#

Junjie

2023-09-25 7441616d1f28146f859eb20be839c07fd3719a40

#

 src/main/java/com/zy/asrs/controller/LiftController.java

@@ -260,26 +260,8 @@
                    }
                } else if (param.getLiftTaskMode() == 0) {
                    //提升机复位
                    int workNo = commonService.getWorkNo(3);//获取任务号

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftResetCommand(liftProtocol.getLiftNo().intValue());
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.RESET.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                    liftProtocol.setToken(0);
                    liftProtocol.setProtocolStatusType(LiftProtocolStatusType.IDLE);
                } else {
                    throw new CoolException("未知命令");
                }

 src/main/java/com/zy/asrs/controller/RobotController.java

@@ -13,7 +13,7 @@
public class RobotController {

    //机械手向WCS回报任务结果完成
    @PostMapping("/request/wcs/single_class_depal_task/report_action_status")
    @PostMapping("/request/wcs/report_task_status")
    public HashMap<String,Object> reportActionStatus(@RequestBody RobotReportActionStatusParam param) {
        HashMap<String, Object> map = new HashMap<>();
        String taskId = param.getTask_id();
@@ -22,6 +22,7 @@
        Integer targetNum = param.getTarget_num();
        String message = param.getMessage();

        System.out.println(param);
        map.put("error", 0);
        map.put("error_message", "success");
        return map;
@@ -36,6 +37,7 @@
        String msg = param.getMsg();
        String tip = param.getTip();

        System.out.println(param);
        map.put("error", 0);
        map.put("error_message", "success");
        return map;

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -320,13 +320,22 @@
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
                    //充电开关
                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
                    boolean charge = false;
                    if (shuttleProtocol.getChargState() == 1) {
                        //已充电，关闭充电
                        charge = false;
                    }else {
                        //开启充电
                        charge = true;
                    }
                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(command);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
                    //复位
                    shuttleProtocol.setTaskNo(0);//工作号清空
                    shuttleProtocol.setToken(0);//令牌清空
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
                    shuttleProtocol.setPakMk(false);//作业标记复位
                    return R.ok();

 src/main/java/com/zy/asrs/entity/BasShuttleOpt.java

@@ -109,6 +109,20 @@
    @TableField("system_status")
    private String systemStatus;

    /**
     * 下发状态{0:未下发,1:已下发}
     */
    @ApiModelProperty(value= "下发状态{0:未下发,1:已下发}")
    @TableField("send")
    private Integer send;

    /**
     * 请求响应
     */
    @ApiModelProperty(value= "请求响应")
    @TableField("response")
    private String response;

    public BasShuttleOpt() {}

    public BasShuttleOpt(Integer wrkNo, Integer shuttleNo, Date sendTime, String mode, String sourceLocNo, String distLocNo, Date updateTime, Long updateBy, String memo, String command, String commandSend, String systemStatus) {

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

@@ -946,6 +946,8 @@
            }

            //四向穿梭车状态为等待确认、小车处于空闲状态


            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id  //任务完成等待确认
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
@@ -956,14 +958,16 @@
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 5://5.小车搬运中 ==> 9.入库完成
                            wrkMast.setWrkSts(9L);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
                            break;
                        case 22://22.小车搬运中 ==> 23.小车搬运完成
                            wrkMast.setWrkSts(23L);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
@@ -973,6 +977,7 @@
                            break;
                        case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
                            wrkMast.setWrkSts(105L);
                            shuttleProtocol.setTaskNo(0);//清理工作号
                            break;
                        case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
                            wrkMast.setWrkSts(109L);
@@ -980,7 +985,7 @@
                        case 110://110.小车移动中 ==> 111.小车移动完成
                            wrkMast.setWrkSts(111L);
                            shuttleProtocol.setTaskNo(0);
                            if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
                            if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放小车令牌
                                shuttleProtocol.setToken(0);
                            }
@@ -1281,7 +1286,7 @@
                    && liftProtocol.getTaskNo() != 0
                    && !liftProtocol.getBusy()
            ) {

                boolean clearTaskNoFlag = false;//清零工作号标记
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
@@ -1299,18 +1304,24 @@
                            if (wrkMast.getIoType() == 11) {//库位移转
                                wrkMast.setWrkSts(4L);//4.提升机搬运完成
                            }
                            if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
                            if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }
                            break;
                        case 106://106.提升机搬运中 ==> 107.提升机搬运完成
                            wrkMast.setWrkSts(107L);
//                            //清零工作号
//                            clearTaskNoFlag = true;
                            break;
                        default:
                    }

                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        if (clearTaskNoFlag) {
                            //清零工作号
                            MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(4, null));
                        }
                        //设置提升机为空闲状态
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务指令清零
@@ -2116,11 +2127,39 @@
                continue;
            }

            //小车所在楼层
            int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
            ShuttleChargeType shuttleCharge = null;

            //搜索小车所在楼层有没有充电桩
            for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                if (lev != Utils.getLev(chargeType.locNo)) {
                    continue;//小车和充电桩不在同一层
                }

                //小车和充电桩在同一层
                if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
                    shuttleCharge = chargeType;
                    break;
                }
            }

            if (shuttleCharge == null) {
                //同楼层没有找到充电桩，找可用充电桩
                //小车同楼层没有充电桩，只要充电桩可用就生成充电任务
                for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                    if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
                        //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
                        int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
                        boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
                        if (checkLevHasShuttle) {
                            //当前充电桩楼层有穿梭车，不分配该充电桩
                            continue;
                        }

                        shuttleCharge = chargeType;
                        break;
                    }
                }
            }

@@ -2143,7 +2182,6 @@
                continue;
            }

            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
            News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
        }
    }
@@ -2321,6 +2359,12 @@
                return false;//找不到站点
            }

            //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftSta.getLiftNo());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo());
            List<NyShuttleHttpCommand> commands = result.getCommands();
@@ -2335,6 +2379,7 @@

            wrkMast.setWrkSts(102L);//小车移动到提升机中  101.生成小车移库任务 ==> 102.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
@@ -2382,7 +2427,9 @@
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo());
@@ -2394,7 +2441,7 @@
                return false;
            }

            if (!liftProtocol.isIdle()) {
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                return false;
            }

@@ -2409,7 +2456,12 @@
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

            //小车令牌是否被任务独占
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2424,6 +2476,9 @@

                //获取提升机命令，调度提升机到源站位置
                NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());

                Random random = new Random();
                liftCommand.setTaskNo((short) Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999))));//更换随机任务号

                ArrayList<NyLiftCommand> commands = new ArrayList<>();
                commands.add(liftCommand);
@@ -2445,13 +2500,19 @@
                return false;//等待提升机到小车楼层
            }

            if (liftProtocol.getToken() == 0) {//提升机令牌未被占用
                //独占提升机
                liftProtocol.setToken(wrkMast.getShuttleNo());
                return false;//等待下一次执行
            }

            //判断提升机令牌是否为当前小车
            if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
            if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
                return false;//提升机已被独占，禁止再派发任务
            }

            //判断小车是否为当前任务独占
            if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2460,7 +2521,7 @@

            //提升机节点
            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
            liftNode.setZ(basLift.getPoint$().getZ());
            liftNode.setZ(staNode.getZ());

            //获取小车进提升机行走命令
            NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
@@ -2516,8 +2577,16 @@
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                return false;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }

            //判断提升机令牌是否为当前小车
            if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
            if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
                return false;//提升机令牌和当前小车不一致，禁止派发
            }

@@ -2542,7 +2611,7 @@
            }

            //判断小车是否为当前任务独占
            if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2602,8 +2671,16 @@
                return false;
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }

            //判断提升机令牌是否为当前小车
            if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
            if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
                return false;//提升机令牌和当前小车不一致，禁止派发
            }

@@ -2623,7 +2700,7 @@
            }

            //判断小车是否为当前任务独占
            if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2642,9 +2719,13 @@
                return false;//没有设置提升机点位坐标
            }
            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
            liftNode.setZ(basLift.getPoint$().getZ());
            liftNode.setZ(liftSta.getLev());

            List<NyShuttleHttpCommand> commands = new ArrayList<>();
            //获取小车更新楼层命令
            NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo());
            commands.add(updateZCommand);

            //获取小车出提升机行走命令
            NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false);
            commands.add(moveCommand);//添加小车迁出提升机命令
@@ -2697,7 +2778,7 @@
            }

            //判断小车令牌是否为当前任务
            if (shuttleProtocol.getToken() != 0 && shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2732,10 +2813,8 @@
            assignCommand.setAuto(true);//自动模式
            assignCommand.setCommands(commands);
            assignCommand.setNodes(result.getNodes());

            wrkMast.setWrkSts(110L);//小车移动到目标库位中  109.小车迁出提升机完成 ==> 110.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setModiTime(now);
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            if (wrkMast.getLiftNo() != null) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
@@ -2746,10 +2825,15 @@
                if (liftProtocol == null) {
                    return false;
                }
                if (liftProtocol.getToken() == shuttleProtocol.getShuttleNo().intValue()) {
                if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
                    liftProtocol.setToken(0);//释放提升机令牌
                }
            }

            wrkMast.setWrkSts(110L);//小车移动到目标库位中  109.小车迁出提升机完成 ==> 110.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setModiTime(now);

            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));

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

@@ -11,7 +11,7 @@

    @Override
    public WrkCharge selectWorking(Integer shuttleNo) {
        return this.baseMapper.selectWorkingOfCharge(shuttleNo);
        return this.baseMapper.selectWorking(shuttleNo);
    }

    @Override

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -500,4 +500,30 @@
        return false;
    }

    //检测楼层是否有穿梭车
    public static boolean checkLevHasShuttle(Integer lev) {
        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }
            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                continue;
            }

            if (lev == Utils.getLev(currentLocNo)) {
                return true;//指定楼层有穿梭车
            }
        }

        return false;//指定楼层没有穿梭车
    }

}

 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -252,7 +252,7 @@
        int[][] map = solution.map;
        for (NavigateNode node : path) {
            int value = map[node.getX()][node.getY()];
            if (value != 0 && value != 3) {
            if (value != 0 && value != 3 && value != 5) {//母轨道3、子轨道0、充电桩5
                return false;
            }
        }

 src/main/java/com/zy/common/utils/NyHttpUtils.java

@@ -71,11 +71,27 @@
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        NyShuttleProtocol.NyShuttlePointClass nyStartPoint = new NyShuttleProtocol.NyShuttlePointClass();
        NyShuttleProtocol.NyShuttlePointClass nyTargetPoint = new NyShuttleProtocol.NyShuttlePointClass();
        if (in) {
            //进提升机
            nyStartPoint = navigateNodeToNyPointNode(start);
            nyTargetPoint.setX(target.getX());
            nyTargetPoint.setY(target.getY());
            nyTargetPoint.setZ(target.getZ());
        }else {
            //出提升机
            nyTargetPoint = navigateNodeToNyPointNode(target);
            nyStartPoint.setX(start.getX());
            nyStartPoint.setY(start.getY());
            nyStartPoint.setZ(start.getZ());
        }

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        body.put("start", nyStartPoint);//起点
        body.put("target", nyTargetPoint);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -125,8 +141,8 @@
    }

    //获取更新层坐标Z(楼层)命令
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z, Integer wrkNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -285,10 +301,15 @@
        if (socket == null) {
            return null;
        }

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");

        // 获取输入流和输出流
        BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
        OutputStreamWriter writer = new OutputStreamWriter(socket.getOutputStream());
        writer.write(JSON.toJSONString(httpCommand) + "\r\n");
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));


 src/main/java/com/zy/common/utils/ShuttleDispatchUtils.java

@@ -14,6 +14,7 @@
import com.zy.common.service.CommonService;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ShuttleChargeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
@@ -81,7 +82,12 @@

            if (currentLocNo.equals(locNo)) {
                //车辆当前位置已经是目标库位，调度该车
                shuttleMoveGenerate(wrkNo, locNo, shuttleProtocol.getShuttleNo().intValue());
                //给工作档绑定小车号
                WrkMast wrkMast1 = wrkMastMapper.selectByWorkNo(wrkNo);
                if (wrkMast1 != null) {
                    wrkMast1.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                    wrkMastMapper.updateById(wrkMast1);
                }
                break;
            }

@@ -188,7 +194,19 @@
        //判断是否有充电任务正在使用穿梭车
        WrkCharge wrkCharge = wrkChargeMapper.selectWorking(shuttleNo);
        if (wrkCharge != null) {//小车存在充电任务，等待执行完成后再生成新的任务
            return false;
            //判断目标点是否为充电桩，如果是去充电则放行
            boolean toCharge = false;//去充电目标
            for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                if (chargeType.locNo.equals(locNo)) {
                    toCharge = true;//去充电桩
                    break;
                }
            }

            if (!toCharge) {
                //不是去充电桩且存在充电任务，禁止生成新的移动任务
                return false;
            }
        }

        Integer sourceStaNo = null;//小车换层源站点

 src/main/java/com/zy/core/model/command/NyLiftCommand.java

@@ -14,7 +14,7 @@
    private Short liftNo = 0;

    /**
     * 任务号
     * 提升机工作号(随机值)
     */
    private Short taskNo = 0;


 src/main/java/com/zy/core/model/protocol/LiftProtocol.java

@@ -147,20 +147,22 @@

    // 是否处于空闲待命状态
    public Boolean isIdle(Short taskNo) {
        if(this.taskNo == null
                || this.busy == null
        if(this.busy == null
                || this.model == null
                || this.deviceError == null
                || this.pakMk == null
                || this.token == null
        ){
            return false;
        }

        boolean res = (this.taskNo == 0 || this.taskNo.intValue() == taskNo.intValue())
                && !this.busy
        boolean res =
//                (this.taskNo.equals(this.completeTaskNo) || this.taskNo.intValue() == taskNo.intValue())
                !this.busy
                && this.model
                && !this.pakMk
                && !this.deviceError
                && this.protocolStatusType.equals(LiftProtocolStatusType.IDLE)
                ;
        return res;
    }
@@ -177,12 +179,14 @@
            return false;
        }

        boolean res = this.taskNo == 0
                && !this.busy
        boolean res =
//                this.taskNo.equals(this.completeTaskNo)
                !this.busy
                && this.model
                && !this.pakMk
                && !this.deviceError
                && this.token == 0
                && this.protocolStatusType.equals(LiftProtocolStatusType.IDLE)
                ;
        return res;
    }

 src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java

@@ -535,7 +535,7 @@
                if (chargeLine == null) {
                    return false;
                }
                return this.getPowerPercent() < chargeLine || this.minCellVoltage < 2900;
                return this.getPowerPercent() < chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;

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

@@ -67,10 +67,10 @@
                    case 1:
                        read();
                        break;
                    // 写入数据
                    case 2:
                        write((NyShuttleHttpCommand) task.getData());
                        break;
//                    // 写入数据
//                    case 2:
//                        write((NyShuttleHttpCommand) task.getData());
//                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
@@ -275,7 +275,7 @@

    }

    private boolean write(NyShuttleHttpCommand command){
    private boolean write(NyShuttleHttpCommand command, ShuttleAssignCommand assignCommand) {
        if (null == command) {
            News.error("四向穿梭车写入命令为空");
            return false;
@@ -308,10 +308,33 @@
                throw new RuntimeException(ex);
            }
        }

        //保存数据到数据库做流水
        BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
        BasShuttleOpt opt = null;
        if (shuttleOptService != null) {
            opt = new BasShuttleOpt(
                    assignCommand.getTaskNo().intValue(),
                    assignCommand.getShuttleNo().intValue(),
                    new Date(),
                    ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                    assignCommand.getSourceLocNo(),
                    assignCommand.getLocNo(),
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    null,
                    JSON.toJSONString(shuttleProtocol)
            );
            opt.setSend(1);//已下发
            opt.setResponse(JSON.toJSONString(result));//请求响应
            shuttleOptService.insert(opt);
        }

        if (result == null) {
            return false;//请求失败
        }

        return true;
    }

@@ -373,10 +396,12 @@
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径和当前路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    if (command != null) {
                    if (command != null && command.getNodes() != null) {
                        nodes.addAll(command.getNodes());
                    }
                    navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                    if (nodes != null) {
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                    }
                }
            }else {
                lastCommand.setComplete(true);//其他命令默认认为完成
@@ -414,7 +439,10 @@
        }

        if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
            return false;//小车状态忙，禁止执行命令
            //停止充电
            if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
                return false;//小车状态忙，禁止执行命令
            }
        }

//        //检测小车是否要进提升机，如需要进提升机则调度提升机
@@ -427,20 +455,24 @@
            return false;
        }

        //检测路径是否可行走
        if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
            return false;
        }
        if (command.getRequest().getBody().get("requestType").equals("move")) {
            //检测路径是否可行走
            if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
                return false;
            }

        //锁定路径，锁定当前路径和下一步路径
        List<NavigateNode> nodes = command.getNodes();
        if (nextNodes != null) {
            nodes.addAll(nextNodes);
            //锁定路径，锁定当前路径和下一步路径
            List<NavigateNode> nodes = command.getNodes();
            if (nextNodes != null) {
                nodes.addAll(nextNodes);
            }
            if (nodes != null) {
                navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
            }
        }
        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用

        //可执行命令
        if (!write(command)) {
        if (!write(command, assignCommand)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            return false;
        }
@@ -449,24 +481,10 @@
        //将标记置为false(防止重发)
        shuttleProtocol.setPakMk(true);

        //保存数据到数据库做流水
        BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
        if (shuttleOptService != null) {
            BasShuttleOpt opt = new BasShuttleOpt(
                    assignCommand.getTaskNo().intValue(),
                    assignCommand.getShuttleNo().intValue(),
                    new Date(),
                    ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                    assignCommand.getSourceLocNo(),
                    assignCommand.getLocNo(),
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    null,
                    JSON.toJSONString(shuttleProtocol)
            );
            shuttleOptService.insert(opt);
        String requestType = command.getRequest().getBody().get("requestType").toString();
        if (requestType.equals("updateFloor")) {
            //更新楼层命令
            shuttleProtocol.setPakMk(false);//恢复标记
        }

        commandStep++;
@@ -656,39 +674,39 @@
            }
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
        String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
        NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
        String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
        if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
            //当前路径最后一个节点是目标库位，进行路径检测，如果不可行走，重新计算路径
            //不可行走，重新计算路径
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
            if (result == null) {
                return false;//路径计算失败，不可行走
            }

            List<NyShuttleHttpCommand> newCommands = result.getCommands();//新路径

            //当前步序
            int commandStep = redisCommand.getCommandStep();
            List<NyShuttleHttpCommand> commands = assignCommand.getCommands();

            commands.remove(commandStep);//移除当前步序指令
            if (assignCommand.getLocNo().equals(currentLocNo)) {
                //当前路径，需要再多移除下一步指令
                commands.remove(commandStep + 1);
            }

            //将新路径添加进指令集合
            commands.addAll(commandStep, newCommands);
            assignCommand.setCommands(commands);
            redisCommand.setAssignCommand(assignCommand);
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            return false;//当前不可行走，等待下一次执行走新路径
        }
//        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
//        NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
//        String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
//        NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
//        String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
//        if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
//            //当前路径最后一个节点是目标库位，进行路径检测，如果不可行走，重新计算路径
//            //不可行走，重新计算路径
//            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
//            if (result == null) {
//                return false;//路径计算失败，不可行走
//            }
//
//            List<NyShuttleHttpCommand> newCommands = result.getCommands();//新路径
//
//            //当前步序
//            int commandStep = redisCommand.getCommandStep();
//            List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
//
//            commands.remove(commandStep);//移除当前步序指令
//            if (assignCommand.getLocNo().equals(currentLocNo)) {
//                //当前路径，需要再多移除下一步指令
//                commands.remove(commandStep + 1);
//            }
//
//            //将新路径添加进指令集合
//            commands.addAll(commandStep, newCommands);
//            assignCommand.setCommands(commands);
//            redisCommand.setAssignCommand(assignCommand);
//            //任务数据保存到redis
//            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//            return false;//当前不可行走，等待下一次执行走新路径
//        }

        return false;//不可行走
    }

 src/main/resources/map_1.json

@@ -1 +1 @@
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 src/main/resources/mapper/BasShuttleOptMapper.xml

@@ -16,6 +16,8 @@
        <result column="memo" property="memo" />
        <result column="command" property="command" />
        <result column="system_status" property="systemStatus" />
        <result column="send" property="send" />
        <result column="response" property="response" />

    </resultMap>


 src/main/resources/mapper/WrkMastMapper.xml

@@ -141,7 +141,7 @@
    <select id="selectByWorkNo324104" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast
        where wrk_no=#{workNo}
        and wrk_sts in (3,24,104)
        and wrk_sts in (3,24,103,106)
    </select>

    <select id="selectBy2125" resultMap="BaseResultMap">
@@ -168,7 +168,7 @@
    <select id="selectLiftWrkMast" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast
        where lift_no = #{liftNo}
        and wrk_sts in (3,4,24,25,104,105,106,107,108,109)
        and wrk_sts in (3,4,24,25,102,103,104,105,106,107,108,109)
    </select>

    <select id="selectInOutWrkMast" resultMap="BaseResultMap">