.get(0).getStartCodeNum();//提升机口二维码
                                    Short runDirection = commands.get(0).getRunDirection();//运行方向
                                    //获取命令
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection);
                                    commands.add(0, moveCommand);//将该指令添加到队头
                                }
                                assignCommand.setCommands(commands);
@@ -705,7 +729,7 @@
                                //不同层，将目标库位分配成提升机库位号

                                //小车移动到提升机口，计算路径
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                                //分配目标库位
                                shuttleProtocol.setLocNo(liftLocNo);
                                //目标库位
@@ -729,13 +753,16 @@
    }

    //获取起点-终点指令。mapType：1=》无货地图，2=》有货地图
    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
        //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);
        List<ShuttleCommand> commands = new ArrayList<>();
        if (calc == null) {
            return null;
        }

        List<NavigateNode> allNode = new ArrayList<>();
        allNode.addAll(calc);

        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -746,36 +773,25 @@
            //目标路径
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRadarTmp((short) 0);
            command.setCommandEnd((short) 1);
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
            commands.add(command);
        }

        assignCommand.setNodes(allNode);//当前任务所占用的节点list
        //所使用的路径进行锁定禁用
        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
        navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

        return commands;
    }

    //获取起点-中点-终点指令
    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
        //计算小车起点到中点所需命令
        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图
        List<ShuttleCommand> commands = new ArrayList<>();
@@ -783,6 +799,9 @@
            return null;
        }

        List<NavigateNode> allNode = new ArrayList<>();
        allNode.addAll(calc);

        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
        //将每一段路径分成command指令
@@ -793,43 +812,25 @@
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRadarTmp((short) 0);
            command.setCommandEnd((short) 1);
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
            commands.add(command);
        }

        //小车指令到达目标位置后，再发出一条顶升指令
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 2);
        command.setPalletLift((short) 1);
        command.setCommandEnd((short) 1);
        commands.add(command);
        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, 2);//小车有货，走出库地图(出库地图有专用货道)
        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//小车有货，走出库地图(出库地图有专用货道)
        if (calc2 == null) {
            return null;
        }

        allNode.addAll(calc2);

        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
@@ -840,37 +841,21 @@
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

            command = new ShuttleCommand();
            command.setCommandWord((short) 1);

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRadarTmp((short) 0);
            command.setCommandEnd((short) 1);
            commands.add(command);
            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
            commands.add(moveCommand);
        }

        //小车指令到达目标位置后，再发出一条托盘下降指令
        command = new ShuttleCommand();
        command.setCommandWord((short) 2);
        command.setPalletLift((short) 2);
        command.setCommandEnd((short) 1);
        commands.add(command);
        commands.add(shuttleThread.getPalletCommand((short) 2));

        assignCommand.setNodes(allNode);//当前任务所占用的节点list
        //所使用的路径进行锁定禁用
        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
        navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用

        return commands;
    }
@@ -955,7 +940,7 @@
                        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(), liftLocNo);
                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                            //目标库位
@@ -966,7 +951,7 @@
                            //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

                            //小车到提升机口指令
                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                            shuttleProtocol.setLocNo(liftLocNo);
                            //目标库位
                            assignCommand.setLocNo(liftLocNo);
@@ -974,17 +959,13 @@
                            wrkMast.setWrkSts(22L);//小车迁移状态
                        }
                    } else if (wrkMast.getWrkSts() == 25) {
                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
                        //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
                        BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
                        ShuttleCommand moveCommand = new ShuttleCommand();
                        moveCommand.setCommandWord((short) 1);//小车移动指令字
                        moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机二维码
                        moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
                        moveCommand.setStartToDistDistance(1300);
                        moveCommand.setMiddleToDistDistance(0);
                        moveCommand.setRunDirection(commands.get(0).getRunDirection());
                        moveCommand.setCommandEnd((short) 1);
                        short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机二维码
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection());
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
@@ -1226,44 +1207,22 @@
                //提升机当前楼层
                int liftLev = liftProtocol.getLev().intValue();
                if (liftLev != 1) {
                    //提升机不在1层
                    LiftCommand command1 = new LiftCommand();
                    command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
                    command1.setTaskNo(liftProtocol.getTaskNo());//任务号
                    command1.setRun((short) 1);//升降
                    command1.setDistPosition((short) 1);//目标楼层1层
                    command1.setLiftLock(true);//锁定提升机

                    //提升机不在1层，获取到1层的提升机命令
                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) 1);
                    commands.add(command1);//将命令添加进list
                }

                //输送线将货物运进来
                LiftCommand command2 = new LiftCommand();
                command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command2.setTaskNo(liftProtocol.getTaskNo());//任务号
                command2.setRun((short) 6);//输送线运作
                command2.setLiftLock(true);//锁定提升机

                //输送线将货物运进来(正转)
                LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
                commands.add(command2);//将命令添加进list

                //提升机前往目标楼层
                LiftCommand command3 = new LiftCommand();
                command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command3.setTaskNo(liftProtocol.getTaskNo());//任务号
                command3.setRun((short) 1);//升降
                command3.setDistPosition((short) wrkMastLocNoLey);//工作档目标楼层
                command3.setLiftLock(true);//锁定提升机

                //提升机前往目标楼层(工作档目标楼层)
                LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
                commands.add(command3);//将命令添加进list

                //提升机到达指定楼层，输送线将货物移出去
                //提升机到达指定楼层，输送线将货物移出去(反转)
                //输送线将货物移出去
                LiftCommand command4 = new LiftCommand();
                command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command4.setTaskNo(liftProtocol.getTaskNo());//任务号
                command4.setRun((short) 3);//输送线运作
                command4.setLiftLock(true);//锁定提升机

                LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
                commands.add(command4);//将命令添加进list
            }else {
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号
@@ -1292,45 +1251,24 @@
                int liftLev = liftProtocol.getLev().intValue();
                if (liftLev != currentLocNoLey) {
                    //不同楼层
                    LiftCommand command1 = new LiftCommand();
                    command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
                    command1.setTaskNo(liftProtocol.getTaskNo());//任务号
                    command1.setRun((short) 1);//升降
                    command1.setDistPosition((short) currentLocNoLey);//目标楼层(穿梭车所在楼层)
                    command1.setLiftLock(true);//锁定提升机

                    //获取目标楼层(穿梭车所在楼层)命令
                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) currentLocNoLey);
                    commands.add(command1);//将命令添加进list
                }

                //输送线将四向穿梭车移动进来
                LiftCommand command2 = new LiftCommand();
                command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command2.setTaskNo(liftProtocol.getTaskNo());//任务号
                command2.setRun((short) 6);//输送线运作
                command2.setLiftLock(true);//锁定提升机

                //输送线将四向穿梭车移动进来(正转)
                LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
                commands.add(command2);//将命令添加进list

                if (liftLev != currentLocNoLey) {
                    //提升机前往目标楼层
                    LiftCommand command3 = new LiftCommand();
                    command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
                    command3.setTaskNo(liftProtocol.getTaskNo());//任务号
                    command3.setRun((short) 1);//升降
                    command3.setDistPosition((short) wrkMastLocNoLey);//工作档目标楼层
                    command3.setLiftLock(true);//锁定提升机

                    //提升机前往目标楼层(工作档目标楼层)
                    LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
                    commands.add(command3);//将命令添加进list
                }

                //提升机到达指定楼层，输送线将四向穿梭车移出去
                //输送线将四向穿梭车移动出去
                LiftCommand command4 = new LiftCommand();
                command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command4.setTaskNo(liftProtocol.getTaskNo());//任务号
                command4.setRun((short) 3);//输送线运作
                command4.setLiftLock(true);//锁定提升机

                //输送线将四向穿梭车移动出去(反转)
                LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
                commands.add(command4);//将命令添加进list
            }

@@ -2211,22 +2149,21 @@
            if (currentLev == chargeLocNoLev) {
                //同一层无需经过提升机
                //直接计算车到充电库位

                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

                //获取小车到充电库位路径指令
                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);
                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                //进行充电中
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                assignCommand.setTaskMode((short) 9);//充电
                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                assignCommand.setCharge(true);//充电任务

                //创建充电指令
                ShuttleCommand command = new ShuttleCommand();
                command.setCommandWord((short) 5);//充电
                command.setShuttleNo(shuttleProtocol.getShuttleNo());
                command.setChargeSwitch((short) 1);//开始充电
                command.setCommandEnd((short) 1);
                ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
                commands.add(command);

                //指令集分配
@@ -2240,12 +2177,14 @@
            }else {
                //不同层，将目标库位分配成提升机库位号

                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

                //小车移动到提升机口，计算路径
                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                //分配目标库位
                shuttleProtocol.setLocNo(liftLocNo);

                ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                assignCommand.setTaskMode((short) 9);//充电
                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
@@ -2291,42 +2230,23 @@
            int liftLev = liftProtocol.getLev().intValue();
            if (liftLev != currentLev) {
                //穿梭车和提升机处于不同楼层
                LiftCommand command1 = new LiftCommand();
                command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
                command1.setTaskNo(liftProtocol.getTaskNo());//任务号
                command1.setRun((short) 1);//升降
                command1.setDistPosition(currentLev.shortValue());//目标楼层(穿梭车所在楼层)
                command1.setLiftLock(true);//锁定提升机
                //获取目标楼层(穿梭车所在楼层)命令
                LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev.shortValue());
                commands.add(command1);//将命令添加进list
            }

            //输送线将四向穿梭车移动进来
            LiftCommand command2 = new LiftCommand();
            command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
            command2.setTaskNo(liftProtocol.getTaskNo());//任务号
            command2.setRun((short) 6);//输送线运作
            command2.setLiftLock(true);//锁定提升机

            //输送线将四向穿梭车移动进来(正转)
            LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
            commands.add(command2);//将命令添加进list

            //提升机前往目标楼层
            LiftCommand command3 = new LiftCommand();
            command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
            command3.setTaskNo(liftProtocol.getTaskNo());//任务号
            command3.setRun((short) 1);//升降
            command3.setDistPosition(chargeLocNoLev.shortValue());//充电库位目标楼层
            command3.setLiftLock(true);//锁定提升机

            //获取充电库位目标楼层命令
            LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev.shortValue());
            commands.add(command3);//将命令添加进list

            //提升机到达指定楼层，输送线将四向穿梭车移出去
            //输送线将四向穿梭车移动出去
            LiftCommand command4 = new LiftCommand();
            command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
            command4.setTaskNo(liftProtocol.getTaskNo());//任务号
            command4.setRun((short) 3);//输送线运作
            command4.setLiftLock(true);//锁定提升机

            //输送线将四向穿梭车移动出去(反转)
            LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
            commands.add(command4);//将命令添加进list

            wrkCharge.setWrkSts(54L);//提升机搬运中
@@ -2353,11 +2273,7 @@
                assignCommand.setCharge(true);

                //创建充电指令
                ShuttleCommand command = new ShuttleCommand();
                command.setCommandWord((short) 5);//充电
                command.setShuttleNo(shuttleProtocol.getShuttleNo());
                command.setChargeSwitch((short) 2);//断开充电
                command.setCommandEnd((short) 1);
                ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
                commands.add(command);

                //指令集分配