From c08e857d010676d45ff5f4fc022613b974563d43 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 04 四月 2023 14:58:41 +0800
Subject: [PATCH] 提升机和四向穿梭车入库出优化

---
 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java |   21 +
 src/main/java/com/zy/core/thread/LiftThread.java              |   62 ++--
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java   |  432 +++++++++++++++++++++++++++++++-
 src/main/java/com/zy/core/thread/ShuttleThread.java           |  185 +++++++------
 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java           |    8 
 src/main/resources/mapper/WrkMastMapper.xml                   |   17 
 src/main/java/com/zy/core/MainProcess.java                    |    6 
 src/main/java/com/zy/core/model/LiftSlave.java                |    3 
 src/main/java/com/zy/common/utils/CommonUtils.java            |   20 +
 9 files changed, 602 insertions(+), 152 deletions(-)

diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
index 43d11a3..25aea9b 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -98,9 +98,11 @@
 
     WrkMast selectRackInStep48(Short workNo,Integer sourceStaNo);
 
-    WrkMast selectByWorkNo59(Integer workNo);
+    WrkMast selectByWorkNo(Integer workNo);
 
-    WrkMast selectLiftStep6();
+    WrkMast selectLiftStep623();
 
-    WrkMast selectByWorkNo7(Integer workNo);
+    WrkMast selectByWorkNo724(Integer workNo);
+
+    List<WrkMast> selectBy2125();
 }
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 0db902b..be5c779 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -602,10 +602,120 @@
         }
     }
 
+//    /**
+//     * 鍏ュ簱  ===>>  鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+//     */
+//    public synchronized void shuttleIoInExecute() {
+//        // 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());
+//
+//                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);
+//
+//                if (staProtocol == null) {
+//                    continue;
+//                } else {
+//                    staProtocol = staProtocol.clone();
+//                }
+//                Short workNo = staProtocol.getWorkNo();
+//
+//                // 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 || wrkMast.getWrkSts() == 8) {
+//                            ShuttleThread shuttleThread = null;
+//                            HashMap<String, Object> searchIdleShuttle = null;
+//                            if (wrkMast.getWrkSts() == 4) {
+//                                //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+//                                searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+//                                shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+//                            }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) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+//                            }
+//
+//                            if (shuttleThread == null) {
+//                                continue;
+//                            }
+//
+//                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+//                            if (!shuttleProtocol.isIdle()) {
+//                                continue;
+//                            }
+//
+//                            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)
+//                            String currentLocNo = shuttleProtocol.getCurrentLocNo();
+//                            assignCommand.setSourceLocNo(currentLocNo);
+//
+//                            if (wrkMast.getWrkSts() == 8 || 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.setLocNo(wrkMast.getLocNo());
+//                                wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+//
+//                                //鑾峰彇浠庡皬杞�
+//                            }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
+//
+//                                //灏忚溅褰撳墠灞傞珮
+//                                Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+//
+//                                //鑾峰彇鎻愬崌鏈�
+//                                LiftSlave liftSlave = slaveProperties.getLift().get(0);
+//                                //鎻愬崌鏈哄簱浣嶅彿
+//                                String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+//                                shuttleProtocol.setLocNo(liftLocNo);
+//                                //鐩爣搴撲綅
+//                                assignCommand.setLocNo(liftLocNo);
+//                                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));
+//                            }
+//                        }
+//
+//                    }
+//                }
+//
+//            }
+//        }
+//
+//    }
+
     /**
-     * 鍏ュ嚭搴�  ===>>  鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
+     * 鍏ュ簱  ===>>  鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
      */
-    public synchronized void shuttleIoExecute() {
+    public synchronized void shuttleIoInExecute() {
         // 鏍规嵁杈撻�佺嚎plc閬嶅巻
         for (DevpSlave devp : slaveProperties.getDevp()) {
             // 閬嶅巻鍏ュ簱绔�
@@ -662,19 +772,28 @@
                             //鍒嗛厤婧愬簱浣�
                             shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
 
+                            //鍒涘缓鍒嗛厤鍛戒护
                             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)
+                            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
                             String currentLocNo = shuttleProtocol.getCurrentLocNo();
-                            assignCommand.setSourceLocNo(currentLocNo);
+                            assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+                            String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗e簱浣嶅彿
+                            Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//褰撳墠宸ヤ綔妗e簱浣嶅眰楂�
+                            Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//灏忚溅褰撳墠灞傞珮
+
+                            //鑾峰彇鎻愬崌鏈�
+                            LiftSlave liftSlave = slaveProperties.getLift().get(0);
+                            //鎻愬崌鏈哄簱浣嶅彿
+                            String liftLocNo = liftSlave.getLiftLocNo(currentLev);
 
                             if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
-                                //鍚屼竴灞�
+                                //鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
+                                //鐩存帴璁$畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
+                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
+                                assignCommand.setCommands(commands);
                                 //鍒嗛厤鐩爣搴撲綅
                                 shuttleProtocol.setLocNo(wrkMast.getLocNo());
                                 //鐩爣搴撲綅
@@ -683,16 +802,13 @@
                             }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
 
-                                //灏忚溅褰撳墠灞傞珮
-                                Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
-
-                                //鑾峰彇鎻愬崌鏈�
-                                LiftSlave liftSlave = slaveProperties.getLift().get(0);
-                                //鎻愬崌鏈哄簱浣嶅彿
-                                String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+                                //灏忚溅绉诲姩鍒版彁鍗囨満鍙o紝璁$畻璺緞
+                                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+                                //鍒嗛厤鐩爣搴撲綅
                                 shuttleProtocol.setLocNo(liftLocNo);
                                 //鐩爣搴撲綅
                                 assignCommand.setLocNo(liftLocNo);
+                                assignCommand.setCommands(commands);
                                 wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
                             }
 
@@ -710,8 +826,251 @@
 
     }
 
+    //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
+    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
+        //璁$畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
+        List<ShuttleCommand> commands = new ArrayList<>();
+        if (calc == null) {
+            return null;
+        }
+
+        //鑾峰彇鍒嗘璺緞
+        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+        //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+        for (ArrayList<NavigateNode> nodes : data) {
+            //寮�濮嬭矾寰�
+            NavigateNode startPath = nodes.get(0);
+            //鐩爣璺緞
+            NavigateNode endPath = nodes.get(nodes.size() - 1);
+            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+            ShuttleCommand 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()));
+            command.setStartToDistDistance(allDistance);
+            command.setMiddleToDistDistance(1000);
+            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+            command.setPalletLift((short) 1);
+            command.setForceMoveDistance(1000);
+            command.setChargeSwitch((short) 2);
+            command.setIOControl((short) 0);
+            command.setRunSpeed((short) 1000);
+            command.setRadarTmp((short) 0);
+            command.setCommandEnd((short) 1);
+            commands.add(command);
+        }
+        return commands;
+    }
+
+    //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
+    public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
+        //璁$畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
+        List<ShuttleCommand> commands = new ArrayList<>();
+        if (calc == null) {
+            return null;
+        }
+
+        //鑾峰彇鍒嗘璺緞
+        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+        //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+        for (ArrayList<NavigateNode> nodes : data) {
+            //寮�濮嬭矾寰�
+            NavigateNode startPath = nodes.get(0);
+            //鐩爣璺緞
+            NavigateNode endPath = nodes.get(nodes.size() - 1);
+            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+            ShuttleCommand 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()));
+            command.setStartToDistDistance(allDistance);
+            command.setMiddleToDistDistance(1000);
+            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+            command.setPalletLift((short) 1);
+            command.setForceMoveDistance(1000);
+            command.setChargeSwitch((short) 2);
+            command.setIOControl((short) 0);
+            command.setRunSpeed((short) 1000);
+            command.setRadarTmp((short) 0);
+            command.setCommandEnd((short) 1);
+            commands.add(command);
+        }
+
+        //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉¢《鍗囨寚浠�
+        ShuttleCommand command = new ShuttleCommand();
+        command.setCommandWord((short) 2);
+        command.setPalletLift((short) 1);
+        command.setCommandEnd((short) 1);
+        commands.add(command);
+
+        //璁$畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
+        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
+        if (calc2 == null) {
+            return null;
+        }
+
+        //鑾峰彇鍒嗘璺緞
+        ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
+        for (ArrayList<NavigateNode> nodes : data2) {
+            //寮�濮嬭矾寰�
+            NavigateNode startPath = nodes.get(0);
+            //鐩爣璺緞
+            NavigateNode endPath = nodes.get(nodes.size() - 1);
+            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+            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()));
+            command.setStartToDistDistance(allDistance);
+            command.setMiddleToDistDistance(1000);
+            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+            command.setPalletLift((short) 1);
+            command.setForceMoveDistance(1000);
+            command.setChargeSwitch((short) 2);
+            command.setIOControl((short) 0);
+            command.setRunSpeed((short) 1000);
+            command.setRadarTmp((short) 0);
+            command.setCommandEnd((short) 1);
+            commands.add(command);
+        }
+
+        //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
+        command = new ShuttleCommand();
+        command.setCommandWord((short) 2);
+        command.setPalletLift((short) 2);
+        command.setCommandEnd((short) 1);
+        commands.add(command);
+
+        return commands;
+    }
+
     /**
-     * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�
+     * 鍑哄簱  ===>>  鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+     */
+    public synchronized void shuttleIoOutExecute() {
+        for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
+            //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟
+            if (wrkMast != null) {
+                String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙�
+                //鑾峰彇鍑哄簱绔欑偣
+                for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+                    for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
+                        if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
+                            //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷�
+                            outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
+                        }
+                    }
+
+                }
+
+                if (wrkMast.getWrkSts() == 21
+                        || wrkMast.getWrkSts() == 25
+                        || wrkMast.getWrkSts() == 31) {
+                    ShuttleThread shuttleThread = null;
+                    HashMap<String, Object> searchIdleShuttle = null;
+                    if (wrkMast.getWrkSts() == 21) {
+                        //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+                        searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+                        shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+                    }else if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) {
+                        //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
+                        shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+                    }
+
+                    if (shuttleThread == null) {
+                        continue;
+                    }
+
+                    ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+                    if (shuttleProtocol == null) {
+                        continue;
+                    }
+
+                    if (!shuttleProtocol.isIdle()) {
+                        continue;
+                    }
+
+                    if (outStaLocNo == null) {
+                        continue;
+                    }
+
+                    wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+                    //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+                    //灏忚溅褰撳墠灞傞珮
+                    Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+                    //鑾峰彇鎻愬崌鏈�
+                    LiftSlave liftSlave = slaveProperties.getLift().get(0);
+                    //鎻愬崌鏈哄簱浣嶅彿
+                    String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+
+                    //鍒嗛厤浠诲姟鍙�
+                    shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+                    //鍒嗛厤婧愬簱浣�
+                    shuttleProtocol.setSourceLocNo(currentLocNo);
+
+                    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_OUT.id.shortValue());
+                    assignCommand.setSourceLocNo(currentLocNo);
+
+                    if (wrkMast.getWrkSts() == 21) {
+                        //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
+                        if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
+                            //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
+
+                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+                            //鍒嗛厤鐩爣搴撲綅
+                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+                            //鐩爣搴撲綅
+                            assignCommand.setLocNo(wrkMast.getSourceLocNo());
+                            assignCommand.setCommands(commands);
+                            wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+                        }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(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
+
+                            //灏忚溅鍒版彁鍗囨満鍙f寚浠�
+                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+                            shuttleProtocol.setLocNo(liftLocNo);
+                            //鐩爣搴撲綅
+                            assignCommand.setLocNo(liftLocNo);
+                            assignCommand.setCommands(commands);
+                            wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
+                        }
+                    } else if (wrkMast.getWrkSts() == 25) {
+                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+                        //鍒嗛厤鐩爣搴撲綅
+                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+                        //鐩爣搴撲綅
+                        assignCommand.setLocNo(wrkMast.getSourceLocNo());
+                        assignCommand.setCommands(commands);
+                        wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+                    }
+
+                    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�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
      */
     public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
         HashMap<String, Object> map = new HashMap<>();
@@ -806,7 +1165,7 @@
             //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.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue());
+                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                 if (wrkMast != null) {
                     switch (wrkMast.getWrkSts().intValue()) {
                         case 9:
@@ -814,6 +1173,12 @@
                             break;
                         case 5:
                             wrkMast.setWrkSts(6L);
+                            break;
+                        case 22:
+                            wrkMast.setWrkSts(23L);
+                            break;
+                        case 26:
+                            wrkMast.setWrkSts(27L);
                             break;
                         default:
                     }
@@ -861,7 +1226,7 @@
             }
 
             //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
-            WrkMast wrkMast = wrkMastMapper.selectLiftStep6();
+            WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
             if (wrkMast == null) {
                 continue;
             }
@@ -891,7 +1256,7 @@
             int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
 
             //宸ヤ綔妗g洰鏍囧簱浣嶅彿
-            String wrkMastLocNo = wrkMast.getLocNo();
+            String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
             //宸ヤ綔妗g洰鏍囧簱浣嶆ゼ灞�
             int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
 
@@ -938,7 +1303,13 @@
 
             commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
 
-            wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+            if (wrkMast.getIoType() == 101) {
+                //鍑哄簱浠诲姟
+                wrkMast.setWrkSts(24L);//绉诲姩浠诲姟
+            }else {
+                //鍏ュ簱浠诲姟
+                wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+            }
             //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
             LiftAssignCommand assignCommand = new LiftAssignCommand();
             assignCommand.setCommands(commands);
@@ -966,9 +1337,18 @@
             //鎻愬崌鏈轰负绛夊緟纭
             if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
                 //灏嗕换鍔℃。鏍囪涓哄畬鎴�
-                WrkMast wrkMast = wrkMastMapper.selectByWorkNo7(liftProtocol.getTaskNo().intValue());
+                WrkMast wrkMast = wrkMastMapper.selectByWorkNo724(liftProtocol.getTaskNo().intValue());
                 if (wrkMast != null) {
-                    wrkMast.setWrkSts(8L);
+                    switch (wrkMast.getWrkSts().intValue()) {
+                        case 7:
+                            wrkMast.setWrkSts(8L);
+                            break;
+                        case 24:
+                            wrkMast.setWrkSts(25L);
+                            break;
+                        default:
+                    }
+
                     if (wrkMastMapper.updateById(wrkMast) > 0) {
                         //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
                         liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
@@ -978,6 +1358,8 @@
                         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);
                         News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
                     } else {
                         News.error("鎻愬崌鏈哄凡纭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。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
diff --git a/src/main/java/com/zy/common/utils/CommonUtils.java b/src/main/java/com/zy/common/utils/CommonUtils.java
index 2b371c0..9e612fe 100644
--- a/src/main/java/com/zy/common/utils/CommonUtils.java
+++ b/src/main/java/com/zy/common/utils/CommonUtils.java
@@ -44,4 +44,24 @@
         return num != 0;
     }
 
+    //浠巖ow銆乥ay銆乴ev鍙傛暟鑾峰彇瀹屾暣搴撲綅鍙�
+    public static String getLocNoFromRBL(Integer row, Integer bay, Integer lev) {
+        StringBuffer sb = new StringBuffer();
+        if (row < 10) {
+            sb.append("0");
+        }
+        sb.append(row);
+        if (bay < 10) {
+            sb.append("00");
+        } else if (bay < 100) {
+            sb.append("0");
+        }
+        sb.append(bay);
+        if (lev < 10) {
+            sb.append("0");
+        }
+        sb.append(lev);
+        return sb.toString();
+    }
+
 }
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index b032df4..1be2192 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -57,8 +57,10 @@
                     mainService.crnStnToOutStn();
                     // 鍏ュ嚭搴�  ===>>  鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
                     mainService.crnIoExecute();
-                    // 鍏ュ嚭搴�  ===>>  鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
-                    mainService.shuttleIoExecute();
+                    // 鍏ュ簱  ===>>  鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+                    mainService.shuttleIoInExecute();
+                    // 鍑哄簱  ===>>  鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+                    mainService.shuttleIoOutExecute();
                     //鍥涘悜绌挎杞︿换鍔″畬鎴�
                     mainService.shuttleFinished();
                     //鎻愬崌鏈轰换鍔�
diff --git a/src/main/java/com/zy/core/model/LiftSlave.java b/src/main/java/com/zy/core/model/LiftSlave.java
index 15e6060..8d66ecf 100644
--- a/src/main/java/com/zy/core/model/LiftSlave.java
+++ b/src/main/java/com/zy/core/model/LiftSlave.java
@@ -45,6 +45,9 @@
             sb.append("0");
         }
         sb.append(bay);
+        if (lev < 10) {
+            sb.append("0");
+        }
         sb.append(lev);
         return sb.toString();
     }
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 d370e72..e29ec7d 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -230,6 +230,27 @@
         }
     }
 
+    // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵�侊紝浼犲叆鐨則askNo鍜屽綋鍓峵askNo鐩稿悓鏃跺厑璁告斁琛�
+    public Boolean isIdle(Short taskNo) {
+        boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
+                && this.pakMk.equals(true)
+                && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
+                && (this.taskNo == 0 || this.taskNo == taskNo)
+                ;
+        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;
+            }
+        }
+    }
+
     //閫氳繃褰撳墠浜岀淮鐮佽幏鍙栧綋鍓嶅簱浣嶅彿
     public String getCurrentLocNo() {
         LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 34ea0c1..d6e574d 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -293,32 +293,6 @@
         //灏嗘map瀛樺叆redis涓�
         HashMap<String, Object> map = new HashMap<>();
 
-        //鎻愬崌鏈哄彿
-        map.put("lift_no", assignCommand.getLiftNo());
-        //宸ヤ綔鍙�
-        map.put("wrk_no", assignCommand.getTaskNo());
-        //鍛戒护鎵ц姝ュ簭
-        map.put("commandStep", 0);
-        //鍛戒护
-        map.put("assignCommand", assignCommand);
-        //浠诲姟鏁版嵁淇濆瓨鍒皉edis
-        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
-        liftProtocol.setAssignCommand(assignCommand);
-        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
-        //鎵ц涓嬪彂浠诲姟
-        executeWork(assignCommand);
-    }
-
-    //鎵ц浠诲姟
-    private boolean executeWork(LiftAssignCommand assignCommand) {
-        //璇诲彇redis鏁版嵁
-        if (assignCommand == null) {
-            return false;
-        }
-
-        //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
-        liftProtocol.setPakMk(false);
-
         //鎵嬪姩妯″紡鎸囦护
         if (!assignCommand.getAuto()) {
             LiftCommand command = new LiftCommand();
@@ -347,16 +321,38 @@
                 case 5://澶嶄綅
                     command.setRun((short) 0);
                     command.setLiftLock(false);
-                    liftProtocol.setTaskNo((short) 0);
-                    liftProtocol.setShuttleNo((short) 0);
-                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
-                    liftProtocol.setPakMk(true);
                     break;
                 default:
             }
             commands.add(command);
             assignCommand.setCommands(commands);
         }
+
+        //鎻愬崌鏈哄彿
+        map.put("lift_no", assignCommand.getLiftNo());
+        //宸ヤ綔鍙�
+        map.put("wrk_no", assignCommand.getTaskNo());
+        //鍛戒护鎵ц姝ュ簭
+        map.put("commandStep", 0);
+        //鍛戒护
+        map.put("assignCommand", assignCommand);
+        //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+        liftProtocol.setAssignCommand(assignCommand);
+        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+        //鎵ц涓嬪彂浠诲姟
+        executeWork(assignCommand);
+    }
+
+    //鎵ц浠诲姟
+    private boolean executeWork(LiftAssignCommand assignCommand) {
+        //璇诲彇redis鏁版嵁
+        if (assignCommand == null) {
+            return false;
+        }
+
+        //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+        liftProtocol.setPakMk(false);
 
         Object o = redisUtil.get("lift_wrk_no_" + assignCommand.getTaskNo());
         if (o == null) {
@@ -411,6 +407,12 @@
                     News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
                 }else {
                     //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬�
+                    if (assignCommand.getTaskMode() == 5) {
+                        liftProtocol.setTaskNo((short) 0);
+                        liftProtocol.setShuttleNo((short) 0);
+                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+                        liftProtocol.setPakMk(true);
+                    }
                     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 73613c9..7f4a6fa 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -24,6 +24,7 @@
 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;
@@ -345,28 +346,94 @@
     }
 
     //鍒嗛厤浠诲姟
-    private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
+    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$畻璺緞锛屽垯鎶涘嚭寮傚父
-                    throw new Exception("鏈兘鎵惧埌杩愯璺緞");
-                }
+//        if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
+//                || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
+//            //鍏ュ簱鎴栧嚭搴撴ā寮忥紝璁$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();
+            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) {
+                        //鑾峰彇鍒嗘璺緞
+                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+                        //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()));
+                            command1.setMiddleCodeNum((short) 0);
+                            command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+                            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.setIOControl((short) 0);
+                            command1.setRunSpeed((short) 1000);
+                            command1.setRadarTmp((short) 0);
+                            command1.setCommandEnd((short) 1);
+                            commands.add(command1);
+                        }
+                    }
+                    break;
+                case 3://鎵樼洏椤跺崌
+                case 4://鎵樼洏涓嬮檷
+                    command.setCommandWord((short) 2);
+                    command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 5://寮哄埗宸︾Щ
+                case 6://寮哄埗鍙崇Щ
+                case 7://寮哄埗涓婄Щ
+                case 8://寮哄埗涓嬬Щ
+                    command.setCommandWord((short) 3);
+                    command.setForceMoveDistance(1000);
+                    command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                case 9://鐘舵�佸浣�
+                    command.setCommandWord((short) 0);
+                    command.setCommandEnd((short) 1);
+                    commands.add(command);
+                    break;
+                default:
             }
+            assignCommand.setCommands(commands);
         }
 
         //鍥涘悜绌挎杞﹀彿
@@ -401,79 +468,15 @@
             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 = 0;
-        //涓嬪彂鍛戒护
-        ShuttleCommand command = new ShuttleCommand();
-        switch (assignCommand.getTaskMode()) {
-            case 1://鍏ュ簱
-            case 2://鍑哄簱
-                //褰撳墠璺緞鏁版嵁
-                Object data = map.get("path");
-                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
-                //鍙栫涓�鏉¤矾寰�
-                Object o1 = pathList.get(commandStep);
-                ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
-                ArrayList<NavigateNode> path = new ArrayList<>();
-                for (Object o2 : objectPath) {
-                    NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
-                    path.add(navigateNode);
-                }
-                Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+        int size = commands.size();
 
-                size = Integer.parseInt(map.get("pathSize").toString());
-                //寮�濮嬭矾寰�
-                NavigateNode startPath = path.get(0);
-                //鐩爣璺緞
-                NavigateNode endPath = path.get(path.size() - 1);
+        //鍙栧嚭鍛戒护
+        ShuttleCommand command = commands.get(commandStep);
 
-                command.setCommandWord((short) 1);
-                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
-                command.setMiddleCodeNum((short) 0);
-                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
-                command.setStartToDistDistance(allDistance);
-                command.setMiddleToDistDistance(1000);
-                command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
-                command.setPalletLift((short) 1);
-                command.setForceMoveDistance(1000);
-                command.setChargeSwitch((short) 2);
-                command.setIOControl((short) 0);
-                command.setRunSpeed((short) 1000);
-                command.setRadarTmp((short) 0);
-
-                break;
-            case 3://鎵樼洏椤跺崌
-            case 4://鎵樼洏涓嬮檷
-                command.setCommandWord((short) 2);
-                command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
-                command.setCommandEnd((short) 1);
-                break;
-            case 5://寮哄埗宸︾Щ
-            case 6://寮哄埗鍙崇Щ
-            case 7://寮哄埗涓婄Щ
-            case 8://寮哄埗涓嬬Щ
-                command.setCommandWord((short) 3);
-                command.setForceMoveDistance(1000);
-                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
-                command.setCommandEnd((short) 1);
-                break;
-            case 9://鐘舵�佸浣�
-                command.setCommandWord((short) 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);
-                //鏍囪澶嶄綅
-                shuttleProtocol.setPakMk(true);
-                //浠诲姟鎸囦护娓呴浂
-                shuttleProtocol.setAssignCommand(null);
-                break;
-            default:
-        }
-
-        command.setCommandEnd((short) 1);
         //涓嬪彂鍛戒护
         if (!write(command)) {
             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(command));
@@ -513,6 +516,16 @@
 
                 if (!assignCommand.getAuto()) {
                     //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅
+                    if (assignCommand.getTaskMode() == 9) {
+                        //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);
+                        //鏍囪澶嶄綅
+                        shuttleProtocol.setPakMk(true);
+                        //浠诲姟鎸囦护娓呴浂
+                        shuttleProtocol.setAssignCommand(null);
+                    }
                     News.info("鍥涘悜绌挎杞︽墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                 }else {
                     //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 90cfbca..203f9a9 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -246,22 +246,27 @@
         order by io_pri desc,wrk_sts desc
     </select>
 
-    <select id="selectByWorkNo59" resultMap="BaseResultMap">
+    <select id="selectByWorkNo" resultMap="BaseResultMap">
         select top 1 * from dbo.asr_wrk_mast
         where wrk_no=#{workNo}
-        and wrk_sts in (5,9)
     </select>
 
-    <select id="selectLiftStep6" resultMap="BaseResultMap">
+    <select id="selectLiftStep623" resultMap="BaseResultMap">
         select top 1 * from dbo.asr_wrk_mast
-        where wrk_sts in (6)
+        where wrk_sts in (6,23)
         and shuttle_no is not null
         order by io_pri desc,wrk_sts desc
     </select>
 
-    <select id="selectByWorkNo7" resultMap="BaseResultMap">
+    <select id="selectByWorkNo724" resultMap="BaseResultMap">
         select top 1 * from dbo.asr_wrk_mast
         where wrk_no=#{workNo}
-        and wrk_sts in (7)
+        and wrk_sts in (7,24)
+    </select>
+
+    <select id="selectBy2125" resultMap="BaseResultMap">
+        select * from dbo.asr_wrk_mast
+        where wrk_sts in (21,25)
+        order by io_pri desc,wrk_sts desc
     </select>
 </mapper>

--
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