From 0b83448133a1af459273318bc5b0c2a4bc6e0448 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 08 四月 2023 17:09:14 +0800
Subject: [PATCH] 四向穿梭车逻辑优化

---
 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java     |   26 ++
 src/main/resources/mapIn.json                                     |    2 
 src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java |    6 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java       |   14 
 src/main/java/com/zy/core/thread/ShuttleThread.java               |  411 +++++++++++++++++++++++++++++++++++++---
 src/main/resources/mapper/LocMastMapper.xml                       |    1 
 src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java      |   27 ++
 src/main/java/com/zy/common/utils/NavigateUtils.java              |    7 
 src/main/resources/mapOut.json                                    |    2 
 src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java    |    1 
 src/main/java/com/zy/common/utils/NavigatePositionConvert.java    |   29 ++
 src/main/java/com/zy/common/utils/CommonUtils.java                |    2 
 src/main/java/com/zy/core/enums/ShuttleRunDirection.java          |    4 
 src/main/java/com/zy/asrs/controller/ShuttleController.java       |   32 ++
 src/main/java/com/zy/core/enums/ShuttleTaskModeType.java          |    6 
 src/main/webapp/views/shuttle.html                                |   16 +
 16 files changed, 524 insertions(+), 62 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index ef3f912..d8aab42 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -16,7 +16,6 @@
 import com.zy.asrs.service.WrkMastService;
 import com.zy.asrs.utils.Utils;
 import com.zy.common.utils.NavigatePositionConvert;
-import com.zy.common.utils.NavigateUtils;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
 import com.zy.core.cache.SlaveConnection;
@@ -77,17 +76,36 @@
             vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//褰撳墠浠诲姟鐘舵��
             vo.setCurrentCode(shuttleProtocol.getCurrentCode());//褰撳墠浜岀淮鐮�
             LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
-            vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
-            int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
-            vo.setLocNoX(locNoXY[0]);
-            vo.setLocNoY(locNoXY[1]);
-            vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+            if (currentLocMast == null) {
+                vo.setLocNo("");//鑾峰彇褰撳墠搴撲綅鍙�
+                vo.setLocNoX(0);
+                vo.setLocNoY(0);
+                vo.setLocNoLev(0);//褰撳墠搴撲綅灞傞珮
+            }else {
+                vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
+                int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
+                vo.setLocNoX(locNoXY[0]);
+                vo.setLocNoY(locNoXY[1]);
+                vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+            }
             vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
             vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
             if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                 vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//閿欒缂栧彿
             }
             vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc杈撳嚭鐘舵�両O
+            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
+                vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
+            }
+            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
+                vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
+            }
+            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
+                vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
+            }
+            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
+                vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
+            }
             if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                 vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//閿欒淇℃伅鐮�
             }
@@ -260,7 +278,7 @@
 
         ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
 
-        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2) {
+        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
             if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                 return R.parse(BaseRes.PARAM);
             }
diff --git a/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java b/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
index 38c4aae..eaef679 100644
--- a/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
+++ b/src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
@@ -73,6 +73,26 @@
     private Short plcOutputStatusIO;
 
     /**
+     * Plc杈撳嚭鐘舵�両O-椤跺崌浣�
+     */
+    private Boolean plcOutputLift;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鎹㈠悜浣�
+     */
+    private Boolean plcOutputTransfer;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鎶遍椄浣�
+     */
+    private Boolean plcOutputBrake;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鍏呯數浣�
+     */
+    private Boolean plcOutputCharge;
+
+    /**
      * 閿欒淇℃伅鐮�
      */
     private Short statusErrorCode;
@@ -157,4 +177,11 @@
         this.errorCodeType = type;
     }
 
+    public String getPlcOutputCharge$() {
+        if (this.plcOutputCharge == null) {
+            return null;
+        }
+        return this.plcOutputCharge ? "Y" : "N";
+    }
+
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index aad864d..8f5e7b0 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -724,13 +724,13 @@
                 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
 
                 StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
-                StaProtocol staProtocol105 = devpThread.getStation().get(105);
-                staProtocol105.setWorkNo((short) 752);
-                staProtocol105.setStaNo((short) 100);
-
-                StaProtocol staProtocol106 = devpThread.getStation().get(106);
-                staProtocol106.setWorkNo((short) 753);
-                staProtocol106.setStaNo((short) 100);
+//                StaProtocol staProtocol105 = devpThread.getStation().get(105);
+//                staProtocol105.setWorkNo((short) 752);
+//                staProtocol105.setStaNo((short) 100);
+//
+//                StaProtocol staProtocol106 = devpThread.getStation().get(106);
+//                staProtocol106.setWorkNo((short) 753);
+//                staProtocol106.setStaNo((short) 100);
 
                 if (staProtocol == null) {
                     continue;
diff --git a/src/main/java/com/zy/common/utils/CommonUtils.java b/src/main/java/com/zy/common/utils/CommonUtils.java
index 9e612fe..d42d922 100644
--- a/src/main/java/com/zy/common/utils/CommonUtils.java
+++ b/src/main/java/com/zy/common/utils/CommonUtils.java
@@ -37,7 +37,7 @@
         short byteToShort = RadixTools.byteToShort(tmp1);
         byte[] tmp2 = {bytes[2], bytes[3]};
         short byteToShort2 = RadixTools.byteToShort(tmp2);
-        return new short[]{byteToShort2, byteToShort};
+        return new short[]{byteToShort, byteToShort2};
     }
 
     public static boolean shortToBoolean(Short num) {
diff --git a/src/main/java/com/zy/common/utils/NavigatePositionConvert.java b/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
index 52a4d61..28a2324 100644
--- a/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
+++ b/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
@@ -1,5 +1,9 @@
 package com.zy.common.utils;
 
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.LocMastService;
+
 /**
  * 搴撲綅缂栧彿鍜孉*绠楁硶鐨剎y杞磋浆鎹㈠伐鍏风被
  */
@@ -28,6 +32,31 @@
         return Short.parseShort(sb.toString());
     }
 
+    //xyz杞磋浆鍧愭爣缂栧彿
+    public static Short xyToPosition(int x, int y, int z) {
+        StringBuffer sb = new StringBuffer();
+        sb.append(x);
+        if (x < 10) {
+            sb.append("00");
+        } else if (x < 100) {
+            sb.append("0");
+        }
+
+        if (y < 10) {
+            sb.append("0");
+        }
+        sb.append(y);
+
+        if (z < 10) {
+            sb.append("0");
+        }
+        sb.append(z);
+        String position = sb.toString();
+        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+        LocMast locMast = locMastService.queryByLoc(position);
+        return Short.parseShort(locMast.getQrCodeValue());
+    }
+
     //杞崲琛屽彿锛屽疄闄呬腑鏈�搴曞眰鍙兘鏄涓�琛岋紝鍦ㄦ暟缁勪腑鏈�搴曞眰鏄渶鍚庝竴琛岋紝鍥犳闇�瑕佽繘琛岃浆鎹㈡墠鍙互鍖归厤鏁版嵁
     public static int covertRow(int row) {
         NavigateMapData mapData = new NavigateMapData();
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 4be9c78..38fbb15 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -129,7 +129,9 @@
         ArrayList<ArrayList<NavigateNode>> list = new ArrayList<>();
         ArrayList<NavigateNode> data = new ArrayList<>();
         String direction = mapList.get(0).getDirection();//琛岃蛋鏂瑰悜
-        for (NavigateNode mapNode : mapList) {
+
+        for (int i = 0; i < mapList.size(); i++) {
+            NavigateNode mapNode = mapList.get(i);
             boolean isInflectionPoint = mapNode.getIsInflectionPoint();
             data.add(mapNode);
             if (isInflectionPoint) {
@@ -138,6 +140,7 @@
                 list.add(data);//娣诲姞鏌愪竴娈垫暟鎹�
                 direction = mapNode.getDirection();//鏇存柊琛岃蛋鏂瑰悜
                 data = new ArrayList<>();
+                data.add(mapNode);//灏嗘嫄鐐圭殑缁堢偣锛屾洿鏂版垚涓嬩竴娈靛懡浠ょ殑璧风偣鍧愭爣
             }else {
                 //鐩磋绾胯矾
                 mapNode.setDirection(direction);//璁剧疆琛岃蛋鏂瑰悜
@@ -169,7 +172,7 @@
     /**
      * 鑾峰彇褰撳墠璺緞鎬昏璧拌窛绂�
      */
-    public static Integer getCurrentPathAllDistance(ArrayList<NavigateNode> path) {
+    public static Integer getCurrentPathAllDistance(List<NavigateNode> path) {
         if (path.size() == 1) {
             //璺緞鍙湁涓�鏉℃暟鎹紝鍒欑洿鎺ヨ繑鍥炶璧拌窛绂�
             return path.get(0).getMoveDistance();
diff --git a/src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java b/src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java
index 570559d..cd08360 100644
--- a/src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java
@@ -10,6 +10,7 @@
     WAITING(3, "绛夊緟纭"),
     CHARGING(5, "鍏呯數涓�"),
     CHARGING_WAITING(6, "鍏呯數浠诲姟绛夊緟纭"),
+    FIXING(7, "鏁呴殰淇涓�"),
     ;
 
     public Integer id;
diff --git a/src/main/java/com/zy/core/enums/ShuttleRunDirection.java b/src/main/java/com/zy/core/enums/ShuttleRunDirection.java
index bf6888a..e8051b3 100644
--- a/src/main/java/com/zy/core/enums/ShuttleRunDirection.java
+++ b/src/main/java/com/zy/core/enums/ShuttleRunDirection.java
@@ -7,8 +7,8 @@
 
     TOP((short)1, "璐х墿鏂瑰悜+"),
     BOTTOM((short)2, "璐х墿鏂瑰悜-"),
-    LEFT((short)3, "杩囬亾鏂瑰悜+"),
-    RIGHT((short)4, "杩囬亾鏂瑰悜-"),
+    LEFT((short)4, "杩囬亾鏂瑰悜+"),
+    RIGHT((short)3, "杩囬亾鏂瑰悜-"),
     ;
 
     public Short id;
diff --git a/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java b/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
index b827217..b7fece6 100644
--- a/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
@@ -12,6 +12,12 @@
     MOVE_TOP(7, "鍓嶇Щ"),
     MOVE_BOTTOM(8, "鍚庣Щ"),
     RESET(9, "鐘舵�佸浣�"),
+    SEARCH_LEFT(10, "姝ｆ柟鍚�(宸�)瀵诲簱浣�"),
+    SEARCH_RIGHT(11, "璐熸柟鍚�(鍙�)瀵诲簱浣�"),
+    SEARCH_TOP(12, "璐熸柟鍚�(鍓�)瀵诲簱浣�"),
+    SEARCH_BOTTOM(13, "璐熸柟鍚�(鍚�)瀵诲簱浣�"),
+    MOVE_LOC_NO(14, "绉诲姩鍒扮洰鏍囧簱浣�"),
+    CHARGE(15, "鍏呯數"),
     ;
 
     public Integer id;
diff --git a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
index d4fd07e..6914294 100644
--- a/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
+++ b/src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java
@@ -1,5 +1,10 @@
 package com.zy.core.model.command;
 
+import com.core.common.RadixTools;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.LocMastService;
+import com.zy.common.utils.CommonUtils;
 import lombok.Data;
 
 import java.util.ArrayList;
@@ -52,6 +57,7 @@
      */
     private Boolean auto = true;
 
+
     /**
      * 鏄惁涓哄厖鐢典换鍔°�倀rue锛氭槸锛宖alse锛氬惁
      */
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index 302507e..4092680 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -39,6 +39,12 @@
      */
     private Integer protocolStatus;
 
+//    /**
+//     * 灏忚溅褰撳墠鏄惁鏈夎揣
+//     * true:鏈夎揣锛宖alse锛氭棤璐�
+//     */
+//    private Boolean loading = false;
+
     /**
      * 褰撳墠灏忚溅鐘舵�佹灇涓�
      */
@@ -98,6 +104,26 @@
     private Short plcOutputStatusIO;
 
     /**
+     * Plc杈撳嚭鐘舵�両O-椤跺崌浣�
+     */
+    private Boolean plcOutputLift;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鎹㈠悜浣�
+     */
+    private Boolean plcOutputTransfer;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鎶遍椄浣�
+     */
+    private Boolean plcOutputBrake;
+
+    /**
+     * Plc杈撳嚭鐘舵�両O-鍏呯數浣�
+     */
+    private Boolean plcOutputCharge;
+
+    /**
      * 閿欒淇℃伅鐮�
      */
     private Short statusErrorCode;
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index b273267..a970778 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -10,8 +10,10 @@
 import com.core.exception.CoolException;
 import com.zy.asrs.entity.BasShuttle;
 import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.entity.LocMast;
 import com.zy.asrs.service.BasShuttleOptService;
 import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
 import com.zy.common.model.NavigateNode;
 import com.zy.common.utils.CommonUtils;
 import com.zy.common.utils.NavigatePositionConvert;
@@ -21,10 +23,10 @@
 import com.zy.core.ThreadHandler;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
 import com.zy.core.enums.*;
 import com.zy.core.model.ShuttleSlave;
 import com.zy.core.model.Task;
-import com.zy.core.model.command.LiftCommand;
 import com.zy.core.model.command.ShuttleAssignCommand;
 import com.zy.core.model.command.ShuttleCommand;
 import com.zy.core.model.protocol.ShuttleProtocol;
@@ -137,7 +139,12 @@
                 //閿欒缂栧彿
                 shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                 //Plc杈撳嚭鐘舵�両O
-                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
+                boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
+                shuttleProtocol.setPlcOutputLift(booleans[1]);
+                shuttleProtocol.setPlcOutputTransfer(booleans[2]);
+                shuttleProtocol.setPlcOutputBrake(booleans[3]);
+                shuttleProtocol.setPlcOutputCharge(booleans[4]);
+                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
                 //閿欒淇℃伅鐮�
                 shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                 //PLC杈撳叆鐘舵��
@@ -166,6 +173,20 @@
                 //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
                 if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                     shuttleProtocol.setPakMk(true);
+                }
+
+                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
+                    //鍑虹幇閿欒
+                    reset(shuttleProtocol.getAssignCommand());
+                }
+
+                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
+                        && shuttleProtocol.getTaskNo() != 0
+                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+                        && shuttleProtocol.getAssignCommand() != null){
+                    //澶勪簬鏁呴殰淇鐘舵��
+                    //鎵ц涓嬩竴姝ユ寚浠�
+                    executeWork(shuttleProtocol.getAssignCommand());
                 }
 
                 //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
@@ -349,39 +370,20 @@
     private void assignWork(ShuttleAssignCommand assignCommand) {
         //灏嗘map瀛樺叆redis涓�
         HashMap<String, Object> map = new HashMap<>();
-
-//        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
-//                || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
-//            //鍏ュ簱鎴栧嚭搴撴ā寮忥紝璁＄畻璺緞
-//            //璁＄畻璺緞
-//            List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
-//            if (calc != null) {
-//                //鑾峰彇鍒嗘璺緞
-//                ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
-//                //璺緞鏁版嵁
-//                map.put("path", data);
-//                //璺緞娆℃暟
-//                map.put("pathSize", data.size());
-//            }else {
-//                if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
-//                    //灞炰簬鍏ュ簱鍑哄簱锛屽繀椤昏璁＄畻璺緞锛屽垯鎶涘嚭寮傚父
-//                    throw new Exception("鏈兘鎵惧埌杩愯璺緞");
-//                }
-//            }
-//        }
-
         if (!assignCommand.getAuto()) {
             List<ShuttleCommand> commands = new ArrayList<>();
             ShuttleCommand command = new ShuttleCommand();
+            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
             switch (assignCommand.getTaskMode()) {
                 case 1://鍏ュ簱
                 case 2://鍑哄簱
                     //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
                     //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
-                    List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
-                    if (calc != null) {
+                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
+                    if (firstMastResult != null) {
                         //鑾峰彇鍒嗘璺緞
-                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
                         //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
                         for (ArrayList<NavigateNode> nodes : data) {
                             //寮�濮嬭矾寰�
@@ -392,27 +394,108 @@
 
                             ShuttleCommand command1 = new ShuttleCommand();
                             command1.setCommandWord((short) 1);
-                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
-                            command1.setMiddleCodeNum((short) 0);
-                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
+                            command1.setMiddleCodeNum((short) 1);
+                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
                             command1.setStartToDistDistance(allDistance);
-                            command1.setMiddleToDistDistance(1000);
                             command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
-                            command1.setPalletLift((short) 1);
-                            command1.setForceMoveDistance(1000);
-                            command1.setChargeSwitch((short) 2);
+                            command1.setForceMoveDistance(0);
                             command1.setIOControl((short) 0);
                             command1.setRunSpeed((short) 1000);
-                            command1.setRadarTmp((short) 0);
                             command1.setCommandEnd((short) 1);
                             commands.add(command1);
                         }
+
+                        //鎵樼洏椤跺崌
+                        ShuttleCommand command2 = new ShuttleCommand();
+                        command2.setCommandWord((short) 2);
+                        command2.setStartCodeNum((short) 0);
+                        command2.setMiddleCodeNum((short) 0);
+                        command2.setDistCodeNum((short) 0);
+                        command2.setStartToDistDistance(0);
+                        command2.setMiddleToDistDistance(0);
+                        command2.setRunDirection((short) 0);
+                        command2.setForceMoveDistance(0);
+                        command2.setPalletLift((short) 1);
+                        command2.setRunSpeed((short) 0);
+                        command2.setCommandEnd((short) 1);
+                        commands.add(command2);
+                    }else {
+                        //娌℃湁璁＄畻鍒拌矾寰勶紝鍙兘瀛樺湪灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆
+                        if (currentLocMast.getLocNo().equals(assignCommand.getSourceLocNo())) {
+                            //灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆锛屾棤闇�绉诲姩锛岀洿鎺ラ《鍗�
+                            //鎵樼洏椤跺崌
+                            ShuttleCommand command2 = new ShuttleCommand();
+                            command2.setCommandWord((short) 2);
+                            command2.setStartCodeNum((short) 0);
+                            command2.setMiddleCodeNum((short) 0);
+                            command2.setDistCodeNum((short) 0);
+                            command2.setStartToDistDistance(0);
+                            command2.setMiddleToDistDistance(0);
+                            command2.setRunDirection((short) 0);
+                            command2.setForceMoveDistance(0);
+                            command2.setPalletLift((short) 1);
+                            command2.setRunSpeed((short) 0);
+                            command2.setCommandEnd((short) 1);
+                            commands.add(command2);
+                        }
+                    }
+
+                    //璁＄畻涓偣鍒扮粓鐐硅矾寰�
+                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+                    if (secMastResult != null) {
+                        //鑾峰彇鍒嗘璺緞
+                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
+                        //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+                        for (ArrayList<NavigateNode> nodes : data) {
+                            //寮�濮嬭矾寰�
+                            NavigateNode startPath = nodes.get(0);
+                            //鐩爣璺緞
+                            NavigateNode endPath = nodes.get(nodes.size() - 1);
+                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+                            ShuttleCommand command1 = new ShuttleCommand();
+                            command1.setCommandWord((short) 1);
+                            command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
+                            command1.setMiddleCodeNum((short) 1);
+                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
+                            command1.setStartToDistDistance(allDistance);
+                            command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+                            command1.setForceMoveDistance(0);
+                            command1.setIOControl((short) 0);
+                            command1.setRunSpeed((short) 1000);
+                            command1.setCommandEnd((short) 1);
+                            commands.add(command1);
+                        }
+
+                        //鎵樼洏涓嬮檷
+                        ShuttleCommand command2 = new ShuttleCommand();
+                        command2.setCommandWord((short) 2);
+                        command2.setStartCodeNum((short) 0);
+                        command2.setMiddleCodeNum((short) 0);
+                        command2.setDistCodeNum((short) 0);
+                        command2.setStartToDistDistance(0);
+                        command2.setMiddleToDistDistance(0);
+                        command2.setRunDirection((short) 0);
+                        command2.setForceMoveDistance(0);
+                        command2.setPalletLift((short) 2);
+                        command2.setRunSpeed((short) 0);
+                        command2.setCommandEnd((short) 1);
+                        commands.add(command2);
                     }
                     break;
                 case 3://鎵樼洏椤跺崌
                 case 4://鎵樼洏涓嬮檷
                     command.setCommandWord((short) 2);
+                    command.setStartCodeNum((short) 0);
+                    command.setMiddleCodeNum((short) 0);
+                    command.setDistCodeNum((short) 0);
+                    command.setStartToDistDistance(0);
+                    command.setMiddleToDistDistance(0);
+                    command.setRunDirection((short) 0);
+                    command.setForceMoveDistance(0);
                     command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
+                    command.setRunSpeed((short) 0);
                     command.setCommandEnd((short) 1);
                     commands.add(command);
                     break;
@@ -421,13 +504,99 @@
                 case 7://寮哄埗涓婄Щ
                 case 8://寮哄埗涓嬬Щ
                     command.setCommandWord((short) 3);
-                    command.setForceMoveDistance(1000);
+                    command.setStartCodeNum((short) 0);
+                    command.setMiddleCodeNum((short) 0);
+                    command.setDistCodeNum((short) 0);
+                    command.setStartToDistDistance(600);
                     command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
+                    command.setForceMoveDistance(600);
+                    command.setIOControl((short) 0);
                     command.setCommandEnd((short) 1);
+                    command.setRunSpeed((short) 1000);
                     commands.add(command);
                     break;
                 case 9://鐘舵�佸浣�
-                    command.setCommandWord((short) 0);
+                    command.setCommandWord((short) 6);
+                    command.setStartCodeNum((short) 0);
+                    command.setMiddleCodeNum((short) 0);
+                    command.setDistCodeNum((short) 0);
+                    command.setStartToDistDistance(0);
+                    command.setMiddleToDistDistance(0);
+                    command.setRunDirection((short) 0);
+                    command.setPalletLift((short) 0);
+                    command.setPalletLift((short) 0);
+                    command.setForceMoveDistance(0);
+                    command.setChargeSwitch((short) 0);
+                    command.setIOControl((short) 0);
+                    command.setRunSpeed((short) 0);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 10://鍚戞鏂瑰悜(宸�)瀵诲簱浣�
+                    command.setCommandWord((short) 4);
+                    command.setRunDirection((short) 1);
+                    command.setStartToDistDistance(3000);
+                    command.setRunSpeed((short) 1000);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 11://鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�
+                    command.setCommandWord((short) 4);
+                    command.setRunDirection((short) 2);
+                    command.setStartToDistDistance(3000);
+                    command.setRunSpeed((short) 1000);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 12://鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+                    command.setCommandWord((short) 4);
+                    command.setRunDirection((short) 4);
+                    command.setStartToDistDistance(3000);
+                    command.setRunSpeed((short) 1000);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 13://鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�
+                    command.setCommandWord((short) 4);
+                    command.setRunDirection((short) 3);
+                    command.setStartToDistDistance(3000);
+                    command.setRunSpeed((short) 1000);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 14://绉诲姩鍒扮洰鏍囧簱浣�
+                    LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+                    if (result != null) {
+                        //鑾峰彇鍒嗘璺緞
+                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+                        //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+                        for (ArrayList<NavigateNode> nodes : data) {
+                            //寮�濮嬭矾寰�
+                            NavigateNode startPath = nodes.get(0);
+                            //鐩爣璺緞
+                            NavigateNode endPath = nodes.get(nodes.size() - 1);
+                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+                            LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo());
+                            String qrCodeValue = distLocMast.getQrCodeValue();
+                            command.setCommandWord((short) 1);
+                            command.setStartCodeNum(shuttleProtocol.getCurrentCode());
+                            command.setMiddleCodeNum((short) 1);
+                            command.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
+                            command.setStartToDistDistance(allDistance);
+                            command.setRunSpeed((short) 1000);
+                            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+                            command.setForceMoveDistance(0);
+                            command.setIOControl((short) 0);
+                            command.setCommandEnd((short) 1);
+                            commands.add(command);
+                        }
+                    }
+                    break;
+                case 15://鍏呯數寮�鍏�
+                    command.setCommandWord((short) 8);
+                    command.setIOControl((short) 4);
                     command.setCommandEnd((short) 1);
                     commands.add(command);
                     break;
@@ -444,6 +613,8 @@
         map.put("commandStep", 0);
         //鍛戒护
         map.put("assignCommand", assignCommand);
+        //鍙戠敓閿欒鏃跺皾璇曟墽琛岀殑鎸囦护锛屼紭鍏堢骇鏈�楂�
+        map.put("errorCommands", new ArrayList<ShuttleCommand>());
         shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
         shuttleProtocol.setAssignCommand(assignCommand);
         shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
@@ -468,6 +639,80 @@
             return false;
         }
         HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+
+        List<ShuttleCommand> errorCommands =  JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
+        if (errorCommands.size() > 0) {
+            //浼樺厛鎵ц璇ユ寚浠�
+            ShuttleCommand errorCommand = errorCommands.get(0);//鍙栧嚭鎸囦护
+
+            if(errorCommand.getCommandWord() == 1){//姝ｅ父琛岃蛋鍛戒护锛岄渶瑕佸厛鎵ц瀹屾壘搴撲綅鍛戒护鍚庯紝鍐嶆墽琛�
+                LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+                LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+                LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
+                if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
+                    //璧风偣鍜岀粓鐐瑰睘浜庡悓涓�搴撲綅锛屾棤闇�鍐嶆墽琛岀Щ鍔ㄦ搷浣�
+                    errorCommands.remove(0);//绉婚櫎璇ュ懡浠�
+                    map.put("errorCommands", new ArrayList<ShuttleCommand>());
+                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+                    //褰撳墠姝ュ簭
+                    int commandStep = Integer.parseInt(map.get("commandStep").toString());
+                    //姝ュ簭鍥為��
+                    commandStep--;
+                    map.put("commandStep", commandStep);
+                    //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+                    redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+                    shuttleProtocol.setPakMk(true);
+                    return true;
+                }else {
+                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+                    if (result != null) {
+                        //鑾峰彇鍒嗘璺緞
+                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+                        //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+                        for (ArrayList<NavigateNode> nodes : data) {
+                            //寮�濮嬭矾寰�
+                            NavigateNode startPath = nodes.get(0);
+                            //鐩爣璺緞
+                            NavigateNode endPath = nodes.get(nodes.size() - 1);
+                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+                            String qrCodeValue = distLocMast.getQrCodeValue();
+                            errorCommand.setCommandWord((short) 1);
+                            errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
+                            errorCommand.setMiddleCodeNum((short) 1);
+                            errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
+                            errorCommand.setStartToDistDistance(allDistance);
+                            errorCommand.setRunSpeed((short) 1000);
+                            errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+                            errorCommand.setForceMoveDistance(0);
+                            errorCommand.setIOControl((short) 0);
+                            errorCommand.setCommandEnd((short) 1);
+                            break;
+                        }
+                    }
+                }
+
+                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+                //褰撳墠姝ュ簭
+                int commandStep = Integer.parseInt(map.get("commandStep").toString());
+                //姝ュ簭鍥為��
+                commandStep--;
+                map.put("commandStep", commandStep);
+            }
+
+            if (!write(errorCommand)) {
+                News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
+                return false;
+            } else {
+                News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(errorCommand));
+                errorCommands.remove(0);
+                map.put("errorCommands", errorCommands);
+                //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+                redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+                return true;
+            }
+        }
+
         List<ShuttleCommand> commands = assignCommand.getCommands();
         //褰撳墠姝ュ簭
         int commandStep = Integer.parseInt(map.get("commandStep").toString());
@@ -476,6 +721,15 @@
 
         //鍙栧嚭鍛戒护
         ShuttleCommand command = commands.get(commandStep);
+
+        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
+            || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()
+        ) {
+            //灏忚溅澶卞幓鍧愭爣锛岀姝笅鍙戝懡浠�
+            if (shuttleProtocol.getCurrentCode() == 0) {
+                return false;
+            }
+        }
 
         //涓嬪彂鍛戒护
         if (!write(command)) {
@@ -543,6 +797,91 @@
         return true;
     }
 
+    /**
+     * 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
+     */
+    private boolean reset(ShuttleAssignCommand assignCommand) {
+        //璇诲彇redis鏁版嵁
+        if (assignCommand == null) {
+            return false;
+        }
+
+        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+        if (o == null) {
+            return false;
+        }
+
+        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+        List<ShuttleCommand> commands = assignCommand.getCommands();
+        //褰撳墠姝ュ簭
+        int commandStep = Integer.parseInt(map.get("commandStep").toString());
+        //path璺緞鏁扮洰
+        int size = commands.size();
+
+        ArrayList<ShuttleCommand> list = new ArrayList<>();
+
+        //鍙栧嚭鍛戒护
+        ShuttleCommand command = commands.get(commandStep - 1);
+
+        //澶嶄綅鍛戒护
+        ShuttleCommand resetCommand = new ShuttleCommand();
+        resetCommand.setCommandWord((short) 6);
+        resetCommand.setStartCodeNum((short) 0);
+        resetCommand.setMiddleCodeNum((short) 0);
+        resetCommand.setDistCodeNum((short) 0);
+        resetCommand.setStartToDistDistance(0);
+        resetCommand.setMiddleToDistDistance(0);
+        resetCommand.setRunDirection((short) 0);
+        resetCommand.setPalletLift((short) 0);
+        resetCommand.setPalletLift((short) 0);
+        resetCommand.setForceMoveDistance(0);
+        resetCommand.setChargeSwitch((short) 0);
+        resetCommand.setIOControl((short) 0);
+        resetCommand.setRunSpeed((short) 0);
+        resetCommand.setCommandEnd((short) 1);
+        list.add(resetCommand);
+
+        //杞﹁締绌洪棽锛岀瓑寰呭啓鍏ユ壘搴撲綅鍛戒护
+        //鎵惧簱浣嶅懡浠�
+        ShuttleCommand searchCommand = new ShuttleCommand();
+        searchCommand.setCommandWord((short) 4);
+        short direction = 1;
+        switch (command.getRunDirection()) {
+            case 1:
+                direction = 2;
+                break;
+            case 2:
+                direction = 1;
+                break;
+            case 3:
+                direction = 4;
+                break;
+            case 4:
+                direction = 3;
+                break;
+            default:
+                direction = 1;
+        }
+
+        searchCommand.setRunDirection(direction);//杩愯鏂瑰悜
+        searchCommand.setStartToDistDistance(1200);
+        searchCommand.setRunSpeed((short) 1000);
+        searchCommand.setCommandEnd((short) 1);
+        list.add(searchCommand);
+
+        //绉诲姩杞﹁締锛岄渶瑕佸湪鎵ц瀹屽鎵惧畾浣嶇偣鍚庡啀鎵ц
+        ShuttleCommand moveCommand = new ShuttleCommand();
+        moveCommand.setCommandWord((short) 1);
+        moveCommand.setStartCodeNum(command.getStartCodeNum());//瀛樺叆鐩爣搴撲綅鍙�
+        list.add(moveCommand);
+
+        map.put("errorCommands", list);
+        //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
+        return true;
+    }
+
     /******************************************************************************************/
     /**************************************** 娴嬭瘯涓撶敤 *****************************************/
     /*****************************************************************************************/
diff --git a/src/main/resources/mapIn.json b/src/main/resources/mapIn.json
index 4d1b314..1bcb583 100644
--- a/src/main/resources/mapIn.json
+++ b/src/main/resources/mapIn.json
@@ -1 +1 @@
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diff --git a/src/main/resources/mapper/LocMastMapper.xml b/src/main/resources/mapper/LocMastMapper.xml
index 8a674ae..0b12ca1 100644
--- a/src/main/resources/mapper/LocMastMapper.xml
+++ b/src/main/resources/mapper/LocMastMapper.xml
@@ -35,6 +35,7 @@
         <result column="barcode" property="barcode" />
         <result column="Pdc_type" property="PdcType" />
         <result column="ctn_no" property="ctnNo" />
+        <result column="qr_code_value" property="qrCodeValue" />
 
     </resultMap>
 
diff --git a/src/main/webapp/views/shuttle.html b/src/main/webapp/views/shuttle.html
index c704efe..fdfe262 100644
--- a/src/main/webapp/views/shuttle.html
+++ b/src/main/webapp/views/shuttle.html
@@ -39,7 +39,7 @@
                                 <th>鐢甸噺</th>
                                 <th>鐢垫睜娓╁害</th>
                                 <th>閿欒缂栧彿</th>
-                                <th>plc杈撳嚭鐘舵�両O</th>
+                                <th>plc杈撳嚭鐘舵�両O-鍏呯數浣�</th>
                                 <th>閿欒淇℃伅鐮�</th>
                                 <th>plc杈撳叆鐘舵��</th>
                                 <th>褰撳墠鎴栦箣鍓嶄簩缁寸爜</th>
@@ -123,9 +123,15 @@
                             <button class="item" onclick="shuttleOperator(4)">鎵樼洏涓嬮檷</button>
                             <button class="item" onclick="shuttleOperator(5)">宸︾Щ</button>
                             <button class="item" onclick="shuttleOperator(6)">鍙崇Щ</button>
-                            <button class="item" onclick="shuttleOperator(7)">鍓嶇Щ</button>
-                            <button class="item" onclick="shuttleOperator(8)">鍚庣Щ</button>
+                            <button class="item" onclick="shuttleOperator(7)">鍚庣Щ</button>
+                            <button class="item" onclick="shuttleOperator(8)">鍓嶇Щ</button>
                             <button class="item" onclick="shuttleOperator(9)">澶嶄綅</button>
+                            <button class="item" onclick="shuttleOperator(10)">姝ｆ柟鍚�(宸�)瀵诲簱浣�</button>
+                            <button class="item" onclick="shuttleOperator(11)">璐熸柟鍚�(鍙�)瀵诲簱浣�</button>
+                            <button class="item" onclick="shuttleOperator(12)">姝ｆ柟鍚�(鍓�)瀵诲簱浣�</button>
+                            <button class="item" onclick="shuttleOperator(13)">璐熸柟鍚�(鍚�)瀵诲簱浣�</button>
+                            <button class="item" onclick="shuttleOperator(14)">绉诲姩鍒扮洰鏍囧簱浣�</button>
+                            <button class="item" onclick="shuttleOperator(15)">鍏呯數寮�鍏�</button>
                         </div>
                     </fieldset>
                 </div>
@@ -592,8 +598,8 @@
                         setVal(tr.children("td").eq(3), table[i-1].currentCode);
                         setVal(tr.children("td").eq(4), table[i-1].batteryPower);
                         setVal(tr.children("td").eq(5), table[i-1].batteryTemp);
-                        setVal(tr.children("td").eq(6), table[i-1].errorCode$);
-                        setVal(tr.children("td").eq(7), table[i-1].plcOutputStatusIO);
+                        setVal(tr.children("td").eq(6), table[i-1].errorCode);
+                        setVal(tr.children("td").eq(7), table[i-1].plcOutputCharge$);//plcOutputStatusIO
                         setVal(tr.children("td").eq(8), table[i-1].statusErrorCode);
                         setVal(tr.children("td").eq(9), table[i-1].plcInputStatus);
                         setVal(tr.children("td").eq(10), table[i-1].currentOrBeforeCode);

--
Gitblit v1.9.1