From 95872bb822de6a4510f7708ebb1ec5ea3aed35db Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期五, 17 一月 2025 11:06:19 +0800
Subject: [PATCH] #

---
 src/main/resources/map_4.json                                  |    2 
 src/main/resources/map_1.json                                  |    2 
 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java |   10 +
 src/main/java/com/zy/common/utils/ShuttleOperaUtils.java       |   20 +++
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java    |  156 ++++++++++++++++++++----------
 src/main/java/com/zy/core/action/ShuttleAction.java            |   24 ++++
 src/main/java/com/zy/core/enums/ShuttleTaskModeType.java       |    1 
 src/main/java/com/zy/common/utils/NavigateUtils.java           |    7 
 src/main/resources/mapper/WrkMastMapper.xml                    |    2 
 src/main/java/com/zy/common/utils/NavigateMapData.java         |   50 +++++++++
 src/main/resources/map_2.json                                  |    2 
 src/main/resources/map_3.json                                  |    2 
 12 files changed, 207 insertions(+), 71 deletions(-)

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 ba01141..dc1bfb5 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -842,6 +842,11 @@
                         if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
                             //302.灏忚溅绉诲姩鑷崇珯鐐� ==> 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
                             wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
+                            shuttleThread.setSyncTaskNo(0);
+                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
+                            //308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+                            shuttleThread.setSyncTaskNo(0);
                         } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                             //310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
                             wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
@@ -850,6 +855,8 @@
                             //204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
                             wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                             shuttleThread.setSyncTaskNo(0);
+                        }else {
+                            continue;
                         }
 //                        switch (wrkMast.getWrkSts().intValue()) {
 ////                            case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
@@ -1275,8 +1282,7 @@
 //                                break;
                             case 306://306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
                                 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
-                                //璐у弶鎻愬崌鏈洪渶瑕佽烦杩囪縼鍑烘彁鍗囨満娴佺▼
-                                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+                                forkLiftThread.setSyncTaskNo(0);
                                 break;
                             default:
                         }
@@ -2071,6 +2077,11 @@
                     continue;
                 }
 
+                boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+                if (!updateShuttleLocation) {
+                    continue;
+                }
+
                 boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
                 if (!stepMoveLoc) {
                     continue;
@@ -2133,6 +2144,24 @@
                 return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
             }
 
+            //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+            if (targetNodes == null) {
+                return false;//鏈幏鍙栧埌鑺傜偣
+            }
+            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
+            if (!checkPathIsAvailable) {
+                News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+                return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
+            }
+            //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+            if (!result2) {
+                News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+                return false;//璺緞閿佸畾澶辫触
+            }
+            //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+
             ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
             assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
             assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
@@ -2143,28 +2172,13 @@
             List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
             if (commands == null) {
                 News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+
+                //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+                navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
                 return false;//璺緞瑙ｉ攣澶辫触
             }
 
             assignCommand.setCommands(commands);
-
-//            //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
-//            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
-//            if (targetNodes == null) {
-//                return false;//鏈幏鍙栧埌鑺傜偣
-//            }
-//            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
-//            if (!checkPathIsAvailable) {
-//                News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
-//                return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
-//            }
-//            //灏濊瘯閿佸畾鐩爣绔欒矾寰�
-//            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
-//            if (!result2) {
-//                News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
-//                return false;//璺緞閿佸畾澶辫触
-//            }
-//            //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
 
             wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓�  301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐�
             wrkMast.setModiTime(now);
@@ -2222,6 +2236,10 @@
                 return false;//缂哄皯绔欑偣淇℃伅
             }
 
+            if (liftSta.getHasTray()) {
+                News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+                return false;//鏈夋墭鐩樿烦杩�
+            }
 
             //鑾峰彇鎻愬崌鏈哄懡浠�
             List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
@@ -2241,6 +2259,60 @@
             if (wrkMastService.updateById(wrkMast)) {
                 //涓嬪彂浠诲姟
                 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+            }
+        }
+        return true;
+    }
+
+    /**
+     * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+     * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+     * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+     */
+    private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
+        //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+        Date now = new Date();
+
+        //鎻愬崌鏈烘惉杩愪腑  307.鎻愬崌鏈烘惉杩愬畬鎴� ==> 308.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+        if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
+            //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+            if (shuttleThread == null) {
+                return false;
+            }
+            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+            if (shuttleProtocol == null) {
+                return false;
+            }
+
+            //灏忚溅澶勪簬绌洪棽鐘舵��
+            if (!shuttleThread.isIdle()) {
+                News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+                return false;
+            }
+
+            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+            assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+            assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+            assignCommand.setAuto(true);//鑷姩妯″紡
+            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+            assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+            //鏇存柊灏忚溅鍧愭爣
+            ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
+            ArrayList<ShuttleCommand> commands = new ArrayList<>();
+            commands.add(command);
+
+            assignCommand.setCommands(commands);
+
+            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
+            wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+            wrkMast.setModiTime(now);
+
+            if (wrkMastService.updateById(wrkMast)) {
+                //涓嬪彂浠诲姟
+                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
             }
         }
         return true;
@@ -2294,24 +2366,18 @@
             List<ShuttleCommand> commands = null;
             //璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
             if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
-//                //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
-//                //鑾峰彇鐩爣绔�
-//                LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
-//                if (liftSta == null) {
-//                    return false;//鎵句笉鍒扮珯鐐�
-//                }
-//
-//                List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
-//                if (targetNodes == null) {
-//                    return false;//鏈幏鍙栧埌鑺傜偣
-//                }
-//
-//                //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
-//                ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
-//                for (NavigateNode node : targetNodes) {
-//                    whiteList.add(new int[]{node.getX(), node.getY()});
-//                }
-//                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList);
+                //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
+                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+                if (targetNodes == null) {
+                    return false;//鏈幏鍙栧埌鑺傜偣
+                }
+
+                //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+                ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+                for (NavigateNode node : targetNodes) {
+                    whiteList.add(new int[]{node.getX(), node.getY()});
+                }
+                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
             }else {
                 //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
                 commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -2323,20 +2389,6 @@
             }
 
             assignCommand.setCommands(commands);
-
-//            if (wrkMast.getLiftNo() != null) {
-//                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
-//                if (liftThread == null) {
-//                    return false;
-//                }
-//                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-//                if (liftProtocol == null) {
-//                    return false;
-//                }
-//                if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) {
-//                    liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
-//                }
-//            }
 
             wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑  309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
             wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
diff --git a/src/main/java/com/zy/common/utils/NavigateMapData.java b/src/main/java/com/zy/common/utils/NavigateMapData.java
index 84d4373..2a2351f 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapData.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -233,7 +233,8 @@
 
                 //瑙ｆ瀽json鍦板浘鏁版嵁
                 ArrayList arrayList = JSON.parseObject(stringBuffer.toString(), ArrayList.class);
-                List<List<MapNode>> lists = filterMap(mapType, arrayList, lev, whitePoints, shuttlePoints);//杩囨护鍦板浘鏁版嵁
+                //閲嶅缓鏁版嵁鏍煎紡
+                List<List<MapNode>> lists = rebuildData(arrayList);
 
                 if (!file.delete()) {
                     System.out.println("涓存椂鏂囦欢鍒犻櫎澶辫触");
@@ -257,6 +258,26 @@
      * @param shuttlePoints 绌挎杞﹁妭鐐癸紝闇�瑕佸姞杞借繘鍦板浘
      */
     public List<List<MapNode>> filterMap(Integer mapType, List arrayList, Integer lev, List<int[]> whitePoints, List<int[]> shuttlePoints) {
+        //閲嶅缓鏁版嵁鏍煎紡
+        List<List<MapNode>> lists = rebuildData(arrayList);
+
+        //杞藉叆搴撲綅淇℃伅
+        lists = loadLocMast(mapType, lists, lev, whitePoints);
+
+        //鍔犺浇杞﹁締
+        lists = loadShuttle(lists, shuttlePoints);
+
+        //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+        lists = loadForkLift(lists, mapType, lev);
+
+        //鍔犺浇鐧藉悕鍗曡妭鐐�
+        lists = loadWhite(lists, lev, whitePoints);
+
+        return lists;
+    }
+
+    //閲嶅缓鏁版嵁鏍煎紡
+    public List<List<MapNode>> rebuildData(List arrayList) {
         List<List<MapNode>> lists = new ArrayList<>();
 
         //閲嶅缓鏁版嵁鏍煎紡
@@ -270,6 +291,11 @@
             lists.add(list);
         }
 
+        return lists;
+    }
+
+    //杞藉叆搴撲綅淇℃伅
+    public List<List<MapNode>> loadLocMast(Integer mapType, List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
         //杩囨护鏁版嵁
         LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
         try {
@@ -325,6 +351,11 @@
             e.printStackTrace();
         }
 
+        return lists;
+    }
+
+    //鍔犺浇杞﹁締
+    public List<List<MapNode>> loadShuttle(List<List<MapNode>> lists, List<int[]> shuttlePoints) {
         //鍔犺浇杞﹁締鍧愭爣鍒板湴鍥句腑
         if (shuttlePoints != null) {
             for (int[] points : shuttlePoints) {
@@ -339,6 +370,11 @@
             }
         }
 
+        return lists;
+    }
+
+    //鍔犺浇鐧藉悕鍗曡妭鐐�
+    public List<List<MapNode>> loadWhite(List<List<MapNode>> lists, Integer lev, List<int[]> whitePoints) {
         //鍔犺浇鐧藉悕鍗曡妭鐐�
         if (whitePoints != null) {
             List<List<MapNode>> realMap = getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘
@@ -358,7 +394,11 @@
                 lists.set(x, list);
             }
         }
+        return lists;
+    }
 
+    //鍔犺浇璐у弶鎻愬崌鏈虹偣浣�
+    public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) {
         try {
             //鍔犺浇璐у弶鎻愬崌鏈烘斁璐х偣浣嶆暟鎹�
             for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
@@ -368,6 +408,9 @@
                 }
 
                 for (ForkLiftStaProtocol staProtocol : forkLiftThread.getForkLiftStaProtocols()) {
+                    if (staProtocol.getLev() != lev) {
+                        continue;
+                    }
                     int row = Utils.getRow(staProtocol.getLocNo());
                     int bay = Utils.getBay(staProtocol.getLocNo());
 
@@ -379,7 +422,7 @@
                         if (staProtocol.getHasTray() != null && staProtocol.getHasTray()) {
                             mapNode.setValue(MapNodeType.DISABLE.id);
                         }
-                    }else {
+                    } else {
                         if (staProtocol.getHasCar() != null && staProtocol.getHasCar()) {
                             mapNode.setValue(MapNodeType.CAR.id);
                         }
@@ -391,10 +434,9 @@
                 }
 
             }
-        }catch (Exception e) {
+        } catch (Exception e) {
             e.printStackTrace();
         }
-
         return lists;
     }
 
diff --git a/src/main/java/com/zy/common/utils/NavigateUtils.java b/src/main/java/com/zy/common/utils/NavigateUtils.java
index 6528cc3..22d5fab 100644
--- a/src/main/java/com/zy/common/utils/NavigateUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateUtils.java
@@ -10,6 +10,7 @@
 import com.zy.core.News;
 import com.zy.core.enums.MapNodeType;
 import com.zy.core.model.PythonSimilarityResult;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 
@@ -25,9 +26,10 @@
 
     @Value("${pythonCalcPath}")
     private String pythonCalcPath;
-
     @Value("${pythonCalcSimilarity}")
     private String pythonCalcSimilarity;
+    @Autowired
+    private NavigateMapData navigateMapData;
 
     public List<NavigateNode> calc(String startPoint, String endPoint, Integer mapType, List<int[]> shuttlePoints, List<int[]> whites) {
         return calcJava(startPoint, endPoint, mapType, shuttlePoints, whites);
@@ -346,8 +348,7 @@
      * 妫�娴嬭矾寰勬槸鍚﹀彲鐢�(鍙蛋)
      */
     public boolean checkPathIsAvailable(List<NavigateNode> path, Integer shuttleNo, Integer lev) {
-        NavigateSolution solution = new NavigateSolution(NavigationMapType.DFX.id, lev, null, Utils.getShuttlePoints(shuttleNo, lev));//鑾峰彇鏃犵櫧鍚嶅崟鍦板浘(璇ュ湴鍥惧寘鍚皬杞﹀潗鏍�)
-        int[][] map = solution.map;
+        int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, Utils.getShuttlePoints(shuttleNo, lev));
         for (NavigateNode node : path) {
             int value = map[node.getX()][node.getY()];
             if (value != MapNodeType.NORMAL_PATH.id && value != MapNodeType.MAIN_PATH.id && value != MapNodeType.CHARGE.id && value != MapNodeType.CONVEYOR_CAR_GO.id) {//姣嶈建閬�3銆佸瓙杞ㄩ亾0銆佸厖鐢垫々5銆佸皬杞﹀彲璧拌緭閫佺珯
diff --git a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
index 4c44728..9451d91 100644
--- a/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -44,7 +44,7 @@
         Integer shuttleNo = shuttleProtocol.getShuttleNo();
         //鑾峰彇灏忚溅绉诲姩閫熷害
         Integer runSpeed = Optional.ofNullable(basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttleNo)).getRunSpeed()).orElse(1000);
-        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), null);
+        List<NavigateNode> nodeList = navigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(shuttleNo, Utils.getLev(startLocNo)), whites);
         if (nodeList == null) {
             News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
             shuttleThread.offerSystemMsg("{} dash {} can't find navigate path!", startLocNo, endLocNo);
@@ -52,8 +52,24 @@
         }
 
         List<NavigateNode> allNode = new ArrayList<>();
+        List<NavigateNode> lockNode = new ArrayList<>();
         for (NavigateNode node : nodeList) {
             allNode.add(node.clone());
+
+            if (whites != null) {
+                boolean flag = false;
+                for (int[] white : whites) {
+                    if(white[0] == node.getX() && white[1] == node.getY()) {
+                        flag = true;
+                        break;
+                    }
+                }
+
+                if (flag) {//鐧藉悕鍗曡烦杩囬攣瀹�
+                    continue;
+                }
+            }
+            lockNode.add(node.clone());
         }
 
         List<ShuttleCommand> commands = new ArrayList<>();
@@ -79,7 +95,7 @@
 
         assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
 
-        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, allNode, true);//閿佸畾璺緞
+        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startLocNo), shuttleNo, lockNode, true);//閿佸畾璺緞
         if (!result) {
             News.error("{} dash {} can't lock path!", startLocNo, endLocNo);
             shuttleThread.offerSystemMsg("{} dash {} can't lock path!", startLocNo, endLocNo);
diff --git a/src/main/java/com/zy/core/action/ShuttleAction.java b/src/main/java/com/zy/core/action/ShuttleAction.java
index 67e1a26..09fc279 100644
--- a/src/main/java/com/zy/core/action/ShuttleAction.java
+++ b/src/main/java/com/zy/core/action/ShuttleAction.java
@@ -28,6 +28,7 @@
 import com.zy.core.model.command.ShuttleRedisCommand;
 import com.zy.core.model.protocol.ShuttleProtocol;
 import com.zy.core.thread.ShuttleThread;
+import com.zy.system.entity.Config;
 import com.zy.system.service.ConfigService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
@@ -318,12 +319,29 @@
             return;
         }
 
-        String currentLocNo = shuttleProtocol.getCurrentLocNo();
-        int lev = Utils.getLev(currentLocNo);
+        boolean demoSwitchLev = false;
+        Config demoSwitchLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoSwitchLev"));
+        if (demoSwitchLevConfig != null) {
+            if (demoSwitchLevConfig.getValue().equals("Y")) {
+                demoSwitchLev = true;
+            }
+        }
+
+        Config demoRunLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoRunLev"));
+        if (demoRunLevConfig == null) {
+            return;
+        }
+        List<Integer> levList = JSON.parseArray(demoRunLevConfig.getValue(), Integer.class);
+
+        if (!demoSwitchLev) {
+            String currentLocNo = shuttleProtocol.getCurrentLocNo();
+            levList = new ArrayList<>();
+            levList.add(Utils.getLev(currentLocNo));
+        }
 
         LocMast targetLoc = null;
         EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
-        wrapper.eq("lev1", lev);
+        wrapper.in("lev1", levList);
         wrapper.eq("loc_sts", "O");
         wrapper.last("ORDER BY RAND() LIMIT 1");
         for (int i = 0; i < 3; i++) {
diff --git a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
index fbc87de..ec4d5f3 100644
--- a/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
+++ b/src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -244,8 +244,14 @@
                 return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
             }
             sourceStaNo = liftSta.getStaNo();//婧愮珯鐐�
-            //鎻愬崌鏈哄彿*100+鐩爣妤煎眰=鐩爣绔欑偣
-            staNo = liftSta.getLiftNo() * 100 + Utils.getLev(locNo);//鐩爣绔�
+
+            ForkLiftStaProtocol targetLiftSta = ForkLiftUtils.getLiftStaByLev(liftSta.getLiftNo(), Utils.getLev(locNo));
+            if (targetLiftSta == null) {
+                News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夌洰鏍囩珯鐐�", shuttleNo, locNo);
+                return false;//娌℃湁鎵惧埌鐩爣绔欑偣
+            }
+            //鐩爣绔欑偣
+            staNo = targetLiftSta.getStaNo();//鐩爣绔�
         }
 
         // 鑾峰彇宸ヤ綔鍙�
diff --git a/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java b/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
index 264c19c..339f7ab 100644
--- a/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
@@ -16,6 +16,7 @@
     SHUTTLE_CANCEL_CONTROL(11, "灏忚溅鍙栨秷绠″埗"),
     SHUTTLE_DEMO_OPEN(12, "婕旂ず妯″紡-寮�"),
     SHUTTLE_DEMO_CLOSE(13, "婕旂ず妯″紡-鍏�"),
+    UPDATE_LOCATION(14, "鏇存柊鍧愭爣"),
     ;
 
     public Integer id;
diff --git a/src/main/resources/map_1.json b/src/main/resources/map_1.json
index 2b03eb4..e6c72f6 100644
--- a/src/main/resources/map_1.json
+++ b/src/main/resources/map_1.json
@@ -1 +1 @@
-[ [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 10000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 10000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 11275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 11275 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 12725 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 12725 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 14000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 14000 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 15275 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 15275 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 16550 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 16550 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 20150, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 18700, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 17250, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 15800, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 14350, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 12900, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 11450, "yBase": 17825 }, { "value": 0, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 10000, "yBase": 17825 }, { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 } ], [ { "value": -1, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 23050, "yBase": 19275 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, "xBase": 21600, "yBase": 19275 }, { "value": 3, "data": "", "top": 1000, "bottom": 1000, "left": 1000, "right": 1000, 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diff --git a/src/main/resources/map_2.json b/src/main/resources/map_2.json
index 2b03eb4..e6c72f6 100644
--- a/src/main/resources/map_2.json
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diff --git a/src/main/resources/map_3.json b/src/main/resources/map_3.json
index 2b03eb4..e6c72f6 100644
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diff --git a/src/main/resources/map_4.json b/src/main/resources/map_4.json
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\ No newline at end of file
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 6f14410..f834c18 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -171,7 +171,7 @@
 
     <select id="selectChargeWorkingByChargeSta" resultMap="BaseResultMap">
         select * from asr_wrk_mast
-        where wrk_sts in (201,202,203)
+        where wrk_sts in (201,202,203,204,205,210)
         and mk = #{chargeSta}
         order by io_pri desc,io_time,wrk_no asc
     </select>

--
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