#

Junjie

2024-04-16 e7ec0b5327724e06668160e00270edb75d59ef4b

#

 zy-asrs-wcs/src/main/java/basLift.sql

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-- save basLift record
-- mysql
insert into `sys_menu` ( `name`, `parent_id`, `route`, `component`, `type`, `sort`, `host_id`, `status`) values ( '提升机列表管理', '0', '/core/basLift', '/core/basLift', '0' , '0', '1' , '1');

insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '查询提升机列表', '', '1', 'core:basLift:list', '0', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '添加提升机列表', '', '1', 'core:basLift:save', '1', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '修改提升机列表', '', '1', 'core:basLift:update', '2', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '删除提升机列表', '', '1', 'core:basLift:remove', '3', '1', '1');


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasLiftController.java

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package com.zy.asrs.wcs.system.controller;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.common.annotation.OperationLog;
import com.zy.asrs.wcs.common.domain.BaseParam;
import com.zy.asrs.wcs.common.domain.KeyValVo;
import com.zy.asrs.wcs.common.domain.PageParam;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletResponse;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;

@RestController
@RequestMapping("/api")
public class BasLiftController extends BaseController {

    @Autowired
    private BasLiftService basLiftService;

    @PreAuthorize("hasAuthority('core:basLift:list')")
    @PostMapping("/basLift/page")
    public R page(@RequestBody Map<String, Object> map) {
        BaseParam baseParam = buildParam(map, BaseParam.class);
        PageParam<BasLift, BaseParam> pageParam = new PageParam<>(baseParam, BasLift.class);
        return R.ok().add(basLiftService.page(pageParam, pageParam.buildWrapper(true)));
    }

    @PreAuthorize("hasAuthority('core:basLift:list')")
    @PostMapping("/basLift/list")
    public R list(@RequestBody Map<String, Object> map) {
        return R.ok().add(basLiftService.list());
    }

    @PreAuthorize("hasAuthority('core:basLift:list')")
    @GetMapping("/basLift/{id}")
    public R get(@PathVariable("id") Long id) {
        return R.ok().add(basLiftService.getById(id));
    }

    @PreAuthorize("hasAuthority('core:basLift:save')")
    @OperationLog("添加提升机列表")
    @PostMapping("/basLift/save")
    public R save(@RequestBody BasLift basLift) {
        if (!basLiftService.save(basLift)) {
            return R.error("添加失败");
        }
        return R.ok("添加成功");
    }

    @PreAuthorize("hasAuthority('core:basLift:update')")
    @OperationLog("修改提升机列表")
    @PostMapping("/basLift/update")
    public R update(@RequestBody BasLift basLift) {
        if (!basLiftService.updateById(basLift)) {
            return R.error("修改失败");
        }
        return R.ok("修改成功");
    }

    @PreAuthorize("hasAuthority('core:basLift:remove')")
    @OperationLog("删除提升机列表")
    @PostMapping("/basLift/remove/{ids}")
    public R remove(@PathVariable Long[] ids) {
        if (!basLiftService.removeByIds(Arrays.asList(ids))) {
            return R.error("删除失败");
        }
        return R.ok("删除成功");
    }

    @PreAuthorize("hasAuthority('core:basLift:list')")
    @PostMapping("/basLift/query")
    public R query(@RequestParam(required = false) String condition) {
        List<KeyValVo> vos = new ArrayList<>();
        LambdaQueryWrapper<BasLift> wrapper = new LambdaQueryWrapper<>();
        if (!Cools.isEmpty(condition)) {
            wrapper.like(BasLift::getLiftNo, condition);
        }
        basLiftService.page(new Page<>(1, 30), wrapper).getRecords().forEach(
                item -> vos.add(new KeyValVo(item.getId(), item.getLiftNo()))
        );
        return R.ok().add(vos);
    }

    @PreAuthorize("hasAuthority('core:basLift:list')")
    @PostMapping("/basLift/export")
    public void export(@RequestBody Map<String, Object> map, HttpServletResponse response) throws Exception {
        ExcelUtil.build(ExcelUtil.create(basLiftService.list(), BasLift.class), response);
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/ShuttleStandbyController.java

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package com.zy.asrs.wcs.system.controller;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.common.annotation.OperationLog;
import com.zy.asrs.wcs.common.domain.BaseParam;
import com.zy.asrs.wcs.common.domain.KeyValVo;
import com.zy.asrs.wcs.common.domain.PageParam;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletResponse;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;

@RestController
@RequestMapping("/api")
public class ShuttleStandbyController extends BaseController {

    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

    @PreAuthorize("hasAuthority('core:shuttleStandby:list')")
    @PostMapping("/shuttleStandby/page")
    public R page(@RequestBody Map<String, Object> map) {
        BaseParam baseParam = buildParam(map, BaseParam.class);
        PageParam<ShuttleStandby, BaseParam> pageParam = new PageParam<>(baseParam, ShuttleStandby.class);
        return R.ok().add(shuttleStandbyService.page(pageParam, pageParam.buildWrapper(true)));
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:list')")
    @PostMapping("/shuttleStandby/list")
    public R list(@RequestBody Map<String, Object> map) {
        return R.ok().add(shuttleStandbyService.list());
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:list')")
    @GetMapping("/shuttleStandby/{id}")
    public R get(@PathVariable("id") Long id) {
        return R.ok().add(shuttleStandbyService.getById(id));
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:save')")
    @OperationLog("添加穿梭车待机位")
    @PostMapping("/shuttleStandby/save")
    public R save(@RequestBody ShuttleStandby shuttleStandby) {
        if (!shuttleStandbyService.save(shuttleStandby)) {
            return R.error("添加失败");
        }
        return R.ok("添加成功");
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:update')")
    @OperationLog("修改穿梭车待机位")
    @PostMapping("/shuttleStandby/update")
    public R update(@RequestBody ShuttleStandby shuttleStandby) {
        if (!shuttleStandbyService.updateById(shuttleStandby)) {
            return R.error("修改失败");
        }
        return R.ok("修改成功");
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:remove')")
    @OperationLog("删除穿梭车待机位")
    @PostMapping("/shuttleStandby/remove/{ids}")
    public R remove(@PathVariable Long[] ids) {
        if (!shuttleStandbyService.removeByIds(Arrays.asList(ids))) {
            return R.error("删除失败");
        }
        return R.ok("删除成功");
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:list')")
    @PostMapping("/shuttleStandby/query")
    public R query(@RequestParam(required = false) String condition) {
        List<KeyValVo> vos = new ArrayList<>();
        LambdaQueryWrapper<ShuttleStandby> wrapper = new LambdaQueryWrapper<>();
        if (!Cools.isEmpty(condition)) {
            wrapper.like(ShuttleStandby::getName, condition);
        }
        shuttleStandbyService.page(new Page<>(1, 30), wrapper).getRecords().forEach(
                item -> vos.add(new KeyValVo(item.getId(), item.getName()))
        );
        return R.ok().add(vos);
    }

    @PreAuthorize("hasAuthority('core:shuttleStandby:list')")
    @PostMapping("/shuttleStandby/export")
    public void export(@RequestBody Map<String, Object> map, HttpServletResponse response) throws Exception {
        ExcelUtil.build(ExcelUtil.create(shuttleStandbyService.list(), ShuttleStandby.class), response);
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/BasLift.java

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package com.zy.asrs.wcs.core.entity;

import java.text.SimpleDateFormat;
import java.util.Date;

import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.system.entity.Host;
import com.zy.asrs.wcs.system.entity.User;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
import com.baomidou.mybatisplus.annotation.TableLogic;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableLogic;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.system.service.UserService;
import com.zy.asrs.wcs.system.service.HostService;

import java.io.Serializable;
import java.util.Date;

@Data
@TableName("wcs_bas_lift")
public class BasLift implements Serializable {

    private static final long serialVersionUID = 1L;

    @ApiModelProperty(value= "")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 设备id
     */
    @ApiModelProperty(value= "设备id")
    private Long deviceId;

    /**
     * 提升机号
     */
    @ApiModelProperty(value= "提升机号")
    private Integer liftNo;

    /**
     * 当前任务状态
     */
    @ApiModelProperty(value= "当前任务状态")
    private Integer status;

    /**
     * 任务号
     */
    @ApiModelProperty(value= "任务号")
    private Integer taskNo;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    private Long updateBy;

    /**
     * 创建人员
     */
    @ApiModelProperty(value= "创建人员")
    private Long createBy;

    /**
     * 创建时间
     */
    @ApiModelProperty(value= "创建时间")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date updateTime;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    /**
     * 作业标记
     */
    @ApiModelProperty(value= "作业标记")
    private Integer pakMk;

    /**
     * 是否删除 1: 是  0: 否  
     */
    @ApiModelProperty(value= "是否删除 1: 是  0: 否  ")
    @TableLogic
    private Integer deleted;

    /**
     * 所属机构
     */
    @ApiModelProperty(value= "所属机构")
    private Long hostId;

    /**
     * 设备状态
     */
    @ApiModelProperty(value= "设备状态")
    private String protocol;

    /**
     * 小车是否可换层 0: 否  1: 是  
     */
    @ApiModelProperty(value= "小车是否可换层 0: 否  1: 是  ")
    private Integer transfer;

    /**
     * 排
     */
    @ApiModelProperty(value= "排")
    private Integer row;

    /**
     * 列
     */
    @ApiModelProperty(value= "列")
    private Integer bay;

    public BasLift() {}

    public BasLift(Long deviceId,Integer liftNo,Integer status,Integer taskNo,Long updateBy,Long createBy,Date createTime,Date updateTime,String memo,Integer pakMk,Integer deleted,Long hostId,String protocol,Integer transfer) {
        this.deviceId = deviceId;
        this.liftNo = liftNo;
        this.status = status;
        this.taskNo = taskNo;
        this.updateBy = updateBy;
        this.createBy = createBy;
        this.createTime = createTime;
        this.updateTime = updateTime;
        this.memo = memo;
        this.pakMk = pakMk;
        this.deleted = deleted;
        this.hostId = hostId;
        this.protocol = protocol;
        this.transfer = transfer;
    }

//    BasLift basLift = new BasLift(
//            null,    // 设备id
//            null,    // 提升机号[非空]
//            null,    // 当前任务状态
//            null,    // 任务号
//            null,    // 修改人员
//            null,    // 创建人员
//            null,    // 创建时间
//            null,    // 修改时间
//            null,    // 备注
//            null,    // 作业标记
//            null,    // 是否删除
//            null,    // 所属机构
//            null,    // 设备状态
//            null    // 小车是否可换层
//    );

    public String getDeviceId$(){
        DeviceService service = SpringUtils.getBean(DeviceService.class);
        Device device = service.getById(this.deviceId);
        if (!Cools.isEmpty(device)){
            return String.valueOf(device.getDeviceNo());
        }
        return null;
    }

    public String getUpdateBy$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.getById(this.updateBy);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
        }
        return null;
    }

    public String getCreateBy$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.getById(this.createBy);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
        }
        return null;
    }

    public String getCreateTime$(){
        if (Cools.isEmpty(this.createTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime);
    }

    public String getUpdateTime$(){
        if (Cools.isEmpty(this.updateTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }

    public String getDeleted$(){
        if (null == this.deleted){ return null; }
        switch (this.deleted){
            case 1:
                return "是";
            case 0:
                return "否";
            default:
                return String.valueOf(this.deleted);
        }
    }

    public String getHostId$(){
        HostService service = SpringUtils.getBean(HostService.class);
        Host host = service.getById(this.hostId);
        if (!Cools.isEmpty(host)){
            return String.valueOf(host.getName());
        }
        return null;
    }

    public String getTransfer$(){
        if (null == this.transfer){ return null; }
        switch (this.transfer){
            case 0:
                return "否";
            case 1:
                return "是";
            default:
                return String.valueOf(this.transfer);
        }
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/ShuttleStandby.java

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@@ -0,0 +1,243 @@
package com.zy.asrs.wcs.core.entity;

import com.baomidou.mybatisplus.annotation.TableLogic;
import java.text.SimpleDateFormat;
import java.util.Date;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableLogic;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.wcs.system.service.UserService;
import com.zy.asrs.wcs.system.service.HostService;

import java.io.Serializable;
import java.util.Date;

@Data
@TableName("wcs_shuttle_standby")
public class ShuttleStandby implements Serializable {

    private static final long serialVersionUID = 1L;

    /**
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 编号
     */
    @ApiModelProperty(value= "编号")
    private String uuid;

    /**
     * 名称
     */
    @ApiModelProperty(value= "名称")
    private String name;

    /**
     * 标识
     */
    @ApiModelProperty(value= "标识")
    private String flag;

    /**
     * 所属机构
     */
    @ApiModelProperty(value= "所属机构")
    private Long hostId;

    /**
     * 状态 1: 正常  0: 禁用  
     */
    @ApiModelProperty(value= "状态 1: 正常  0: 禁用  ")
    private Integer status;

    /**
     * 是否删除 1: 是  0: 否  
     */
    @ApiModelProperty(value= "是否删除 1: 是  0: 否  ")
    @TableLogic
    private Integer deleted;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

    /**
     * 添加人员
     */
    @ApiModelProperty(value= "添加人员")
    private Long createBy;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date updateTime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    private Long updateBy;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    /**
     * 设备号
     */
    @ApiModelProperty(value= "设备号")
    private Long deviceId;

    /**
     * 设备楼层楼层
     */
    @ApiModelProperty(value= "设备楼层楼层")
    private Integer deviceLev;

    /**
     * 设备库位号
     */
    @ApiModelProperty(value= "设备库位号")
    private String deviceLoc;

    /**
     * 设备待机位库位号
     */
    @ApiModelProperty(value= "设备待机位库位号")
    private String deviceStandbyLoc;

    /**
     * 待机位库位号
     */
    @ApiModelProperty(value= "待机位库位号")
    private String standbyLoc;

    public ShuttleStandby() {}

    public ShuttleStandby(String uuid,String name,String flag,Long hostId,Integer status,Integer deleted,Date createTime,Long createBy,Date updateTime,Long updateBy,String memo,Long deviceId,Integer deviceLev,String deviceLoc,String deviceStandbyLoc,String standbyLoc) {
        this.uuid = uuid;
        this.name = name;
        this.flag = flag;
        this.hostId = hostId;
        this.status = status;
        this.deleted = deleted;
        this.createTime = createTime;
        this.createBy = createBy;
        this.updateTime = updateTime;
        this.updateBy = updateBy;
        this.memo = memo;
        this.deviceId = deviceId;
        this.deviceLev = deviceLev;
        this.deviceLoc = deviceLoc;
        this.deviceStandbyLoc = deviceStandbyLoc;
        this.standbyLoc = standbyLoc;
    }

//    ShuttleStandby shuttleStandby = new ShuttleStandby(
//            null,    // 编号
//            null,    // 名称
//            null,    // 标识
//            null,    // 所属机构
//            null,    // 状态
//            null,    // 是否删除
//            null,    // 添加时间
//            null,    // 添加人员
//            null,    // 修改时间
//            null,    // 修改人员
//            null,    // 备注
//            null,    // 设备号
//            null,    // 设备楼层楼层
//            null,    // 设备库位号
//            null,    // 设备待机位库位号
//            null    // 待机位库位号
//    );

    public String getHostId$(){
        HostService service = SpringUtils.getBean(HostService.class);
        Host host = service.getById(this.hostId);
        if (!Cools.isEmpty(host)){
            return String.valueOf(host.getName());
        }
        return null;
    }

    public String getStatus$(){
        if (null == this.status){ return null; }
        switch (this.status){
            case 1:
                return "正常";
            case 0:
                return "禁用";
            default:
                return String.valueOf(this.status);
        }
    }

    public String getDeleted$(){
        if (null == this.deleted){ return null; }
        switch (this.deleted){
            case 1:
                return "是";
            case 0:
                return "否";
            default:
                return String.valueOf(this.deleted);
        }
    }

    public String getCreateTime$(){
        if (Cools.isEmpty(this.createTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime);
    }

    public String getCreateBy$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.getById(this.createBy);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
        }
        return null;
    }

    public String getUpdateTime$(){
        if (Cools.isEmpty(this.updateTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }

    public String getUpdateBy$(){
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.getById(this.updateBy);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
        }
        return null;
    }


}

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

@@ -3,11 +3,13 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
@@ -16,9 +18,11 @@
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.entity.Device;
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.core.service.MotionService;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -48,6 +52,8 @@
//    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private ShuttleStandbyService shuttleStandbyService;

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
@@ -714,164 +720,189 @@
     */
    public List<Motion> generateChargeMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
//        if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_CHARGE.sts || wrkCharge.getIoType() != WrkIoTypeType.CHARGE.sts) {
//            return motionList;
//        }
//
//        // locNo
//        String chargeLocNo = wrkCharge.getLocNo();
//
//        // lift
//        Integer transferLiftNo = 2;
//        SiemensLiftThread liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, transferLiftNo);
//        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//        if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
//            return motionList;
//        }
//
//        // shuttle
//        Integer shuttleNo = wrkCharge.getShuttleNo();
//        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
//        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
//            return motionList;
//        }
//        if (!shuttleProtocol.isIdle()) {
//            return motionList;
//        }
//
//        //检测穿梭车是否有任务绑定
//        boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleProtocol.getShuttleNo().intValue());
//        if (shuttleResult) {
//            //存在任务，禁止解析
//            return motionList;
//        }
//
//        //检测提升机是否有任务绑定
//        boolean liftResult = Utils.checkLiftHasBinding(transferLiftNo);
//        if (liftResult) {
//            //存在任务，禁止解析
//            return motionList;
//        }
//
//        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
//
//        //穿梭车到提升机库位号
//        String liftLocNoTo = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
//
//        //穿梭车出提升机库位号
//        String liftLocNoFrom = LiftCodeType.getLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
//
//        //穿梭车到提升机待机位库位号
//        String standbyLocNoTo = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(shuttleLocNo));
//
//        //穿梭车出提升机待机位库位号
//        String standbyLocNoFrom = LiftCodeType.getStandbyLocNo(transferLiftNo, Utils.getLev(wrkCharge.getLocNo()));
//
//        // 判断穿梭车是否在充电层
//        if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
//
//            // 穿梭车走行至充电桩库位
//            motionList.addAll(kernelService.shuttleMove(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(shuttleLocNo);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        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(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(shuttleLocNo);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        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(transferLiftNo);
//                        dto.setLev(Utils.getLev(shuttleLocNo));
//                    }))
//            ));
//
//            // 穿梭车提升机待机位至提升机库位
//            motionList.addAll(kernelService.shuttleMove(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(standbyLocNoTo);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLiftNo(transferLiftNo);
//                        dto.setLocNo(liftLocNoTo);
//                    })),
//                    MotionCtgType.SHUTTLE_MOVE_TO_LIFT
//            ));
//
//            // 提升机搬车 至 输送线层
//            motionList.addAll(kernelService.liftMoveShuttle(
//                    MotionDto.build((dto -> {
//                        dto.setLiftNo(transferLiftNo);
//                        dto.setLev(Utils.getLev(shuttleLocNo));
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setLiftNo(transferLiftNo);
//                        dto.setLev(Utils.getLev(chargeLocNo));
//                    }))
//            ));
//
//            // 穿梭车提升机至提升机待机位
//            motionList.addAll(kernelService.shuttleMove(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLiftNo(transferLiftNo);
//                        dto.setLocNo(liftLocNoFrom);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(standbyLocNoFrom);
//                    })),
//                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
//            ));
//
//            // 穿梭车提升机待机位至充电位
//            motionList.addAll(kernelService.shuttleMove(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(standbyLocNoFrom);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(chargeLocNo);
//                    })),
//                    MotionCtgType.SHUTTLE_MOVE
//            ));
//
//            wrkCharge.setLiftNo(transferLiftNo);
//            wrkChargeMapper.updateById(wrkCharge);
//        }
//
//        // 穿梭车开始充电
//        motionList.addAll(kernelService.shuttleCharge(
//                null,
//                MotionDto.build((dto -> {
//                    dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                }))
//        ));
        if (task.getTaskSts() != TaskStsType.NEW_CHARGE.sts) {
            return motionList;
        }

        // locNo
        String chargeLocNo = task.getDestLoc();

        // shuttle
        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) {
            return motionList;
        }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
            return motionList;
        }
        if (!shuttleThread.isIdle()) {
            return motionList;
        }

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

        // lift
        Device transferLiftDevice = Utils.getRecentTransferLift(shuttleLocNo, shuttleProtocol.getShuttleNo());
        if (transferLiftDevice == null) {
            return motionList;
        }
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, transferLiftDevice.getId().intValue());
        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);
        if (shuttleResult) {
            //存在任务，禁止解析
            return motionList;
        }

        //检测提升机是否有任务绑定
        boolean liftResult = Utils.checkLiftHasBinding(Integer.parseInt(transferLiftDevice.getDeviceNo()));
        if (liftResult) {
            //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)) {

            // 穿梭车走行至充电桩库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.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.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));
                    }))
            ));

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

            // 提升机搬车 至 输送线层
            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));
                    }))
            ));

            // 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.setLocNo(standbyLocNoFrom);
                    })),
                    MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
            ));

            // 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());
                        dto.setLocNo(chargeLocNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

            task.setLiftNo(Integer.parseInt(transferLiftDevice.getDeviceNo()));
            taskService.updateById(task);
        }

        // 穿梭车开始充电
        motionList.addAll(kernelService.shuttleCharge(
                null,
                MotionDto.build((dto -> {
                    dto.setShuttleNo(shuttleDevice.getId().intValue());
                }))
        ));

        return motionList;
    }
@@ -881,40 +912,47 @@
     */
    public List<Motion> generateShuttleChargeWrkComplete(Task task) {
        List<Motion> motionList = new ArrayList<>();
//        if (wrkCharge.getWrkSts() != WrkMastStsType.NEW_MOVE.sts || wrkCharge.getIoType() != WrkIoTypeType.MOVE.sts) {
//            return motionList;
//        }
//
//        // locNo
//        String locNo = wrkCharge.getLocNo();
//
//        // shuttle
//        Integer shuttleNo = wrkCharge.getShuttleNo();
//        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
//        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
//            return motionList;
//        }
//
//        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
//
//        // 判断穿梭车是否在目标层
//        if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
//
//            // 穿梭车走行至目标库位
//            motionList.addAll(kernelService.shuttleMove(
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(shuttleLocNo);
//                    })),
//                    MotionDto.build((dto -> {
//                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
//                        dto.setLocNo(locNo);
//                    })),
//                    MotionCtgType.SHUTTLE_MOVE
//            ));
//
//        }
        if (task.getTaskSts() != TaskStsType.NEW_MOVE.sts) {
            return motionList;
        }

        // locNo
        String locNo = task.getDestLoc();

        // shuttle
        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) {
            return motionList;
        }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
            return motionList;
        }

        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

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

            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleDevice.getId().intValue());
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE
            ));

        }
        return motionList;
    }

@@ -957,11 +995,11 @@
            // 穿梭车走行至目标库位
            motionList.addAll(kernelService.shuttleMove(
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                        dto.setShuttleNo(device.getId().intValue());
                        dto.setLocNo(shuttleLocNo);
                    })),
                    MotionDto.build((dto -> {
                        dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                        dto.setShuttleNo(device.getId().intValue());
                        dto.setLocNo(locNo);
                    })),
                    MotionCtgType.SHUTTLE_MOVE

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/BasLiftMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.wcs.core.mapper;

import com.zy.asrs.wcs.core.entity.BasLift;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface BasLiftMapper extends BaseMapper<BasLift> {

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/ShuttleStandbyMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.wcs.core.mapper;

import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface ShuttleStandbyMapper extends BaseMapper<ShuttleStandby> {

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java

@@ -36,6 +36,8 @@

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    List<Task> selectWorkingByLift(Integer liftNo);

    Task selectChargeWorking(Integer shuttleNo);

}

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

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.wcs.core.service;

import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.asrs.wcs.core.entity.BasLift;

public interface BasLiftService extends IService<BasLift> {

}

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

New file
@@ -0,0 +1,8 @@
package com.zy.asrs.wcs.core.service;

import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;

public interface ShuttleStandbyService extends IService<ShuttleStandby> {

}

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

@@ -34,6 +34,8 @@

    List<Task> selectWorkingByShuttle(Integer shuttleNo);

    List<Task> selectWorkingByLift(Integer liftNo);

    Task selectChargeWorking(Integer shuttleNo);

}

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

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.wcs.core.service.impl;

import com.zy.asrs.wcs.core.mapper.BasLiftMapper;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

@Service("basLiftService")
public class BasLiftServiceImpl extends ServiceImpl<BasLiftMapper, BasLift> implements BasLiftService {

}

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

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.wcs.core.service.impl;

import com.zy.asrs.wcs.core.mapper.ShuttleStandbyMapper;
import com.zy.asrs.wcs.core.entity.ShuttleStandby;
import com.zy.asrs.wcs.core.service.ShuttleStandbyService;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

@Service("shuttleStandbyService")
public class ShuttleStandbyServiceImpl extends ServiceImpl<ShuttleStandbyMapper, ShuttleStandby> implements ShuttleStandbyService {

}

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

@@ -112,6 +112,11 @@
    }

    @Override
    public List<Task> selectWorkingByLift(Integer liftNo) {
        return this.baseMapper.selectWorkingByLift(liftNo);
    }

    @Override
    public Task selectChargeWorking(Integer shuttleNo) {
        return this.baseMapper.selectChargeWorking(shuttleNo);
    }

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

@@ -4,9 +4,13 @@
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskSerialNo;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.TaskSerialNoService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
@@ -77,34 +81,38 @@

    //获取除白名单外的指定楼层全部穿梭车xy坐标点
    public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
//        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        DeviceService deviceService = SpringUtils.getBean(DeviceService.class);
        ArrayList<int[]> list = new ArrayList<>();
//        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
//            if (slave.getId().intValue() == whiteShuttle) {
//                continue;//跳过白名单
//            }
//
//            //获取穿梭车所在节点位置
//            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
//            if (shuttleThread == null) {
//                continue;
//            }
//            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//            if (shuttleProtocol == null) {
//                continue;
//            }
//
//            if (shuttleProtocol.getCurrentLocNo() == null) {
//                continue;
//            }
//
//            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
//                continue;//楼层不同
//            }
//
//            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
//            list.add(xyPosition);
//        }

        List<Device> devices = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : devices) {
            if (Integer.parseInt(device.getDeviceNo()) == whiteShuttle) {
                continue;//跳过白名单
            }

            //获取穿梭车所在节点位置
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                continue;//楼层不同
            }

            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
    }

@@ -175,4 +183,64 @@
        throw new CoolException("工作号生成失败");
    }

    /**
     * 检测穿梭车是否有任务绑定
     */
    public static boolean checkShuttleHasBinding(Device device) {
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()));
        if (tasks.isEmpty()) {
            return false;//无任务绑定
        }
        return true;//有任务绑定
    }

    /**
     * 检测提升机是否有任务绑定
     */
    public static boolean checkLiftHasBinding(Integer liftNo) {
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        List<Task> tasks = taskService.selectWorkingByLift(liftNo);
        if (tasks.isEmpty()) {
            return false;//无任务绑定
        }
        return true;//有任务绑定
    }

    /**
     * 获取距离目标库位最近的提升机
     */
    public static Device getRecentTransferLift(String locNo, Integer shuttleNo) {
        BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
        DeviceService deviceService = SpringUtils.getBean(DeviceService.class);
        if (basLiftService == null) {
            return null;
        }

        Integer distance = Integer.MAX_VALUE;
        Long liftDeviceId = null;
        for (BasLift basLift : basLiftService.list(new LambdaQueryWrapper<BasLift>()
                .eq(BasLift::getStatus, 1)
                .eq(BasLift::getTransfer, 1))) {
            int lev = Utils.getLev(locNo);
            String liftLocNo = Utils.getLocNo(basLift.getRow(), basLift.getBay(), lev);
            List<NavigateNode> nodeList = NavigateUtils.calc(locNo, liftLocNo, NavigationMapType.NONE.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(locNo)));
            Integer originPathAllDistance = NavigateUtils.getOriginPathAllDistance(nodeList);//总距离
            if (originPathAllDistance < distance) {
                distance = originPathAllDistance;
                liftDeviceId = basLift.getDeviceId();
            }
        }

        if (liftDeviceId == null) {
            return null;
        }

        Device device = deviceService.getById(liftDeviceId);
        if (device == null) {
            return null;
        }
        return device;
    }

}

 zy-asrs-wcs/src/main/java/shuttleStandby.sql

New file
@@ -0,0 +1,9 @@
-- save shuttleStandby record
-- mysql
insert into `sys_menu` ( `name`, `parent_id`, `route`, `component`, `type`, `sort`, `host_id`, `status`) values ( '穿梭车待机位管理', '0', '/core/shuttleStandby', '/core/shuttleStandby', '0' , '0', '1' , '1');

insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '查询穿梭车待机位', '', '1', 'core:shuttleStandby:list', '0', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '添加穿梭车待机位', '', '1', 'core:shuttleStandby:save', '1', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '修改穿梭车待机位', '', '1', 'core:shuttleStandby:update', '2', '1', '1');
insert into `sys_menu` ( `name`, `parent_id`, `type`, `authority`, `sort`, `host_id`, `status`) values ( '删除穿梭车待机位', '', '1', 'core:shuttleStandby:remove', '3', '1', '1');


 zy-asrs-wcs/src/main/resources/mapper/core/BasLiftMapper.xml

New file
@@ -0,0 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.wcs.core.mapper.BasLiftMapper">

</mapper>

 zy-asrs-wcs/src/main/resources/mapper/core/ShuttleStandbyMapper.xml

New file
@@ -0,0 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.wcs.core.mapper.ShuttleStandbyMapper">

</mapper>

 zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml

@@ -79,11 +79,18 @@

    <select id="selectWorkingByShuttle" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (1,2,3,101,102,103,201,202,203,204,301,302,303,401,402,403)
        where task_sts in (1,2,3,101,102,103,301,302,303,401,402,403)
          and shuttle_no = #{shuttleNo}
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectWorkingByLift" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (1,2,3,101,102,103,301,302,303,401,402,403)
          and lift_no = #{liftNo}
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectChargeWorking" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (201,202,203,204)