From 32bf433492f540b1392c19757124ebb91d0e74bd Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 29 三月 2023 15:55:01 +0800
Subject: [PATCH] 四向车入库分配任务逻辑

---
 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java  |  102 -
 src/main/resources/mapIn.json                                  |    2 
 src/main/java/com/zy/asrs/service/impl/LocMastServiceImpl.java |    9 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java    |  220 ++++
 src/main/java/com/zy/core/thread/ShuttleThread.java            |    9 
 src/main/resources/mapper/LocMastMapper.xml                    |    8 
 src/main/resources/mapper/WrkMastMapper.xml                    |   17 
 src/main/java/com/zy/core/model/DevpSlave.java                 |   17 
 src/main/java/com/zy/asrs/controller/ShuttleController.java    |   17 
 src/main/webapp/static/js/map.json                             | 2053 -----------------------------------------------
 src/main/java/com/zy/asrs/mapper/LocMastMapper.java            |    3 
 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java            |    4 
 src/main/java/com/zy/asrs/entity/LocMast.java                  |    4 
 src/main/java/com/zy/asrs/service/LocMastService.java          |    4 
 src/main/java/com/zy/core/thread/SiemensDevpThread.java        |   61 
 15 files changed, 305 insertions(+), 2,225 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 01ef21f..839572d 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -196,23 +196,6 @@
 
                 // 绌挎杞︽彁绀轰俊鎭� ----------------------
 
-                // 浠诲姟淇℃伅 ----------------
-                vo.setPakInTask(shuttleProtocol.isPakInTask());
-                vo.setPakOutTask(shuttleProtocol.isPakOutTask());
-                vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
-                vo.setGoHpTask(shuttleProtocol.isGoHpTask());
-                vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
-                vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
-                vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
-                vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
-                vo.setPakInFinish(shuttleProtocol.isPakInFinish());
-                vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
-                vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
-                vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
-                vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
-                vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
-                vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());
-
                 // 鐘舵�佷俊鎭� -------------
 
                 break;
diff --git a/src/main/java/com/zy/asrs/entity/LocMast.java b/src/main/java/com/zy/asrs/entity/LocMast.java
index cd931b9..d465035 100644
--- a/src/main/java/com/zy/asrs/entity/LocMast.java
+++ b/src/main/java/com/zy/asrs/entity/LocMast.java
@@ -174,6 +174,10 @@
     @TableField("ctn_no")
     private String ctnNo;
 
+    @ApiModelProperty(value= "搴撲綅鐪熷疄浜岀淮鐮�")
+    @TableField("qr_code_value")
+    private String qrCodeValue;
+
     public String getIoTime$(){
         if (Cools.isEmpty(this.ioTime)){
             return "";
diff --git a/src/main/java/com/zy/asrs/mapper/LocMastMapper.java b/src/main/java/com/zy/asrs/mapper/LocMastMapper.java
index 5ec8601..2a400f1 100644
--- a/src/main/java/com/zy/asrs/mapper/LocMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/LocMastMapper.java
@@ -34,4 +34,7 @@
     @Select("select loc_no from asr_loc_mast where crn_no = #{crnNo} and loc_sts='O' order by lev1, bay1, row1")
     List<String> getDemoNextLoc(Integer crnNo);
 
+    LocMast queryByLoc(String locNo);
+
+    LocMast queryByQrCode(String qrCodeValue);
 }
diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
index b68910b..5edbeaa 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -96,5 +96,7 @@
 
     WrkMast selectAllC();
 
-    WrkMast selectByWorkNo(Integer workNo);
+    WrkMast selectRackInStep48(Short workNo,Integer sourceStaNo);
+
+    WrkMast selectByWorkNo9(Integer workNo);
 }
diff --git a/src/main/java/com/zy/asrs/service/LocMastService.java b/src/main/java/com/zy/asrs/service/LocMastService.java
index a859980..c67ad4f 100644
--- a/src/main/java/com/zy/asrs/service/LocMastService.java
+++ b/src/main/java/com/zy/asrs/service/LocMastService.java
@@ -63,4 +63,8 @@
     Boolean isShuttle(String locNo);
 
     Integer getOutCrnNo(LocMast locMast);
+
+    LocMast queryByLoc(String locNo);
+
+    LocMast queryByQrCode(String qrCodeValue);
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/LocMastServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/LocMastServiceImpl.java
index 0a51a73..1d21f1a 100644
--- a/src/main/java/com/zy/asrs/service/impl/LocMastServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/LocMastServiceImpl.java
@@ -77,4 +77,13 @@
         return 1;
     }
 
+    @Override
+    public LocMast queryByLoc(String locNo) {
+        return this.baseMapper.queryByLoc(locNo);
+    }
+
+    @Override
+    public LocMast queryByQrCode(String qrCodeValue) {
+        return this.baseMapper.queryByQrCode(qrCodeValue);
+    }
 }
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 f0846ce..e3d8031 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -609,45 +609,191 @@
      * 鍏ュ嚭搴�  ===>>  鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
      */
     public synchronized void shuttleIoExecute() {
-        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
-            //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
-            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
-            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
-            if (shuttleProtocol == null) {
-                continue;
-            }
+        // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+        for (DevpSlave devp : slaveProperties.getDevp()) {
+            // 閬嶅巻鍏ュ簱绔�
+            for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
+                // 鑾峰彇鍏ュ簱绔欎俊鎭�
+                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
 
-            // 鍙湁褰撳洓鍚戠┛姊溅绌洪棽 骞朵笖鏃犱换鍔℃椂鎵嶇户缁墽琛�
-            if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() == 0) {
-                //鍏ュ嚭搴撻�昏緫
-                for (WrkMast wrkSts : wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2))) {
-                    //鍒嗛厤浠诲姟鍙�
-                    shuttleProtocol.setTaskNo(wrkSts.getWrkNo().shortValue());
-                    //鍒嗛厤婧愬簱浣�
-                    shuttleProtocol.setSourceLocNo(wrkSts.getSourceLocNo());
-                    //鍒嗛厤鐩爣搴撲綅
-                    shuttleProtocol.setLocNo(wrkSts.getLocNo());
+                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);
 
-                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-                    //鍥涘悜绌挎杞﹀彿
-                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
-                    //浠诲姟鍙�
-                    assignCommand.setTaskNo(wrkSts.getWrkNo().shortValue());
-                    //鍏ュ嚭搴撴ā寮�
-                    assignCommand.setTaskMode((short) 0);
-                    //婧愬簱浣�
-                    assignCommand.setSourceLocNo(wrkSts.getSourceLocNo());
-                    //鐩爣搴撲綅
-                    assignCommand.setDistLocNo(wrkSts.getLocNo());
+                if (staProtocol == null) {
+                    continue;
+                } else {
+                    staProtocol = staProtocol.clone();
+                }
+                Short workNo = staProtocol.getWorkNo();
 
-                    //涓嬪彂浠诲姟
-                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+                // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+                if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
+                    WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
+                    if (wrkMast != null) {
+                        if (wrkMast.getWrkSts() == 4) {
+                            //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+                            HashMap<String, Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+                            ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+                            if (shuttleThread == null) {
+                                continue;
+                            }
+
+                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+                            wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+
+                            //鍒嗛厤浠诲姟鍙�
+                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+                            //鍒嗛厤婧愬簱浣�
+                            shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
+
+                            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+                            //鍥涘悜绌挎杞﹀彿
+                            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+                            //浠诲姟鍙�
+                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+                            //鍏ュ嚭搴撴ā寮�
+                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
+                            //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+                            Short currentCode = shuttleProtocol.getCurrentCode();
+                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
+                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());
+
+                            if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
+                                //鍚屼竴灞�
+                                //鍒嗛厤鐩爣搴撲綅
+                                shuttleProtocol.setLocNo(wrkMast.getLocNo());
+                                //鐩爣搴撲綅
+                                assignCommand.setDistLocNo(wrkMast.getLocNo());
+                                wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+                            }else {
+                                //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
+                                //鍒嗛厤鐩爣搴撲綅
+                                shuttleProtocol.setLocNo("1800201");
+                                //鐩爣搴撲綅
+                                assignCommand.setDistLocNo("1800201");
+                                wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
+                            }
+
+                            if (wrkMastMapper.updateById(wrkMast) > 0) {
+                                //涓嬪彂浠诲姟
+                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+                            }
+                        }else {
+                            //鐘舵��8锛屽洓鍚戠┛姊溅宸插湪鎻愬崌鏈哄彛锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
+                            Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
+                            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+                            if (shuttleThread == null) {
+                                continue;
+                            }
+                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+
+                            //鍒嗛厤鐩爣搴撲綅
+                            shuttleProtocol.setLocNo(wrkMast.getLocNo());
+
+                            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+                            //鍥涘悜绌挎杞﹀彿
+                            assignCommand.setShuttleNo(shuttleNo.shortValue());
+                            //浠诲姟鍙�
+                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+                            //鍏ュ嚭搴撴ā寮�
+                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
+                            //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+                            Short currentCode = shuttleProtocol.getCurrentCode();
+                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
+                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());
+                            //鐩爣搴撲綅
+                            assignCommand.setDistLocNo(wrkMast.getLocNo());
+                            wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+                            if (wrkMastMapper.updateById(wrkMast) > 0) {
+                                //涓嬪彂浠诲姟
+                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+                            }
+                        }
+
+                    }
                 }
 
             }
         }
 
+    }
+
+    /**
+     * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�
+     */
+    public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
+        HashMap<String, Object> map = new HashMap<>();
+        String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
+        LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
+        String lay = locNo.substring(locNo.length() - 2, locNo.length());//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+        ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
+
+        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+            //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+            if (shuttleProtocol == null) {
+                continue;
+            }
+            if (!shuttleProtocol.isIdle()) {
+                continue;
+            }
+
+            Short currentCode = shuttleProtocol.getCurrentCode();//鍥涘悜绌挎杞﹀綋鍓嶄綅缃簩缁寸爜
+            LocMast shuttleLocMast = locMastService.queryByQrCode(currentCode.toString());//鎵惧埌浜岀淮鐮佸搴旂殑搴撲綅璁板綍
+            String shuttleLocNo = shuttleLocMast.getLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+            String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
+            if (lay.equals(shuttleLocNoLay)) {
+                //褰撳墠鍥涘悜绌挎杞﹀拰宸ヤ綔妗ｄ换鍔″湪鍚屼竴灞傦紝鍒欒皟閰嶈杞﹁締
+                map.put("sameLay", true);//鍚屼竴灞�
+                map.put("result", shuttleThread);
+                return map;
+            }
+
+            //鏇存柊褰撳墠鏈�杩戠殑鍥涘悜绌挎杞�
+            if (recentShuttle == null) {
+                recentShuttle = shuttleThread;
+            }else {
+                ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//鐩墠鏈�杩戠┛姊溅
+                Short recentShuttleCurrentCode = recentShuttleProtocol.getCurrentCode();//鐩墠鏈�杩戠┛姊溅浣嶇疆浜岀淮鐮�
+                LocMast recentShuttleLocMast = locMastService.queryByQrCode(recentShuttleCurrentCode.toString());//鎵惧埌浜岀淮鐮佸搴旂殑搴撲綅璁板綍
+                String recentShuttleLocNo = recentShuttleLocMast.getLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+                String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
+
+                int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
+                int layInt = Integer.parseInt(lay);
+                int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
+                int i = Math.abs(layInt - recentShuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺鏈�杩戠┛姊溅妤煎眰锛屽彇缁濆鍊�
+                int j = Math.abs(layInt - shuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺褰撳墠绌挎杞︽ゼ灞傦紝鍙栫粷瀵瑰��
+                if (i < j) {
+                    //鏇存柊鏈�杩戠┛姊溅
+                    recentShuttle = shuttleThread;
+                } else if (i == j) {
+                    //妤煎眰鐩稿悓鎯呭喌
+                    //鎵捐窛绂诲嚭搴撶偣鏈�杩戠殑杞�
+
+                    //褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒版彁鍗囨満璺緞
+                    List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
+                    //褰撳墠妤煎眰鍥涘悜绌挎杞﹀埌鎻愬崌鏈鸿矾寰�
+                    List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
+                    //鍒ゆ柇鍝竴涓矾寰勬渶鐭�
+                    if (shuttlePath.size() < recentShuttlePath.size()) {
+                        //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+                        recentShuttle = shuttleThread;
+                    }
+                }
+            }
+        }
+
+        map.put("sameLay", false);//涓嶅悓灞�
+        map.put("result", recentShuttle);
+        return map;
     }
 
     /**
@@ -665,17 +811,23 @@
             //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭
             if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
                 //灏嗕换鍔℃。鏍囪涓哄畬鎴�
-                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+                WrkMast wrkMast = wrkMastMapper.selectByWorkNo9(shuttleProtocol.getTaskNo().intValue());
                 if (wrkMast != null) {
-                    wrkMast.setWrkSts(8L);
+                    wrkMast.setWrkSts(14L);
                     if (wrkMastMapper.updateById(wrkMast) > 0) {
                         //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
                         shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                         //浠诲姟鍙锋竻闆�
                         shuttleProtocol.setTaskNo((short) 0);
-                        News.error("鍥涘悜绌挎杞﹀浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅銆傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+                        //婧愬簱浣嶆竻闆�
+                        shuttleProtocol.setSourceLocNo(null);
+                        //鐩爣搴撲綅娓呴浂
+                        shuttleProtocol.setLocNo(null);
+                        //鏍囪澶嶄綅
+                        shuttleProtocol.setPakMk(true);
+                        News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚爢鍨涙満鍙�={}", shuttleProtocol.getShuttleNo());
                     } else {
-                        News.error("鍥涘悜绌挎杞﹀浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+                        News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                     }
                 }
 
diff --git a/src/main/java/com/zy/core/model/DevpSlave.java b/src/main/java/com/zy/core/model/DevpSlave.java
index c5c02f0..3130400 100644
--- a/src/main/java/com/zy/core/model/DevpSlave.java
+++ b/src/main/java/com/zy/core/model/DevpSlave.java
@@ -29,6 +29,10 @@
 
     private List<Sta> pickOutSta = new ArrayList<>();
 
+    private List<StaRack> rackInStn = new ArrayList<>();
+
+    private List<StaRack> rackOutStn = new ArrayList<>();
+
     @Data
     public static class Sta {
 
@@ -42,4 +46,17 @@
 
     }
 
+    @Data
+    public static class StaRack {
+        private Integer devpPlcId;
+
+        private Integer staNo;
+
+        private Integer row;
+
+        private Integer bay;
+
+        private Integer lev;
+    }
+
 }
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 401c763..0214f58 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -1,8 +1,13 @@
 package com.zy.core.model.protocol;
 
+import com.core.common.SpringUtils;
+import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.BasSteService;
+import com.zy.core.News;
 import com.zy.core.enums.ShuttleErrorCodeType;
 import com.zy.core.enums.ShuttleProtocolStatusType;
 import com.zy.core.enums.ShuttleStatusType;
+import com.zy.core.enums.SteStatusType;
 import com.zy.core.model.command.ShuttleAssignCommand;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
@@ -152,82 +157,6 @@
      */
     private Boolean pakMk = true;
 
-    // 浠诲姟淇℃伅 ---------------------------------------------------------
-    /**
-     * 96.鍏ュ簱浠诲姟涓�
-     */
-    private boolean pakInTask;
-
-    /**
-     * 97. 鍑哄簱浠诲姟涓�
-     */
-    private boolean pakOutTask;
-
-    /**
-     * 98. 绉诲簱浠诲姟涓�
-     */
-    private boolean pakMoveTask;
-
-    /**
-     * 99. 鍥炲師鐐逛换鍔′腑
-     */
-    private boolean goHpTask;
-
-    /**
-     * 100. 鍘诲弽鍘熺偣浠诲姟涓�
-     */
-    private boolean goOHpTask;
-
-    /**
-     * 101. 鍘诲師鐐归伩璁╀綅
-     */
-    private boolean goHpAvoid;
-
-    /**
-     * 102. 鍘诲弽鍘熺偣閬胯浣�
-     */
-    private boolean goOHpAvoid;
-
-    /**
-     * 104. 鍏ュ簱鍙栫┖缁撴潫
-     */
-    private boolean pakInEmpty;
-
-    /**
-     * 105. 鍏ュ簱姝ｅ父缁撴潫
-     */
-    private boolean pakInFinish;
-
-    /**
-     * 106. 鍑哄簱鍙栫┖缁撴潫
-     */
-    private boolean pakOutEmpty;
-
-    /**
-     * 107. 鍑哄簱姝ｅ父缁撴潫
-     */
-    private boolean pakOutFinish;
-
-    /**
-     * 108. 鍘诲師鐐归伩璁╁畬鎴�
-     */
-    private boolean goHpAvoidFinish;
-
-    /**
-     * 109. 鍘诲弽鍘熺偣閬胯瀹屾垚
-     */
-    private boolean goOHpAvoidFinish;
-
-    /**
-     * 110. 鍘诲師鐐归伩璁╁畬鎴�
-     */
-    private boolean goHpAvoidErr;
-
-    /**
-     * 111. 鍘诲弽鍘熺偣閬胯瀹屾垚
-     */
-    private boolean goOHpAvoidErr;
-
     public void setBusyStatus(Short status) {
         this.busyStatus = status;
         this.busyStatusType = ShuttleStatusType.get(status);
@@ -280,4 +209,25 @@
         this.errorCodeType = type;
     }
 
+    // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵��
+    public Boolean isIdle() {
+        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
+                && this.pakMk.equals(true)
+                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
+                && this.taskNo == 0
+                ;
+        if (!res) {
+            return res;
+        } else {
+            // 鐢甸噺
+            try {
+                Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
+                return this.getBatteryPower$() > chargeLine;
+            } catch (Exception e) {
+                News.error("fail", e);
+                return false;
+            }
+        }
+    }
+
 }
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 7cd4f70..e2ee80d 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -5,7 +5,6 @@
 import HslCommunication.Core.Types.OperateResultExOne;
 import HslCommunication.ModBus.ModbusTcpNet;
 import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
 import com.core.common.DateUtils;
 import com.core.common.SpringUtils;
 import com.core.exception.CoolException;
@@ -308,6 +307,8 @@
             }
         }
 
+        //鍥涘悜绌挎杞﹀彿
+        map.put("shuttle_no", assignCommand.getShuttleNo());
         //宸ヤ綔鍙�
         map.put("wrk_no", assignCommand.getTaskNo());
         //鍛戒护鎵ц姝ュ簭
@@ -391,6 +392,8 @@
                 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                 //浠诲姟鍙锋竻闆�
                 shuttleProtocol.setTaskNo((short) 0);
+                //鏍囪澶嶄綅
+                shuttleProtocol.setPakMk(true);
                 break;
             default:
         }
@@ -437,10 +440,6 @@
 
                 //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
                 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
-                //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
-                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
-                //浠诲姟鍙锋竻闆�
-                shuttleProtocol.setTaskNo((short) 0);
 
                 News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
             }
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 408002a..989a770 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -45,8 +45,8 @@
     private int barcodeSize = 2;
     public static final ArrayList<Integer> staNos = new ArrayList<Integer>() {{
         add(100);add(101);add(102);
-        add(200);add(201);add(202);
-        add(300);add(301);add(302);
+        add(103);add(104);add(105);
+        add(106);add(107);add(108);
     }};
 
     public boolean charge0;
@@ -195,38 +195,37 @@
             staProtocol.setWeightErr(status[5]); // 瓒呴噸
             staProtocol.setBarcodeErr(status[6]);// 鎵爜澶辫触
         }
-        // 澶栧舰妫�娴� - 201
-        Thread.sleep(50);
-        OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1);
-        if (result201.IsSuccess) {
-            boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1);
-            StaProtocol staProtocol = station.get(201);
-            staProtocol.setFrontErr(status[0]);
-            staProtocol.setBackErr(status[1]);
-            staProtocol.setHighErr(status[2]);
-            staProtocol.setLeftErr(status[3]);
-            staProtocol.setRightErr(status[4]);
-            staProtocol.setWeightErr(status[5]);
-            staProtocol.setBarcodeErr(status[6]);
-        }
-        // 澶栧舰妫�娴� - 301
-        Thread.sleep(50);
-        OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1);
-        if (result301.IsSuccess) {
-            boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1);
-            StaProtocol staProtocol = station.get(301);
-            staProtocol.setFrontErr(status[0]);
-            staProtocol.setBackErr(status[1]);
-            staProtocol.setHighErr(status[2]);
-            staProtocol.setLeftErr(status[3]);
-            staProtocol.setRightErr(status[4]);
-            staProtocol.setWeightErr(status[5]);
-            staProtocol.setBarcodeErr(status[6]);
-        }
+//        // 澶栧舰妫�娴� - 201
+//        Thread.sleep(50);
+//        OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1);
+//        if (result201.IsSuccess) {
+//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1);
+//            StaProtocol staProtocol = station.get(201);
+//            staProtocol.setFrontErr(status[0]);
+//            staProtocol.setBackErr(status[1]);
+//            staProtocol.setHighErr(status[2]);
+//            staProtocol.setLeftErr(status[3]);
+//            staProtocol.setRightErr(status[4]);
+//            staProtocol.setWeightErr(status[5]);
+//            staProtocol.setBarcodeErr(status[6]);
+//        }
+//        // 澶栧舰妫�娴� - 301
+//        Thread.sleep(50);
+//        OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1);
+//        if (result301.IsSuccess) {
+//            boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1);
+//            StaProtocol staProtocol = station.get(301);
+//            staProtocol.setFrontErr(status[0]);
+//            staProtocol.setBackErr(status[1]);
+//            staProtocol.setHighErr(status[2]);
+//            staProtocol.setLeftErr(status[3]);
+//            staProtocol.setRightErr(status[4]);
+//            staProtocol.setWeightErr(status[5]);
+//            staProtocol.setBarcodeErr(status[6]);
+//        }
 
 
         if (result.IsSuccess && result1.IsSuccess) {
-
             OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
 
             // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
diff --git a/src/main/resources/mapIn.json b/src/main/resources/mapIn.json
index 885d8b9..4d1b314 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 04f87ee..8a674ae 100644
--- a/src/main/resources/mapper/LocMastMapper.xml
+++ b/src/main/resources/mapper/LocMastMapper.xml
@@ -61,4 +61,12 @@
         ORDER BY NEWID()
     </select>
 
+    <select id="queryByLoc" resultMap="BaseResultMap">
+        select top 1 * from asr_loc_mast where loc_no = #{locNo}
+    </select>
+
+    <select id="queryByQrCode" resultMap="BaseResultMap">
+        select top 1 * from asr_loc_mast where qr_code_value = #{qrCodeValue}
+    </select>
+
 </mapper>
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index e8b66c9..e8d66f1 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -61,6 +61,7 @@
         <result column="Pdc_type" property="pdcType" />
         <result column="ctn_no" property="ctnNo" />
         <result column="full_plt" property="fullPlt" />
+        <result column="shuttle_no" property="shuttleNo" />
 
     </resultMap>
 
@@ -235,14 +236,14 @@
         </foreach>
     </select>
     
-<!--    <select id="selectWorkWaiting" resultMap="BaseResultMap">-->
-<!--        select *-->
-<!--        from dbo.asr_wrk_mast-->
-<!--        where 1=1-->
-<!--        wrk_no=#{workNo} and wrk_sts in (4,7)-->
-<!--    </select>-->
+    <select id="selectRackInStep48" resultMap="BaseResultMap">
+        select top 1 *
+        from dbo.asr_wrk_mast
+        where 1=1
+        and wrk_sts in (4,8) and source_sta_no = #{sourceStaNo} and wrk_no=#{workNo} order by io_pri desc,wrk_sts desc
+    </select>
 
-    <select id="selectByWorkNo" resultMap="BaseResultMap">
-        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo}
+    <select id="selectByWorkNo9" resultMap="BaseResultMap">
+        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo} and wrk_sts in (9)
     </select>
 </mapper>
diff --git a/src/main/webapp/static/js/map.json b/src/main/webapp/static/js/map.json
index 6670040..4d1b314 100644
--- a/src/main/webapp/static/js/map.json
+++ b/src/main/webapp/static/js/map.json
@@ -1,2052 +1 @@
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