#

Junjie

2025-04-02 664b83b2e10025a36b29ad086f68c66cb80e339c

#

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java

@@ -47,7 +47,6 @@

                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateInboundWrk(); // 组托
                    mainService.palletInbound();//入库-托盘进库

                    // 解析出库工作档
                    mainService.analyzeOutBoundTask();
@@ -55,6 +54,8 @@
                    mainService.analyzeInBoundTask();
                    // 解析小车移动工作档
                    mainService.analyzeMoveTask();
                    // 解析小车充电工作档
                    mainService.analyzeChargeTask();
                    // 解析小车载货移动工作档
                    mainService.analyzeLadenMoveTask();
                    // 出库  ===>> 工作档信息写入led显示器

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java

@@ -4,11 +4,9 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -125,250 +123,50 @@
                return motionList;
            }

            //获取小车待机库位 ==> 进提升机
            //获取小车待机库位 ==> 提升机
            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
                    .eq(ShuttleStandby::getStatus, 1));

            //获取小车待机库位 ==> 出提升机
            ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(destLoc))
                    .eq(ShuttleStandby::getStatus, 1));
            if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
                return motionList;
            }

            //穿梭车进提升机库位号
            String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

            //穿梭车出提升机库位号
            String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

            //穿梭车进提升机待机位库位号  输送线位置
            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
            //穿梭车换层时待机位置 使用表列 memo数据
            String standbyLocNoMemo = shuttleStandbyTo.getMemo();

            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

            //换层需要锁定的路径
            List<String> lockPath = shuttleStandbyFrom.getLockPath$();

            // 入库目标层有穿梭车
            if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {

//                // 提升机载货移动
//                motionList.addAll(kernelService.liftMoveGoods(
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(1);//光泰1层是输送线层
//                            dto.setStaNo(31004);//入库站点
//                        }))
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(Utils.getLev(task.getDestLoc()));
//                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
//                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setReleaseLift(1);//执行完成后释放提升机
//                        }))
//                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车入库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车载货走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
//                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                // 穿梭车入库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            /**
             * 二、入库目标层没有穿梭车
             */
            } else {

//                // 提升机载货移动
//                motionList.addAll(kernelService.liftMoveGoods(
//                        MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(1);//光泰1层是输送线层
//                            dto.setStaNo(31004);//入库站点
//                        }))
//                        , MotionDto.build((dto -> {
//                            dto.setLiftNo(transferLiftDevice.getId().intValue());
//                            dto.setLev(Utils.getLev(task.getDestLoc()));
//                            dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
//                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
//                            dto.setReleaseLift(1);//执行完成后释放提升机
//                        }))
//                ));

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoMemo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定换层路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//入库站点
                        }))
                ));

                // 提升机空载移动到穿梭车层
                motionList.addAll(kernelService.liftMove(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoMemo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 提升机搬车 至 目标位置层
                motionList.addAll(kernelService.liftMoveShuttle(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                        })),
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(destLoc));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
                        , MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        }))
                ));

                // 穿梭车移动至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getDestLoc()));
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));
                            dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 解锁换层路径
                motionList.addAll(kernelService.mapUnlockPath(
                        null,
                // 穿梭车走行至提升机库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车入库顶升
@@ -380,17 +178,33 @@
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                // 穿梭车载货走行至待机库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));

                // 穿梭车载货走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(destLoc);
                            dto.setReleaseLift(2);//执行中释放提升机
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT
                ));
@@ -403,7 +217,6 @@
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

            }

        }
@@ -465,35 +278,14 @@
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
                    .eq(ShuttleStandby::getStatus, 1));

            //获取小车待机库位 ==> 出提升机
            ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(originLoc))
                    .eq(ShuttleStandby::getStatus, 1));
            if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
                return motionList;
            }

            //穿梭车进提升机库位号
            String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

            //穿梭车出提升机库位号
            String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

            //穿梭车进提升机待机位库位号 输送线位置
            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

            //穿梭车换层时待机位置 使用表列 memo数据
            String standbyLocNoMemo = shuttleStandbyTo.getMemo();

            //穿梭车出提升机待机位库位号
            String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

            //穿梭车出提升机后全部待机位
            String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//获取全部待机位

            //换层需要锁定的路径
            List<String> lockPath = shuttleStandbyFrom.getLockPath$();

            //获取出库任务类型
            TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
@@ -580,245 +372,27 @@
                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
                ));

                // 穿梭车出库托盘下降
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_DOWN
                ));

                // 穿梭车提升机待机位 - 到待机位(自动选择合适待机位)
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocs);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
                        MotionCtgType.SHUTTLE_MOVE_STANDBY
                ));

                // 提升机载货移动
                motionList.addAll(kernelService.liftMoveGoods(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 输送线运输至出库口
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            /**
             * 二、出库起始层没有穿梭车
             */
            } else {

                // 穿梭车走行至提升机库位待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoMemo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 锁定换层路径
                motionList.addAll(kernelService.mapLockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));

                // 提升机空载移动到穿梭车层
                // 提升机空载移动到出库层
                motionList.addAll(kernelService.liftMove(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                            dto.setLev(Utils.getLev(originLoc));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 穿梭车待机位至提升机
                // 穿梭车走行至提升机库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoMemo);
                            dto.setLocNo(standbyLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_TO_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 提升机搬车 至 目标位置层
                motionList.addAll(kernelService.liftMoveShuttle(
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(shuttleLocNo));
                        })),
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(liftLocNoFrom));
                        }))
                ));

                // 锁定提升机
                motionList.addAll(kernelService.liftLock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                        }))
                ));

                // 更新小车坐标
                motionList.addAll(kernelService.shuttleUpdateLocation(
                        null
                        , MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        }))
                ));

                // 穿梭车走行至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(liftLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
                ));

                // 解锁提升机
                motionList.addAll(kernelService.liftUnlock(
                        null
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 解锁换层路径
                motionList.addAll(kernelService.mapUnlockPath(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(JSON.toJSONString(lockPath));
                        }))
                ));

                // 穿梭车提升机待机位至出库库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(originLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

                // 穿梭车出库顶升
                motionList.addAll(kernelService.shuttleAction(
                        null,
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                        })),
                        MotionCtgType.SHUTTLE_PALLET_LIFT
                ));

                if (!originLoc.equals(lastPathStartLoc)) {
                    // 穿梭车载货出库至最后一段路径等待
                    motionList.addAll(kernelService.shuttleMove(
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setLocNo(originLoc);
                            })),
                            MotionDto.build((dto -> {
                                dto.setShuttleNo(shuttleDevice.getId().intValue());
                                dto.setShuttleDevice(shuttleDevice);
                                dto.setLocNo(lastPathStartLoc);
                            })),
                            MotionCtgType.SHUTTLE_TRANSPORT
                    ));
                }

                // 穿梭车载货至提升机待机位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(lastPathStartLoc);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//输送站
                        })),
                        MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
                ));

                // 穿梭车出库托盘下降
@@ -834,12 +408,12 @@
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setLocNo(standbyLocNoFrom);
                            dto.setLocNo(liftLocNoTo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleDevice.getId().intValue());
                            dto.setShuttleDevice(shuttleDevice);
                            dto.setLocNo(standbyLocs);
                            dto.setLocNo(standbyLocNoTo);
                            dto.setSync(0);//异步执行
                            dto.setReleaseShuttle(1);//执行完成后释放小车
                        })),
@@ -851,29 +425,15 @@
                        MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(Utils.getLev(task.getOriginLoc()));
                            dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//起始站点
                            dto.setStaNo(Integer.parseInt(task.getOriginSite()));//起始站点
                        }))
                        , MotionDto.build((dto -> {
                            dto.setLiftNo(transferLiftDevice.getId().intValue());
                            dto.setLev(1);//光泰1层是输送线层
                            dto.setStaNo(31001);//出库站点
                            dto.setStaNo(Integer.parseInt(task.getDestSite()));//出库站点
                            dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
                            dto.setReleaseLift(1);//执行完成后释放提升机
                        }))
                ));

                // 输送线运输至出库口
//                motionList.addAll(kernelService.conveyorOutbound(
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getDeviceStn());
//                        })),
//                        MotionDto.build((dto -> {
//                            dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
//                            dto.setStaNo(basConveyorPath.getStnNo());
//                        })),
//                        MotionCtgType.CONVEYOR_OUTBOUND
//                ));

            }

@@ -915,51 +475,12 @@

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

        //获取距离目标位置最近的空闲可换层提升机
        LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
        if (liftThread == null) {
            return motionList;
        }
        Device transferLiftDevice = liftThread.getDevice();

        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
            return motionList;
        }

        //检测穿梭车是否有任务绑定
        boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
        if (shuttleResult) {
            //存在任务，禁止解析
            return motionList;
        }

        //获取小车待机库位 ==> 进提升机
        ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                .eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
                .eq(ShuttleStandby::getStatus, 1));

        //获取小车待机库位 ==> 出提升机
        ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                .eq(ShuttleStandby::getDeviceLev, Utils.getLev(chargeLocNo))
                .eq(ShuttleStandby::getStatus, 1));
        if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
            return motionList;
        }

        //穿梭车进提升机库位号
        String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();

        //穿梭车出提升机库位号
        String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();

        //穿梭车进提升机待机位库位号
        String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

        //穿梭车出提升机待机位库位号
        String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();

        // 判断穿梭车是否在充电层
        if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
@@ -969,128 +490,6 @@
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

        } else {

            // 穿梭车走行至提升机待机位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

            // 提升机空载移动到穿梭车层
            motionList.addAll(kernelService.liftMove(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(shuttleLocNo));
                    }))
            ));

            // 锁定提升机
            motionList.addAll(kernelService.liftLock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

            // 穿梭车提升机待机位至提升机
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoTo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoTo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_TO_LIFT
            ));

            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

            // 提升机搬车 至 充电层
            motionList.addAll(kernelService.liftMoveShuttle(
                    MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(shuttleLocNo));
                    })),
                    MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLev(Utils.getLev(chargeLocNo));
                    }))
            ));

            // 锁定提升机
            motionList.addAll(kernelService.liftLock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

            // 更新小车坐标
            motionList.addAll(kernelService.shuttleUpdateLocation(
                    null
                    , MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(liftLocNoFrom);
                    }))
            ));

            // 穿梭车提升机至提升机待机位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                        dto.setLocNo(liftLocNoFrom);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setShuttleDevice(shuttleDevice);
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
            ));

            // 解锁提升机
            motionList.addAll(kernelService.liftUnlock(
                    null
                    , MotionDto.build((dto -> {
                        dto.setLiftNo(transferLiftDevice.getId().intValue());
                    }))
            ));

            // 穿梭车提升机待机位至充电位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(standbyLocNoFrom);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1204,7 +603,7 @@
            return motionList;
        }

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
        String shuttleLocNo = task.getOriginLoc();

        // 判断穿梭车是否在目标层
        if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -8,25 +8,16 @@
import com.zy.asrs.common.domain.param.SearchLocParam;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
import com.zy.asrs.wcs.core.domain.param.CreateInTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.OpenUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -34,7 +25,6 @@
import com.zy.asrs.wcs.rcs.model.command.LedCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
@@ -45,7 +35,6 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;

/**
@@ -95,6 +84,10 @@
    private OpenUtils openUtils;
    @Autowired
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

    /**
     * 组托
@@ -172,6 +165,11 @@
                            && staProtocol.isPakMk()
                    ) {

                        Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo());
                        if (object != null) {
                            continue;
                        }

                        // 获取条码扫描仪信息
                        DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
                        if(deviceBarcode == null) {
@@ -184,7 +182,6 @@
                        String barcode = barcodeThread.getBarcode();
                        if (!Cools.isEmpty(barcode)) {
                            News.info("{}号条码扫描器检测条码信息：{}", deviceBarcode.getId(), barcode);

                        }

                        // 判断重复工作档
@@ -228,37 +225,38 @@
                            if (code.equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                                String wmsLocNo = dto.getLocNo();
                                int row = Integer.parseInt(wmsLocNo.substring(0, 2));
                                int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
                                int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
                                String wcsLocNo = Utils.getLocNo(row, bay, lev);
//                                String wmsLocNo = dto.getLocNo();
//                                int row = Integer.parseInt(wmsLocNo.substring(0, 2));
//                                int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
//                                int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
//                                String wcsLocNo = Utils.getLocNo(row, bay, lev);
//
//                                CreateInTaskParam createInTaskParam = new CreateInTaskParam();
//                                createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
//                                createInTaskParam.setDestLoc(wcsLocNo);
//                                createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
//                                createInTaskParam.setDestSite(dto.getStaNo().toString());
//                                createInTaskParam.setPriority(11);
//                                createInTaskParam.setBarcode(barcode);
//
//                                R result = openUtils.createInTask(createInTaskParam);
//                                News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
//                                try{
//                                    String msg = "";
//                                    HashMap<String, String> hashMap = new HashMap<>();
//                                    hashMap.put("msg", msg);
//                                    hashMap.put("sta", inSta.getStaNo().toString());
//                                    new HttpHandler.Builder()
//                                            .setUri(wmsUrl)
//                                            .setPath("/rpc/led/getError")
//                                            .setJson(JSON.toJSONString(hashMap))
//                                            .build()
//                                            .doPost();
//                                }catch (Exception e){
//
//                                }

                                CreateInTaskParam createInTaskParam = new CreateInTaskParam();
                                createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
                                createInTaskParam.setDestLoc(wcsLocNo);
                                createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
                                createInTaskParam.setDestSite(dto.getStaNo().toString());
                                createInTaskParam.setPriority(11);
                                createInTaskParam.setBarcode(barcode);

                                R result = openUtils.createInTask(createInTaskParam);
                                News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
                                try{
                                    String msg = "";
                                    HashMap<String, String> hashMap = new HashMap<>();
                                    hashMap.put("msg", msg);
                                    hashMap.put("sta", inSta.getStaNo().toString());
                                    new HttpHandler.Builder()
                                            .setUri(wmsUrl)
                                            .setPath("/rpc/led/getError")
                                            .setJson(JSON.toJSONString(hashMap))
                                            .build()
                                            .doPost();
                                }catch (Exception e){

                                }

                                redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo(), "in", 10);
                            }else {
                                String msg = jsonObject.getString("msg");
                                HashMap<String, String> hashMap = new HashMap<>();
@@ -275,134 +273,6 @@
                        } catch (Exception e) {
                            e.printStackTrace();
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 入库-托盘进库
     */
    public synchronized void palletInbound() {
        try {
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                    .eq(Device::getStatus, 1));
            for (Device devp : list) {
                BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
                // 遍历入库口
                for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
                    BasConveyorSta basConveyorSta = basConveyorStaService.selectBySiteNo(inSta.getDeviceStaNo().toString());
                    if(basConveyorSta == null) {
                        continue;
                    }

                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getDeviceStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    int workNo = staProtocol.getWorkNo().intValue();

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && (workNo >= 0)
                            && staProtocol.isPakMk()
                    ) {
                        Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo);
                        if (object != null) {
                            continue;
                        }

                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .eq(Task::getDestSite, inSta.getDeviceStaNo())
                                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
                                .eq(Task::getTaskNo, workNo));
                        if (task != null) {
                            int lev = Utils.getLev(task.getDestLoc());
                            Integer targetSite = null;
                            if (lev == 1) {
                                targetSite = 31006;
                            }else if (lev == 2) {
                                targetSite = 31007;
                            }else if (lev == 3) {
                                targetSite = 31008;
                            }
                            if(targetSite == null) {
                                throw new CoolException(lev + "层站点信息不存在");
                            }

                            StaProtocol staProtocol1 = devpThread.getStation().get(targetSite);
                            if (staProtocol1 == null) {
                                break;
                            }
                            if (!staProtocol1.isAutoing()) {
                                break;
                            }
                            if (staProtocol1.isLoading()) {
                                break;
                            }
                            if (staProtocol1.getWorkNo().intValue() != 0) {
                                break;
                            }

                            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, inSta.getLiftNo());
                            if (liftThread == null) {
                                break;
                            }

                            LiftProtocol liftProtocol = liftThread.getStatus();
                            if (liftProtocol == null) {
                                break;
                            }

                            if (!liftThread.isIdle()) {
                                break;
                            }

                            if (motionService.count(new LambdaQueryWrapper<Motion>()
                                    .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                                    .eq(Motion::getDevice, inSta.getLiftNo())
                                    .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
                                break;
                            }

                            //检测提升机是否有任务绑定
                            boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(workNo));
                            if (liftResult) {
                                //存在任务，禁止执行
                                break;
                            }

                            //每次执行提升机指令都绑定提升机
                            task.setLiftNo(liftProtocol.getLiftNo());
                            task.setUpdateTime(new Date());
                            if (!taskService.updateById(task)) {
                                break;
                            }

                            List<LiftCommand> command = liftThread.getPalletInOutCommand(workNo, 1, lev, inSta.getDeviceStaNo(), targetSite, LiftCommandModeType.PALLET_INOUT);

                            LiftAssignCommand assignCommand = new LiftAssignCommand();
                            assignCommand.setLiftNo(liftProtocol.getLiftNo());
                            assignCommand.setTaskNo(workNo);
                            assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(workNo, MotionCtgType.LIFT_WITH_GOODS));
                            assignCommand.setCommands(command);
                            liftAction.assignWork(liftThread.getDevice(), assignCommand);

                            redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo, "send", 60 * 60 * 6);
                            break;
                        }

                    }
                }
            }
@@ -633,20 +503,46 @@
                                }
                            }

                            //获取距离目标位置最近的可换层提升机(可能不空闲)
                            LiftThread liftThread = liftDispatcher.searchLift(task.getDestLoc(), task.getHostId(), true);
                            if (liftThread == null) {
                                continue;
                            }
                            Device transferLiftDevice = liftThread.getDevice();
                            //获取小车待机库位 ==> 进提升机
                            ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
                                    .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
                                    .eq(ShuttleStandby::getDeviceLev, Utils.getLev(task.getDestLoc()))
                                    .eq(ShuttleStandby::getStatus, 1));
                            //穿梭车进提升机库位号
                            String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
                            //穿梭车进提升机待机位库位号  输送线位置
                            String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();

                            if (Cools.isEmpty(task.getShuttleNo())) {
                                //分配小车
                                //搜索空闲车
                                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                                if (shuttleThread == null) {
                                //调度空闲车去取货待机位
                                Device shuttleDevice = shuttleDispatcher.dispatchShuttle(task, standbyLocNoTo);
                                if (shuttleDevice == null) {
                                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                                    continue;
                                }

                                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                                task.setShuttleNo(Integer.valueOf(shuttleDevice.getDeviceNo()));//保存穿梭车号
                                task.setUpdateTime(new Date());
                                if (!taskService.updateById(task)) {
                                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                                }
                                continue;
                            }

                            //判断小车是否到达取货待机位置
                            String shuttleLocNo = shuttleDispatcher.findShuttleLocNo(task.getShuttleNo(), task.getHostId());
                            if (shuttleLocNo == null) {
                                continue;
                            }

                            if (!standbyLocNoTo.equals(shuttleLocNo)) {
                                continue;
                            }

@@ -838,23 +734,6 @@
    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
            if (motionList.isEmpty()) {
@@ -864,6 +743,54 @@

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    // 解析小车充电工作档
    public synchronized void analyzeChargeTask() {
        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.NEW_CHARGE.sts));
        for (Task task : list) {
            String locNo = task.getDestLoc();

            Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceNo, task.getShuttleNo())
                    .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                    .eq(Device::getHostId, task.getHostId())
                    .eq(Device::getStatus, 1));
            if (shuttleDevice == null) {
                continue;
            }

            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }
            String shuttleLocNo = task.getOriginLoc();

            if (Utils.getLev(locNo) != Utils.getLev(shuttleLocNo)) {
                shuttleDispatcher.dispatchShuttle(task, task.getDestLoc());
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateChargeMotion(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", task.getTaskNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
@@ -998,15 +925,6 @@
            task.setMemo("charge");
            task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));

            // generate motion list
            List<Motion> motionList = analyzeService.generateChargeMotion(task);
            if (Cools.isEmpty(motionList)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
            if (!taskService.save(task)) {
                News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
                continue;
@@ -1088,7 +1006,7 @@
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);
            task.setOriginLoc(null);
            task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
            task.setDestSite(null);
            task.setDestLoc(standByLocNo); // 避让位置
            task.setIoTime(new Date());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java

@@ -399,7 +399,7 @@
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(priority);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
        task.setDestSite(null);
        task.setDestLoc(param.getDestLoc());
        task.setIoTime(new Date());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java

@@ -1,7 +1,6 @@
package com.zy.asrs.wcs.core.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,6 +23,7 @@
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.*;

@@ -58,6 +58,63 @@
    private DictService dictService;
    @Autowired
    private NavigateUtils navigateUtils;

    /**
     * 调度车辆
     */
    public Device dispatchShuttle(Task task, String locNo) {
        ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        ShuttleThread resThread = null;
        int lev = Utils.getLev(locNo);
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        //获取同层小车
        List<Device> currentLevDevices = new ArrayList<>();
        //获取跨层小车
        HashMap<Integer, List<Device>> diffLevDeviceMap = new HashMap<>();
        for (Device device : list) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            if (shuttleLev == lev) {
                currentLevDevices.add(device);
            } else {
                List<Device> devices = null;
                if (diffLevDeviceMap.containsKey(shuttleLev)) {
                    devices = diffLevDeviceMap.get(shuttleLev);
                } else {
                    devices = new ArrayList<>();
                }
                devices.add(device);
                diffLevDeviceMap.put(shuttleLev, devices);
            }
        }

        //搜索同层
        resThread = this.searchCurrentLevShuttle(currentLevDevices, locNo);

        //同层没有搜索到合适小车，跨楼层搜索
        if (resThread == null) {
            resThread = this.searchDiffLevShuttle(diffLevDeviceMap, locNo, task);
        }

        Task result = generateMoveTask(resThread.getDevice(), locNo);
        if (result != null) {
            return resThread.getDevice();
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return null;
    }

    public synchronized ShuttleThread searchIdleShuttle(Task task) {
        String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -318,6 +375,11 @@
            return null;
        }

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

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
@@ -325,7 +387,7 @@
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
        task.setDestSite(null);
        task.setDestLoc(locNo); // 迁移位置
        task.setIoTime(new Date());
@@ -567,5 +629,26 @@
        return lastPathStartLoc;
    }

    //获取小车坐标
    public String findShuttleLocNo(Integer shuttleNo, Long hostId) {
        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getDeviceNo, shuttleNo)
                .eq(Device::getHostId, hostId)
                .eq(Device::getStatus, 1));
        if(device == null) {
            return null;
        }

        //获取四向穿梭车线程
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
            return null;
        }

        return shuttleProtocol.getCurrentLocNo();
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java

@@ -403,6 +403,9 @@
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    removeIdx = i;//此数据已经处理，从结果集中剔除
                    socketResults.remove(removeIdx);

                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -410,16 +413,11 @@
                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                    JSONObject requestResult = requestCommand(httpCommand);

                    removeIdx = i;//此数据已经处理，从结果集中剔除

                    log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    break;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
            e.printStackTrace();