From 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 12 四月 2023 16:52:00 +0800
Subject: [PATCH] 穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等

---
 src/main/java/com/zy/core/thread/LiftThread.java               |    1 
 src/main/java/com/zy/common/model/NavigateNode.java            |    1 
 src/main/java/com/zy/asrs/entity/BasDevp.java                  |   14 ++
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java    |   68 +++++++++----
 src/main/java/com/zy/core/thread/ShuttleThread.java            |  159 +++++++++++++++++++++++++++++++
 src/main/java/com/zy/common/utils/NavigateUtils.java           |    5 +
 src/main/java/com/zy/asrs/service/BasDevpService.java          |    2 
 src/main/java/com/zy/asrs/mapper/BasDevpMapper.java            |    2 
 src/main/java/com/zy/core/model/protocol/LiftProtocol.java     |    6 +
 src/main/java/com/zy/common/utils/NavigatePositionConvert.java |   15 ++
 src/main/webapp/static/js/map.json                             |    2 
 src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java |    5 +
 src/main/resources/mapper/BasDevpMapper.xml                    |    8 +
 13 files changed, 261 insertions(+), 27 deletions(-)

diff --git a/src/main/java/com/zy/asrs/entity/BasDevp.java b/src/main/java/com/zy/asrs/entity/BasDevp.java
index 388c3e2..5b99e04 100644
--- a/src/main/java/com/zy/asrs/entity/BasDevp.java
+++ b/src/main/java/com/zy/asrs/entity/BasDevp.java
@@ -214,6 +214,20 @@
     @TableField("cart_pos")
     private Integer cartPos;
 
+    /**
+     * 鍥涘悜绌挎杞︽墍璇嗗埆鐨勪簩缁寸爜
+     */
+    @ApiModelProperty(value= "鍥涘悜绌挎杞︽墍璇嗗埆鐨勪簩缁寸爜")
+    @TableField("qr_code_value")
+    private String qrCodeValue;
+
+    /**
+     * 搴撲綅鍙�
+     */
+    @ApiModelProperty(value= "搴撲綅鍙�")
+    @TableField("loc_no")
+    private String locNo;
+
 
     public String getIoTime$(){
         if (Cools.isEmpty(this.ioTime)){
diff --git a/src/main/java/com/zy/asrs/mapper/BasDevpMapper.java b/src/main/java/com/zy/asrs/mapper/BasDevpMapper.java
index d515086..eb1b674 100644
--- a/src/main/java/com/zy/asrs/mapper/BasDevpMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/BasDevpMapper.java
@@ -17,4 +17,6 @@
     List<Integer> getAvailableOutSite(@Param("typeNo") Integer typeNo);
 
     BasDevp selectByWrkNo(Integer wrkNo);
+
+    BasDevp queryByLocNo(String locNo);
 }
diff --git a/src/main/java/com/zy/asrs/service/BasDevpService.java b/src/main/java/com/zy/asrs/service/BasDevpService.java
index 5b27cc9..31c63cf 100644
--- a/src/main/java/com/zy/asrs/service/BasDevpService.java
+++ b/src/main/java/com/zy/asrs/service/BasDevpService.java
@@ -46,4 +46,6 @@
 
     BasDevp selectByWrkNo(Integer wrkNo);
 
+    BasDevp queryByLocNo(String locNo);
+
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java
index db5037b..8732852 100644
--- a/src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java
@@ -69,4 +69,9 @@
     public BasDevp selectByWrkNo(Integer wrkNo) {
         return this.baseMapper.selectByWrkNo(wrkNo);
     }
+
+    @Override
+    public BasDevp queryByLocNo(String locNo) {
+        return this.baseMapper.queryByLocNo(locNo);
+    }
 }
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 92fe3d4..97776eb 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -728,13 +728,13 @@
                 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;
@@ -851,14 +851,22 @@
 
             ShuttleCommand command = new ShuttleCommand();
             command.setCommandWord((short) 1);
-            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
-            command.setMiddleCodeNum((short) 0);
-            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+            command.setStartCodeNum(startCodeNum);
+
+            command.setMiddleCodeNum((short) 1);
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+            command.setDistCodeNum(distCodeNum);
+
             command.setStartToDistDistance(allDistance);
-            command.setMiddleToDistDistance(1000);
+            command.setMiddleToDistDistance(0);
             command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
             command.setPalletLift((short) 1);
-            command.setForceMoveDistance(1000);
+            command.setForceMoveDistance(0);
             command.setChargeSwitch((short) 2);
             command.setIOControl((short) 0);
             command.setRunSpeed((short) 1000);
@@ -890,14 +898,22 @@
 
             ShuttleCommand command = new ShuttleCommand();
             command.setCommandWord((short) 1);
-            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
-            command.setMiddleCodeNum((short) 0);
-            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+            command.setStartCodeNum(startCodeNum);
+
+            command.setMiddleCodeNum((short) 1);
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+            command.setDistCodeNum(distCodeNum);
+
             command.setStartToDistDistance(allDistance);
-            command.setMiddleToDistDistance(1000);
+            command.setMiddleToDistDistance(0);
             command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
             command.setPalletLift((short) 1);
-            command.setForceMoveDistance(1000);
+            command.setForceMoveDistance(0);
             command.setChargeSwitch((short) 2);
             command.setIOControl((short) 0);
             command.setRunSpeed((short) 1000);
@@ -930,14 +946,22 @@
 
             command = new ShuttleCommand();
             command.setCommandWord((short) 1);
-            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
-            command.setMiddleCodeNum((short) 0);
-            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+            command.setStartCodeNum(startCodeNum);
+
+            command.setMiddleCodeNum((short) 1);
+
+            //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+            command.setDistCodeNum(distCodeNum);
+
             command.setStartToDistDistance(allDistance);
-            command.setMiddleToDistDistance(1000);
+            command.setMiddleToDistDistance(0);
             command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
             command.setPalletLift((short) 1);
-            command.setForceMoveDistance(1000);
+            command.setForceMoveDistance(0);
             command.setChargeSwitch((short) 2);
             command.setIOControl((short) 0);
             command.setRunSpeed((short) 1000);
diff --git a/src/main/java/com/zy/common/model/NavigateNode.java b/src/main/java/com/zy/common/model/NavigateNode.java
index 5f769e2..d5ff8d6 100644
--- a/src/main/java/com/zy/common/model/NavigateNode.java
+++ b/src/main/java/com/zy/common/model/NavigateNode.java
@@ -10,6 +10,7 @@
 
     private int x;//鍧愭爣x
     private int y;//鍧愭爣y
+    private int z;//鍧愭爣z(楂樺害)
     private int F;//缁煎悎鑺辫垂鐨勬鏁�
     private int G;//宸茬粡鑺辫垂鐨勬鏁�
     private int H;//灏嗚鑺辫垂鐨勬鏁�
diff --git a/src/main/java/com/zy/common/utils/NavigatePositionConvert.java b/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
index 28a2324..2ce466c 100644
--- a/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
+++ b/src/main/java/com/zy/common/utils/NavigatePositionConvert.java
@@ -1,7 +1,9 @@
 package com.zy.common.utils;
 
 import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasDevp;
 import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasDevpService;
 import com.zy.asrs.service.LocMastService;
 
 /**
@@ -51,9 +53,20 @@
             sb.append("0");
         }
         sb.append(z);
-        String position = sb.toString();
+        String position = sb.toString();//搴撲綅鍙�
+
+        //搴撲綅鍙疯浆灏忚溅浜岀淮鐮�
         LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
         LocMast locMast = locMastService.queryByLoc(position);
+        if (locMast == null) {
+            //褰撳墠搴撲綅鍙锋煡涓嶅埌锛屽彲鑳芥槸绔欑偣搴撲綅鍙�
+            BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+            BasDevp basDevp = basDevpService.queryByLocNo(position);
+            if (basDevp == null) {
+                return null;
+            }
+            return Short.parseShort(basDevp.getQrCodeValue());
+        }
         return Short.parseShort(locMast.getQrCodeValue());
     }
 
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 38fbb15..ea1a70e 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -1,6 +1,7 @@
 package com.zy.common.utils;
 
 import com.alibaba.fastjson.JSONObject;
+import com.zy.asrs.utils.Utils;
 import com.zy.common.model.NavigateNode;
 import com.zy.core.enums.ShuttleTaskModeType;
 
@@ -15,6 +16,9 @@
         //閫氳繃寮�濮嬬紪鍙峰拰缁撴潫缂栧彿鑾峰彇瀵瑰簲鐨剎y杞村潗鏍�
         int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//寮�濮嬭妭鐐�
         int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//缁撴潫鑺傜偣
+
+        //鑾峰彇褰撳墠鑺傜偣璁＄畻鐨勫眰楂橈紝骞惰祴鍊煎埌姣忎竴涓妭鐐逛腑
+        int lev = Utils.getLev(startPoint);
 
         //鍒濆鍖栧紑濮嬭妭鐐�
         NavigateNode start = new NavigateNode(startArr[0], startArr[1]);
@@ -35,6 +39,7 @@
             while (res_node != null) {
                 res_node.setDirection(null);
                 res_node.setIsInflectionPoint(false);
+                res_node.setZ(lev);//璁剧疆灞傞珮
 
                 //瀵绘壘鎷愮偣
                 HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//鍒嗗埆浼犲叆褰撳墠鑺傜偣銆佺埗鑺傜偣銆佷笅涓�鑺傜偣
diff --git a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
index 45b65ed..c471351 100644
--- a/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/LiftProtocol.java
@@ -190,6 +190,11 @@
     private Boolean pakMk = true;
 
     /**
+     * 鍥涘悜绌挎杞﹁皟搴︽彁鍗囨満鏃讹紝闇�瑕侀攣瀹氭鏍囪
+     */
+    private Boolean securityMk = false;
+
+    /**
      * 浠诲姟鍛戒护
      */
     private LiftAssignCommand assignCommand;
@@ -232,6 +237,7 @@
                 && !this.running
                 && this.mode
                 && this.pakMk.equals(true)
+                && !this.securityMk
                 ;
         return res;
     }
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index fc9225e..0e31dee 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -412,6 +412,7 @@
                         liftProtocol.setShuttleNo((short) 0);
                         liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                         liftProtocol.setPakMk(true);
+                        liftProtocol.setSecurityMk(false);
                     }
                     News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
                 }
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index a970778..871654e 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -8,9 +8,11 @@
 import com.core.common.DateUtils;
 import com.core.common.SpringUtils;
 import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasDevp;
 import com.zy.asrs.entity.BasShuttle;
 import com.zy.asrs.entity.BasShuttleOpt;
 import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasDevpService;
 import com.zy.asrs.service.BasShuttleOptService;
 import com.zy.asrs.service.BasShuttleService;
 import com.zy.asrs.service.LocMastService;
@@ -27,8 +29,11 @@
 import com.zy.core.enums.*;
 import com.zy.core.model.ShuttleSlave;
 import com.zy.core.model.Task;
+import com.zy.core.model.command.LiftAssignCommand;
+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.LiftProtocol;
 import com.zy.core.model.protocol.ShuttleProtocol;
 import lombok.Data;
 import lombok.extern.slf4j.Slf4j;
@@ -196,6 +201,20 @@
                         && shuttleProtocol.getAssignCommand() != null) {
                     //鎵ц涓嬩竴姝ユ寚浠�
                     executeWork(shuttleProtocol.getAssignCommand());
+                }
+
+                //妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
+                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+                        && shuttleProtocol.getTaskNo() != 0
+                        && shuttleProtocol.getAssignCommand() != null) {
+                    Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getAssignCommand().getTaskNo());
+                    if (o != null) {
+                        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+                        if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+                            //鎵ц涓嬩竴姝ユ寚浠�
+                            executeWork(shuttleProtocol.getAssignCommand());
+                        }
+                    }
                 }
 
                 //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
@@ -631,14 +650,18 @@
             return false;
         }
 
-        //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
-        shuttleProtocol.setPakMk(false);
-
         Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
         if (o == null) {
             return false;
         }
         HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+
+        if (!checkLiftStation(assignCommand)) {//妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+            return false;
+        }
+
+        //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+        shuttleProtocol.setPakMk(false);
 
         List<ShuttleCommand> errorCommands =  JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
         if (errorCommands.size() > 0) {
@@ -765,6 +788,16 @@
                     );
                     shuttleOptService.insert(opt);
                 }
+
+                if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+                    //鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
+                    LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+                    LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+                    if (liftProtocol != null) {
+                        liftProtocol.setSecurityMk(false);
+                    }
+                }
+
                 //鍒犻櫎redis
                 redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
 
@@ -798,6 +831,126 @@
     }
 
     /**
+     * 妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+     */
+    private boolean checkLiftStation(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);
+        //褰撳墠姝ュ簭
+        int commandStep = Integer.parseInt(map.get("commandStep").toString());
+
+        //妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
+        List<ShuttleCommand> commands = assignCommand.getCommands();
+        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+        ArrayList<Short> qrCodeValues = new ArrayList<>();
+        for (BasDevp basDevp : basDevpService.selectList(null)) {
+            //灏嗘墍鏈夋彁鍗囨満鍙ｄ簩缁寸爜瀛樺叆list
+            qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
+        }
+
+        //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
+        int step = 0;
+        ShuttleCommand command = null;
+        for (int i = 1; i < commands.size(); i++) {
+            command = commands.get(i);
+            if (qrCodeValues.contains(command.getDistCodeNum())) {
+                //瀛樺湪
+                step = i + 1;
+                break;
+            }
+        }
+
+        if (step == 0) {
+            //鏃犻渶鍚庣画妫�娴嬶紝鐩存帴鏀捐
+            return true;
+        }
+
+        //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛
+        if (commandStep + 1 != step) {
+            //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+            return true;
+        }
+
+        //鎷垮埌鎻愬崌鏈虹嚎绋�
+        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+        if (liftThread == null) {
+            return false;
+        }
+        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+        if (liftProtocol == null) {
+            return false;
+        }
+
+        //鑾峰彇鍥涘悜绌挎杞﹀綋鍓嶆ゼ灞�
+        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+        Integer shuttleLocNoLev = Integer.parseInt(shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length()));//搴撲綅鍙峰搴斿眰楂�
+
+        //绋嬪簭璧板埌杩欙紝琛ㄧず鎻愬崌鏈哄彲鑳戒竴鐩村氨鍦ㄥ綋鍓嶅眰锛屽彲鑳界粡杩囦簡绉诲姩鍒拌揪浜嗚灞�
+        if (liftProtocol.getProtocolStatusType() == LiftProtocolStatusType.WAITING) {
+            //鎻愬崌鏈虹瓑寰呯‘璁�
+            //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+            //浠诲姟鍙锋竻闆�
+            liftProtocol.setTaskNo((short) 0);
+            //鏍囪澶嶄綅
+            liftProtocol.setPakMk(true);
+            //浠诲姟鎸囦护娓呴浂
+            liftProtocol.setAssignCommand(null);
+            //鎻愬崌鏈鸿В閿�
+            liftProtocol.setLiftLock(false);
+        }
+
+        //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀湪鐩爣妤煎眰
+        if (liftProtocol.getLev().intValue() == shuttleLocNoLev) {
+            //鍚屼竴灞傦紝鐩存帴鏀捐
+            return true;
+        }
+
+        //鎻愬崌鏈哄拰绌挎杞﹀浜庝笉鍚屾ゼ灞傦紝闇�瑕佽繘琛岃皟搴�
+        if (!liftProtocol.isIdle()) {
+            //鎻愬崌鏈轰笉鏄┖闂�
+            return false;
+        }
+
+        //缁欐彁鍗囨満鍒嗛厤浠诲姟
+        liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+        liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//璁剧疆浠诲姟鍙�
+        liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//璁剧疆鍥涘悜绌挎杞﹀彿
+        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+        liftProtocol.setSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
+        map.put("liftSecurityMk", true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
+        //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+
+        //鍛戒护list
+        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
+        LiftCommand liftCommand = new LiftCommand();
+        liftCommand.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+        liftCommand.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+        liftCommand.setRun((short) 1);//鍗囬檷
+        liftCommand.setDistPosition(shuttleLocNoLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
+        liftCommand.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+        liftCommands.add(liftCommand);//灏嗗懡浠ゆ坊鍔犺繘list
+
+        LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
+        liftAssignCommand.setCommands(liftCommands);
+        liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
+        liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
+        //涓嬪彂浠诲姟
+        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
+
+        return false;
+    }
+
+    /**
      * 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
      */
     private boolean reset(ShuttleAssignCommand assignCommand) {
diff --git a/src/main/resources/mapper/BasDevpMapper.xml b/src/main/resources/mapper/BasDevpMapper.xml
index 4583b6e..6b2e3c8 100644
--- a/src/main/resources/mapper/BasDevpMapper.xml
+++ b/src/main/resources/mapper/BasDevpMapper.xml
@@ -41,6 +41,8 @@
         <result column="max_wt" property="maxWt" />
         <result column="gross_wt" property="grossWt" />
         <result column="cart_pos" property="cartPos" />
+        <result column="qr_code_value" property="qrCodeValue" />
+        <result column="loc_no" property="locNo" />
 
     </resultMap>
 
@@ -73,4 +75,10 @@
         and wrk_no = #{wrkNo}
     </select>
 
+    <select id="queryByLocNo" resultMap="BaseResultMap">
+        select top 1 *
+        from asr_bas_devp
+        where 1=1
+        and loc_no = #{locNo}
+    </select>
 </mapper>
diff --git a/src/main/webapp/static/js/map.json b/src/main/webapp/static/js/map.json
index 4d1b314..9d66bb8 100644
--- a/src/main/webapp/static/js/map.json
+++ b/src/main/webapp/static/js/map.json
@@ -1 +1 @@
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