提升机命令封装

Junjie

2023-05-11 d3696ce1ba6071f264aa3db8cc94bf090094a906

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

@@ -8,25 +8,27 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.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.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -34,7 +36,6 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -137,7 +138,12 @@
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
                boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
                shuttleProtocol.setPlcOutputLift(booleans[1]);
                shuttleProtocol.setPlcOutputTransfer(booleans[2]);
                shuttleProtocol.setPlcOutputBrake(booleans[3]);
                shuttleProtocol.setPlcOutputCharge(booleans[4]);
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //PLC输入状态
@@ -168,13 +174,38 @@
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
                    //出现错误
                    resetAndTryFix(shuttleProtocol.getTaskNo());
                }

                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
                    //处于故障修复状态
                    //执行下一步指令
                    executeWork(shuttleProtocol.getTaskNo());
                }

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

                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0) {
                    Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
                    if (o != null) {
                        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
                        if (redisCommand.getLiftSecurityMk()) {
                            //执行下一步指令
                            executeWork(shuttleProtocol.getTaskNo());
                        }
                    }
                }

                //将四向穿梭车状态保存至数据库
@@ -250,6 +281,18 @@
            return false;
        }

        BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
        if (shuttleService == null) {
            News.error("系统错误");
            return false;
        }

        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());
        // 开始任务
        short[] array = new short[17];
@@ -284,6 +327,7 @@
            array[7] = middleToDistDistances[1];
        }

        array[8] = basShuttle.getRunSpeed().shortValue();//四向穿梭车运行速度，从系统数据库读出
        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
@@ -347,41 +391,26 @@

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

//        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
//                || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
//            //入库或出库模式，计算路径
//            //计算路径
//            List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
//            if (calc != null) {
//                //获取分段路径
//                ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
//                //路径数据
//                map.put("path", data);
//                //路径次数
//                map.put("pathSize", data.size());
//            }else {
//                if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
//                    //属于入库出库，必须要计算路径，则抛出异常
//                    throw new Exception("未能找到运行路径");
//                }
//            }
//        }

        if (!assignCommand.getAuto()) {
            List<NavigateNode> allNode = new ArrayList<>();
            List<ShuttleCommand> commands = new ArrayList<>();
            ShuttleCommand command = new ShuttleCommand();
            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
            NavigateMapData navigateMapData;
            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
                    List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    if (calc != null) {
                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    //所使用的路径进行锁定禁用
                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用

                    if (firstMastResult != null) {
                        allNode.addAll(firstMastResult);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
                        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
@@ -390,92 +419,237 @@
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            ShuttleCommand command1 = new ShuttleCommand();
                            command1.setCommandWord((short) 1);
                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
                            command1.setMiddleCodeNum((short) 0);
                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
                            command1.setStartToDistDistance(allDistance);
                            command1.setMiddleToDistDistance(1000);
                            command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            command1.setPalletLift((short) 1);
                            command1.setForceMoveDistance(1000);
                            command1.setChargeSwitch((short) 2);
                            command1.setIOControl((short) 0);
                            command1.setRunSpeed((short) 1000);
                            command1.setRadarTmp((short) 0);
                            command1.setCommandEnd((short) 1);
                            commands.add(command1);
                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//开始二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//目标二维码
                            commands.add(getMoveCommand(startCode,distCode,allDistance,ShuttleRunDirection.get(startPath.getDirection()).id));
                        }

                        //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(), ShuttleTaskModeType.PAK_IN.id);
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用

                    if (secMastResult != null) {
                        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);
                            //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

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//开始二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//目标二维码
                            commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id));
                        }

                        //托盘下降
                        commands.add(getPalletCommand((short) 2));
                    }
                    break;
                case 3://托盘顶升
                case 4://托盘下降
                    command.setCommandWord((short) 2);
                    command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
                    break;
                case 5://强制左移
                case 6://强制右移
                case 7://强制上移
                case 8://强制下移
                    command.setCommandWord((short) 3);
                    command.setForceMoveDistance(1000);
                    command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    commands.add(getForceMoveCommand((short) (assignCommand.getTaskMode() - 4)));
                    break;
                case 9://状态复位
                    command.setCommandWord((short) 0);
                    command.setCommandEnd((short) 1);
                    commands.add(command);
                    ShuttleCommand reset = getResetCommand();
                    commands.add(reset);
                    break;
                case 10://向正方向(左)寻库位
                    commands.add(getFindLocCommand((short) 1));
                    break;
                case 11://向负方向(右)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
                    LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    //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

                    if (result != null) {
                        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);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo());
                            String qrCodeValue = distLocMast.getQrCodeValue();

                            //正常移动命令
                            commands.add(getMoveCommand(shuttleProtocol.getCurrentCode(),(short) Integer.parseInt(qrCodeValue),allDistance,ShuttleRunDirection.get(startPath.getDirection()).id));
                        }
                    }
                    break;
                case 15://充电开关
                    commands.add(getChargeSwitchCommand());
                    break;
                default:
            }
            assignCommand.setCommands(commands);
            assignCommand.setNodes(allNode);//当前任务所占用的节点list
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
        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("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        //执行下发任务
        executeWork(assignCommand);
        executeWork(assignCommand.getTaskNo());
    }

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

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

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

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
        if (errorCommands.size() > 0) {
            //优先执行该指令
            ShuttleCommand errorCommand = errorCommands.get(0);//取出指令

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

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

                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                //当前步序
                int commandStep = redisCommand.getCommandStep();
                //步序回退
                commandStep--;
                redisCommand.setCommandStep(commandStep);
            }

            if (!write(errorCommand)) {
                News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
                return false;
            } else {
                News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
                errorCommands.remove(0);
                redisCommand.setErrorCommands(errorCommands);
                //任务数据保存到redis
                redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
                return true;
            }
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        List<ShuttleCommand> commands = assignCommand.getCommands();

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

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

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

        //下发命令
        if (!write(command)) {
@@ -489,9 +663,9 @@
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
                redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //保存数据到数据库做流水
@@ -511,21 +685,32 @@
                    );
                    shuttleOptService.insert(opt);
                }

                if (redisCommand.getLiftSecurityMk()) {
                    //曾锁定过提升机，需要进行解锁
                    LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
                    LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                    if (liftProtocol != null) {
                        liftProtocol.setSecurityMk(false);
                    }
                }

                String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
                //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("wrk_no_" + map.get("wrk_no").toString());
                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
                    if (assignCommand.getTaskMode() == 9) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                    }
                    //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()) {
@@ -543,6 +728,305 @@
        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;
        }

        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();
        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()));
        }

        //遍历所有指令，判断是否有到提升机口的指令，并获取到达该提升机口所需步序
        int step = 0;
        ShuttleCommand command = null;
        for (int i = 1; i < commands.size(); i++) {
            command = commands.get(i);
            if (qrCodeValues.contains(command.getDistCodeNum())) {
                //存在
                step = i + 1;
                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
        if (commandStep + 1 != step) {
            //下一步不是提升机口，跳过后续流程
            return true;
        }

        //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;
        }

        //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 = Integer.parseInt(shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length()));//库位号对应层高

        //程序走到这，表示提升机可能一直就在当前层，可能经过了移动到达了该层
        if (liftProtocol.getProtocolStatusType() == LiftProtocolStatusType.WAITING) {
            //提升机等待确认
            //设置提升机为空闲状态
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
            //任务号清零
            liftProtocol.setTaskNo((short) 0);
            //标记复位
            liftProtocol.setPakMk(true);
            //任务指令清零
            liftProtocol.setAssignCommand(null);
            //提升机解锁
            liftProtocol.setLiftLock(false);
        }

        //判断提升机是否在目标楼层
        if (liftProtocol.getLev().intValue() == shuttleLocNoLev) {
            //同一层，直接放行
            return true;
        }

        //提升机和穿梭车处于不同楼层，需要进行调度
        if (!liftProtocol.isIdle()) {
            //提升机不是空闲
            return false;
        }

        //给提升机分配任务
        liftProtocol.setLiftLock(true);//锁定提升机
        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_" + wrkNo, JSON.toJSONString(redisCommand));

        //命令list
        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
        LiftCommand liftCommand = new LiftCommand();
        liftCommand.setLiftNo(liftProtocol.getLiftNo());//提升机号
        liftCommand.setTaskNo(liftProtocol.getTaskNo());//任务号
        liftCommand.setRun((short) 1);//升降
        liftCommand.setDistPosition(shuttleLocNoLev.shortValue());//目标楼层(穿梭车所在楼层)
        liftCommand.setLiftLock(true);//锁定提升机
        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 false;
    }

    /**
     * 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
     */
    private 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
     * @return
     */
    private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 1);
        command.setStartCodeNum(startCodeNum);
        command.setMiddleCodeNum((short) 1);
        command.setDistCodeNum(distCodeNum);
        command.setStartToDistDistance(startToDistDistance);
        command.setRunDirection(runDirection);
        command.setForceMoveDistance(0);
        command.setIOControl((short) 0);
        command.setRunSpeed((short) 1000);
        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
     */
    private 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
     */
    private 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
     */
    private 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
     */
    private ShuttleCommand getFindLocCommand(Short direction) {
        return getFindLocCommand(direction, 3000, (short) 1000);
    }

    /**
     * 获取充电开关命令
     */
    private ShuttleCommand getChargeSwitchCommand() {
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 8);
        command.setIOControl((short) 4);
        command.setCommandEnd((short) 1);
        return command;
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/