南沙WCS版本临时存储地址

.gitignore

+HELP.md
+target/
+!.mvn/wrapper/maven-wrapper.jar
+!**/src/main/**
+!**/src/test/**
+
+### STS ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+
+### IntelliJ IDEA ###
+.idea
+*.iws
+*.iml
+*.ipr
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+build/
+
+### VS Code ###
+.vscode/

pom.xml

+<?xml version="1.0" encoding="UTF-8"?><project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
		 xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
	<modelVersion>4.0.0</modelVersion>

	<groupId>com.mushiny</groupId>
	<artifactId>wcs-server</artifactId>
	<version>v8</version>
	<packaging>jar</packaging>

	<name>wcs</name>
	<description>热度计算</description>

	<parent>
		<groupId>org.springframework.boot</groupId>
		<artifactId>spring-boot-starter-parent</artifactId>
		<version>1.5.4.RELEASE</version>
		<relativePath/> <!-- lookup parent from repository -->
	</parent>

	<properties>
		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
		<project.reporting.outputEncoding>UTF-8</project.reporting.outputEncoding>
		<java.version>1.8</java.version>
		<spring-cloud.version>Dalston.SR1</spring-cloud.version>
		<docker.image.prefix>wms-wcs-service</docker.image.prefix>
	</properties>

	<dependencies>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-activemq</artifactId>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-amqp</artifactId>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-data-redis</artifactId>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-jdbc</artifactId>
		</dependency>
		<!--spring stream-->
		<dependency>
			<groupId>org.springframework.cloud</groupId>
			<artifactId>spring-cloud-starter-stream-rabbit</artifactId>
		</dependency>
		<!--连接池-->
		<!-- https://mvnrepository.com/artifact/com.alibaba/druid -->
		<dependency>
			<groupId>com.alibaba</groupId>
			<artifactId>druid</artifactId>
			<version>1.0.19</version>
		</dependency>

		<dependency>
			<groupId>mysql</groupId>
			<artifactId>mysql-connector-java</artifactId>
			<scope>runtime</scope>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-test</artifactId>
			<scope>test</scope>
		</dependency>
		<dependency>
			<groupId>org.springframework</groupId>
			<artifactId>spring-test</artifactId>
			<version>4.3.9.RELEASE</version>
			<scope>test</scope>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-test</artifactId>
			<version>1.4.5.RELEASE</version>
			<scope>test</scope>
		</dependency>
		<dependency>
			<groupId>org.apache.zookeeper</groupId>
			<artifactId>zookeeper</artifactId>
			<version>3.4.2</version>
		</dependency>
		<dependency>
			<groupId>org.springframework</groupId>
			<artifactId>spring-context-support</artifactId>
			<version>4.2.6.RELEASE</version>
		</dependency>
		<!-- https://mvnrepository.com/artifact/org.quartz-scheduler/quartz -->
		<dependency>
			<groupId>org.quartz-scheduler</groupId>
			<artifactId>quartz</artifactId>
			<version>2.1.1</version>
		</dependency>
		<!--动态反射-->
		<dependency>
			<groupId>org.javassist</groupId>
			<artifactId>javassist</artifactId>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-aop</artifactId>
		</dependency>

		<!--分布式锁-->
		<!-- redis-->
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-data-redis</artifactId>
		</dependency>
		<!-- redisson-->
		<dependency>
			<groupId>org.redisson</groupId>
			<artifactId>redisson</artifactId>
			<version>3.3.2</version>
		</dependency>
		<!--分布式锁结束-->
		<!--web mvc-->
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-web</artifactId>
		</dependency>
		<dependency>
			<groupId>org.springframework.boot</groupId>
			<artifactId>spring-boot-starter-jetty</artifactId>
		</dependency>
		<dependency>
			<groupId>org.codehaus.jackson</groupId>
			<artifactId>jackson-core-asl</artifactId>
			<version>1.9.13</version>
		</dependency>
		<dependency>
			<groupId>org.codehaus.jackson</groupId>
			<artifactId>jackson-mapper-asl</artifactId>
			<version>1.9.13</version>
		</dependency>
		<dependency>
			<groupId>log4j</groupId>
			<artifactId>log4j</artifactId>
			<version>1.2.16</version>
		</dependency>
		<dependency>
			<groupId>org.springframework</groupId>
			<artifactId>spring-tx</artifactId>
			<version>4.3.10.RELEASE</version>
		</dependency>
		<!--webmvc-->
		<dependency>
			<groupId>org.aspectj</groupId>
			<artifactId>aspectjweaver</artifactId>
			<version>1.8.10</version>
		</dependency>

	</dependencies>
	<!--管理-->
	<dependencyManagement>
		<dependencies>
			<dependency>
				<groupId>org.springframework.cloud</groupId>
				<artifactId>spring-cloud-dependencies</artifactId>
				<version>${spring-cloud.version}</version>
				<type>pom</type>
				<scope>import</scope>
			</dependency>
		</dependencies>
	</dependencyManagement>

	<build>
		<plugins>
			<plugin>
				<groupId>org.springframework.boot</groupId>
				<artifactId>spring-boot-maven-plugin</artifactId>
			</plugin>
		</plugins>
	</build></project>
\ No newline at end of file

src/main/docker/Dockerfile

+FROM java:openjdk-8-jre-alpine
+VOLUME /tmp
+ADD wcs-1.0.jar wcs-1.0.jar
+RUN sh -c 'touch /wcs-1.0.jar'
+ENTRYPOINT ["java","-Djava.security.egd=file:/dev/./urandom","-jar","/wcs-1.0.jar"]

src/main/java/com/mushiny/WcsApplication.java

+package com.mushiny;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.transaction.annotation.EnableTransactionManagement;
+
+@SpringBootApplication
+@EnableScheduling
+@EnableTransactionManagement
+public class WcsApplication {
+
+	public static void main(String[] args) {
+		SpringApplication.run(WcsApplication.class, args);
+	}
+}

src/main/java/com/mushiny/astar/AStar.java

+package com.mushiny.astar;
+
+import java.util.*;
+
+/**
+ * Created by Tank.li on 2017/7/4.
+ */
+public class AStar {
+    //步长单位
+    private static final int STEP = 1;
+
+    /**
+     * 当前运算用的地图
+     */
+    private Map<NodeKey,Node> currMap;
+
+    public Map<NodeKey, Node> getCurrMap() {
+        return currMap;
+    }
+
+    public void setCurrMap(Map<NodeKey, Node> currMap) {
+        this.currMap = currMap;
+    }
+
+    private List<Node> closeList = new ArrayList<>();
+    private List<Node> openList = new ArrayList<>();
+
+    public Node findPath(Node startNode, Node endNode) {
+        // 把起点增加 open list
+        startNode = currMap.get(new NodeKey(startNode.getX(),startNode.getY()));
+        endNode = currMap.get(new NodeKey(endNode.getX(),endNode.getY()));
+        openList.add(startNode);
+        while (openList.size() > 0) {
+            // 遍历 open list 。查找 F值最小的节点，把它作为当前要处理的节点
+            Node currentNode = findMinFNodeInOpneList();
+            // 从open list中移除
+            openList.remove(currentNode);
+            // 把这个节点移到 close list
+            closeList.add(currentNode);
+
+            ArrayList<Node> neighborNodes = findNeighborNodes(currentNode);
+            for (Node node : neighborNodes) {
+                if (exists(openList, node)) {
+                    foundPoint(currentNode, node);
+                } else {
+                    notFoundPoint(currentNode, endNode, node);
+                }
+            }
+            if (find(openList, endNode) != null) {
+                return find(openList, endNode);
+            }
+        }
+
+        return find(openList, endNode);
+    }
+
+
+
+    public ArrayList<Node> findNeighborNodes(Node currentNode) {
+        //ArrayList<Node> arrayList = new ArrayList<Node>();
+        // 仅仅考虑上下左右，不考虑斜对角
+        ArrayList<Node> list = new ArrayList<>();
+        Iterator<Node> iter = currentNode.getNodes().keySet().iterator();
+        while (iter.hasNext()) {
+            Node next =  iter.next();
+            if(!closeList.contains(next)){
+                list.add(next);
+            }
+        }
+        return list;
+    }
+
+    public Node findMinFNodeInOpneList() {
+        Node tempNode = openList.get(0);
+        for (Node node : openList) {
+            if (node.getF() < tempNode.getF()) {
+                tempNode = node;
+            }
+        }
+        return tempNode;
+    }
+
+    private void foundPoint(Node tempStart, Node node) {
+        int G = calcG(tempStart, node);
+        if (G < node.getG()) {
+            node.setParentNode(tempStart);
+            node.setG(G);
+            node.calcF();
+        }
+    }
+
+    private void notFoundPoint(Node tempStart, Node end, Node node) {
+        node.setParentNode(tempStart);
+        node.setG(calcG(tempStart, node));
+        node.setH(calcH(end, node)); ;
+        node.calcF();
+        openList.add(node);
+    }
+
+    private int calcG(Node start, Node node) {
+        int G = STEP;
+        int parentG = node.getParentNode() != null ? node.getParentNode().getG() : 1;
+        return G + parentG;
+    }
+
+    private int calcH(Node end, Node node) {
+        int step = Math.abs(node.getX() - end.getX()) + Math.abs(node.getY() - end.getY());
+        return step * STEP;
+    }
+
+    public static Node find(List<Node> nodes, Node point) {
+        for (Node n : nodes)
+            if ((n.getX() == point.getX()) && (n.getY() == point.getY())) {
+                return n;
+            }
+        return null;
+    }
+
+    public static boolean exists(List<Node> nodes, Node node) {
+        for (Node n : nodes) {
+            if ((n.getX() == node.getX()) && (n.getY() == node.getY())) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    public static void main(String[] args) {
+        Map<NodeKey, Node> map = new HashMap<>();
+        for (int i = 0; i < 100; i++) {
+            for (int j = 0; j < 100; j++) {
+                NodeKey nodeKey = new NodeKey(i+1,j+1);
+                Node node = new Node();
+                node.setX(i+1);
+                node.setY(j+1);
+                node.setG(1);
+                map.put(nodeKey,node);
+            }
+        }
+
+        Iterator<Node> iter = map.values().iterator();
+
+
+        while (iter.hasNext()) {
+            Node curr = iter.next();
+            Map<Node, Integer> nextNodes = new HashMap<>();
+            Iterator<Node> iter2 = map.values().iterator();
+            while (iter2.hasNext()) {
+                Node node = iter2.next();
+                if(isNext(node,curr)){
+                    nextNodes.put(node,100);
+                }
+            }
+            curr.setNodes(nextNodes);
+        }
+
+
+        AStar aStar = new AStar();
+        aStar.setCurrMap(map);
+        Node start = new Node();
+        start.setY(3);
+        start.setX(3);
+
+        Node end = new Node();
+        end.setY(98);
+        end.setX(100);
+        long startTime = System.currentTimeMillis();
+        Node nodeEnd = aStar.findPath(start,end);
+        System.out.println("===>"+(System.currentTimeMillis() - startTime));
+        while (nodeEnd.getParentNode()!=null){
+            System.out.println(nodeEnd.toString());
+            nodeEnd = nodeEnd.getParentNode();
+        }
+    }
+
+    private static boolean isNext(Node node, Node curr) {
+        //只有四个 相邻的
+        return (Math.abs(node.getX()-curr.getX())==1 && (node.getY()==curr.getY()))
+                ||(Math.abs(node.getY()-curr.getY())==1 && (node.getX()==curr.getX()));
+    }
+
+}

src/main/java/com/mushiny/astar/Node.java

+package com.mushiny.astar;
+
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/7/4.
+ */
+public class Node implements java.io.Serializable{
+
+    private String nodeId;
+
+    public String getNodeId() {
+        return nodeId;
+    }
+
+    public void setNodeId(String nodeId) {
+        this.nodeId = nodeId;
+    }
+
+    private Node parentNode;//用于回溯
+    private int f;
+    private int g;
+    private int h;
+    private int x;
+    private int y;
+
+    private Map<Node,Integer> nodes;//用于初始化和计算 key是node value是cost值
+
+    public Node getParentNode() {
+        return parentNode;
+    }
+
+    public void setParentNode(Node parentNode) {
+        this.parentNode = parentNode;
+    }
+
+    public int getF() {
+        return f;
+    }
+
+    public void setF(int f) {
+        this.f = f;
+    }
+
+    public int getG() {
+        return g;
+    }
+
+    public void setG(int g) {
+        this.g = g;
+    }
+
+    public int getH() {
+        return h;
+    }
+
+    public void setH(int h) {
+        this.h = h;
+    }
+
+    public int getX() {
+        return x;
+    }
+
+    public void setX(int x) {
+        this.x = x;
+    }
+
+    public int getY() {
+        return y;
+    }
+
+    public void setY(int y) {
+        this.y = y;
+    }
+
+    public Map<Node, Integer> getNodes() {
+        return nodes;
+    }
+
+    public void setNodes(Map<Node, Integer> nodes) {
+        this.nodes = nodes;
+    }
+
+    public void calcF() {
+        this.f = this.g + this.h;
+    }
+
+    @Override
+    public String toString() {
+        return "Node{" +
+                "x=" + x +
+                ", y=" + y +
+                '}';
+    }
+}

src/main/java/com/mushiny/astar/NodeKey.java

+package com.mushiny.astar;
+
+/**
+ * Created by Tank.li on 2017/7/4.
+ */
+public class NodeKey implements java.io.Serializable{
+    private int x;
+    private int y;
+
+    public NodeKey(int x, int y) {
+        this.x = x;
+        this.y = y;
+    }
+
+    public int getX() {
+        return x;
+    }
+
+    public void setX(int x) {
+        this.x = x;
+    }
+
+    public int getY() {
+        return y;
+    }
+
+    public void setY(int y) {
+        this.y = y;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+
+        NodeKey nodeKey = (NodeKey) o;
+
+        if (x != nodeKey.x) return false;
+        return y == nodeKey.y;
+    }
+
+    @Override
+    public int hashCode() {
+        int result = x;
+        result = 31 * result + y;
+        return result;
+    }
+}

src/main/java/com/mushiny/astar/WareHouseMap.java

+package com.mushiny.astar;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/7/4.
+ */
+public class WareHouseMap implements java.io.Serializable{
+    //地图ID 可能分多个地图
+    private int id;
+    //地图名字
+    private String name;
+
+    public int getId() {
+        return id;
+    }
+
+    public void setId(int id) {
+        this.id = id;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    //基本地图给空车跑路用 临时锁格、小车故障、格子不可用等
+    private Map<NodeKey,Node> basicMap = new HashMap<>();
+    //工作地图状态随时会变化，驮货车的路线(Cost值不同)、临时锁格、小车故障、格子不可用等也要考虑
+    private Map<NodeKey,Node> workMap = new HashMap<>();
+
+    public Node getBasicNode(NodeKey nodeId){
+        return basicMap.get(nodeId);
+    }
+    public Node getWorkNode(NodeKey nodeId){
+        return workMap.get(nodeId);
+    }
+
+    public void putBasicNode(NodeKey nodeId,Node node){
+         basicMap.put(nodeId,node);
+    }
+
+    public void putWorkNode(NodeKey nodeId,Node node){
+        workMap.put(nodeId,node);
+    }
+
+    public List<Node> getBasicPath(NodeKey nodeKeyA, NodeKey nodeKeyB) {
+         Node nodeA = basicMap.get(nodeKeyA);
+        return null;
+    }
+}

src/main/java/com/mushiny/astar/WareHouseMapManager.java

+package com.mushiny.astar;
+
+import java.util.List;
+
+/**
+ * Created by Tank.li on 2017/7/4.
+ */
+public class WareHouseMapManager {
+    private WareHouseMap wareHouseMap;
+
+    public WareHouseMap getWareHouseMap() {
+        return wareHouseMap;
+    }
+
+    public void setWareHouseMap(WareHouseMap wareHouseMap) {
+        this.wareHouseMap = wareHouseMap;
+    }
+
+    public WareHouseMapManager(WareHouseMap wareHouseMap) {
+        this.wareHouseMap = wareHouseMap;
+    }
+
+    /**
+     * 获取基本路径 给空车使用
+     * @param x1 起点的x轴
+     * @param y1 起点的y轴
+     * @param x2 终点的x轴
+     * @param y2 终点的y轴
+     * @return
+     */
+    public List<Node> getBasicPath(int x1,int y1, int x2,int y2){
+        NodeKey nodeKey1 = new NodeKey(x1,y1);
+        NodeKey nodeKey2 = new NodeKey(x2,y2);
+        return this.getWareHouseMap().getBasicPath(nodeKey1,nodeKey2);
+    }
+}

src/main/java/com/mushiny/beans/Address.java

+package com.mushiny.beans;
+
+import com.mushiny.beans.enums.AddressStatus;
+import com.mushiny.business.WareHouseManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * Created by Tank.li on 2017/6/26.
+ */
+public class Address extends BaseObject {
+    //当前位置的货架 pod 和 车 robot
+    private Pod pod;
+
+    private Robot robot;
+
+    public Pod getPod() {
+        return pod;
+    }
+
+    public void setPod(Pod pod) {
+        this.pod = pod;
+    }
+
+    public Robot getRobot() {
+        return robot;
+    }
+
+    public void setRobot(Robot robot) {
+        this.robot = robot;
+    }
+
+    private long lockedBy;//被哪个小车锁定,在返回存储区时锁定
+
+    public long getLockedBy() {
+        return lockedBy;
+    }
+
+    public void setLockedBy(long lockedBy) {
+        this.lockedBy = lockedBy;
+    }
+
+    private int type;
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    private String pkId;
+
+    public String getPkId() {
+        return pkId;
+    }
+
+    public void setPkId(String pkId) {
+        this.pkId = pkId;
+    }
+
+    private String classValue;
+    private String classDir;
+
+    public String getClassValue() {
+        return classValue;
+    }
+
+    public void setClassValue(String classValue) {
+        this.classValue = classValue;
+    }
+
+    public String getClassDir() {
+        return classDir;
+    }
+
+    public void setClassDir(String classDir) {
+        this.classDir = classDir;
+    }
+
+    private AddressGroup addressGroup;//所属组 可以是空的
+
+    public AddressGroup getAddressGroup() {
+        return addressGroup;
+    }
+
+    public void setAddressGroup(AddressGroup addressGroup) {
+        this.addressGroup = addressGroup;
+    }
+
+    private Address groupOutterAddr;//指向同组外部
+    private Address groupInnerAddr;//指向同组内部
+
+    public Address getGroupOutterAddr() {
+        return groupOutterAddr;
+    }
+
+    public void setGroupOutterAddr(Address groupOutterAddr) {
+        this.groupOutterAddr = groupOutterAddr;
+    }
+
+    public Address getGroupInnerAddr() {
+        return groupInnerAddr;
+    }
+
+    public void setGroupInnerAddr(Address groupInnerAddr) {
+        this.groupInnerAddr = groupInnerAddr;
+    }
+
+    private String id;//ADDRESSCODEID
+
+    private String sectionId;
+
+    public String getSectionId() {
+        return sectionId;
+    }
+
+    public void setSectionId(String sectionId) {
+        this.sectionId = sectionId;
+    }
+
+    private int xPosition;//地标位置
+    private int yPosition;//地标位置
+
+
+    public static final String TABLE = "WD_NODE";
+    @Override
+    public String getTable() {
+        return TABLE;
+    }
+
+    public static final String IDNAME = "ADDRESSCODEID";
+
+    @Override
+    public String getIdName() {
+        return IDNAME;
+    }
+
+    public Address(int x, int y) {
+        this.xPosition = x;
+        this.yPosition = y;
+    }
+
+    public Address() {
+    }
+
+    //相对得分值
+    private double score;
+
+    public double getScore() {
+        return score;
+    }
+
+    public void setScore(double score) {
+        this.score = score;
+    }
+
+    //距离热度 zc 跟最近工位的常量距离，仓库生成后一般不会变动
+    private int hot;
+
+    public int getHot() {
+        return hot;
+    }
+
+    public void setHot(int hot) {
+        this.hot = hot;
+    }
+
+    private String nodeState;//格子状态 Available/Reserved/Occupied/Unavailable
+
+    private String wareHouseId;
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+    public int getxPosition() {
+        return xPosition;
+    }
+
+    public void setxPosition(int xPosition) {
+        this.xPosition = xPosition;
+    }
+
+    public int getyPosition() {
+        return yPosition;
+    }
+
+    public void setyPosition(int yPosition) {
+        this.yPosition = yPosition;
+    }
+
+    public String getNodeState() {
+        return nodeState;
+    }
+
+    private final static Logger logger = LoggerFactory.getLogger(Address.class);
+
+    public void setNodeState(String nodeState) {
+        logger.debug("设置地址格Address["+this.getId()+"]状态是:"+nodeState);
+        if(!Objects.equals(this.nodeState, nodeState)){
+            this.addKV("NODE_STATE", nodeState);
+        }
+        this.nodeState = nodeState;
+    }
+
+    public String getWareHouseId() {
+        return wareHouseId;
+    }
+
+    public void setWareHouseId(String wareHouseId) {
+        this.wareHouseId = wareHouseId;
+    }
+
+    @Override
+    public String toString() {
+        StringBuilder sb = new StringBuilder();;
+        if (this.getAddressGroup() != null) {
+            AddressGroup addressGroup = this.getAddressGroup();
+            List<Address> addresses = addressGroup.getGroupAddrs();
+
+            sb.append("[");
+            for (int i = 0; i < addresses.size(); i++) {
+                Address address = addresses.get(i);
+                if (i < addresses.size() - 1) {
+                    sb.append(address.getId()).append(",");
+                } else {
+                    sb.append(address.getId());
+                }
+            }
+            sb.append("]");
+        }
+        return "Address{" +
+                "id='" + id + '\'' +
+                ", addressGroup=" + sb +
+                ", AddressType=" + this.getType() +
+                ", lockedBy=" + lockedBy +
+                ", pod=" + (pod == null ? "" : pod.getPodName()) +
+                ", robot=" + (robot == null ? "" : robot.getRobotId()) +
+                ", nodeState='" + nodeState + '\'' +
+                '}';
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if(obj==null){
+            return false;
+        }
+        Address addr = (Address) obj;
+        return Objects.equals(this.getId(),addr.getId());
+    }
+
+    /**
+     * 锁定解锁格子只能同步试试
+     * @param robotId     当前车
+     * @param lock_unlock 锁定或解锁
+     * @return
+     */
+    public synchronized boolean robotLock(long robotId, boolean lock_unlock) {
+        if (lock_unlock) {
+            logger.info("小车"+robotId+"锁定目标 lockedBy "+this.getLockedBy()+"NodeState "+this.getNodeState());
+            if ((this.getLockedBy()==robotId || this.getLockedBy()==0)){
+                this.setLockedBy(robotId);
+                this.setNodeState(AddressStatus.RESERVED);
+                logger.info("小车"+robotId+"锁定目标:"+this.getId()+"成功!");
+                return true;
+            }
+            logger.error("小车"+robotId+"锁定目标:"+this.getId()+"失败!");
+            return false;
+        } else {
+            if ((this.getLockedBy()==robotId) || this.getLockedBy() == 0L){
+                this.setLockedBy(0L);
+                this.setNodeState(AddressStatus.AVALIABLE);
+                logger.info("小车"+robotId+"解锁目标:"+this.getId()+"成功!");
+                return true;
+            }
+
+            logger.error("小车"+robotId+"解锁目标:"+this.getId()+"失败,被其他车 "+this.getLockedBy()+" 锁定!");
+            return false;
+        }
+    }
+}

src/main/java/com/mushiny/beans/AddressGroup.java

+package com.mushiny.beans;
+
+import com.mushiny.beans.enums.AddressStatus;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Created by Tank.li on 2017/8/17.
+ */
+public class AddressGroup implements java.io.Serializable{
+    private String groupId;
+    //只定义最内和最外两个节点 ，两个节点间可能存在无数个中间节点
+    private Address innerAddr;
+    private Address outterAddr;
+
+    public String getGroupId() {
+        return groupId;
+    }
+
+    public AddressGroup(String groupId) {
+        this.groupId = groupId;
+    }
+    //从外到内的列表
+    public List<Address> getGroupAddrs(){
+        List<Address> list = new ArrayList<>();
+        Address node = this.getOutterAddr();
+        while (node!=null){
+            list.add(node);
+            node=node.getGroupInnerAddr();
+        }
+        return list;
+    }
+
+    /**
+     * 这组成员从该节点往外的所有节点
+     * @param address
+     * @return
+     */
+    public List<Address> getOutterAddrs(Address address){
+        List<Address> list = new ArrayList<>();
+        Address node = address.getGroupOutterAddr();
+        while (node!=null){
+            list.add(node);
+            node=node.getGroupOutterAddr();
+        }
+        return list;
+    }
+
+    public void setGroupId(String groupId) {
+        this.groupId = groupId;
+    }
+
+    public Address getInnerAddr() {
+        return innerAddr;
+    }
+
+    public void setInnerAddr(Address innerAddr) {
+        this.innerAddr = innerAddr;
+    }
+
+    public Address getOutterAddr() {
+        return outterAddr;
+    }
+
+    public void setOutterAddr(Address outterAddr) {
+        this.outterAddr = outterAddr;
+    }
+
+}

src/main/java/com/mushiny/beans/BaseBpo.java

+package com.mushiny.beans;
+
+import java.util.Objects;
+
+/**
+ * Created by Tank.li on 2017/10/17.
+ */
+public class BaseBpo extends BaseObject {
+
+
+    //操作类型 TODO
+    public static final int INSERT = 1;
+    public static final int UPDATE = 2;
+    public static final int DELETE = 3;
+
+    private int operType = INSERT;
+
+    public int getOperType() {
+        return operType;
+    }
+
+    public void setOperType(int operType) {
+        this.operType = operType;
+    }
+
+    private Object Id;
+
+    private String table;
+
+    private String idName;
+
+    @Override
+    public Object getId() {
+        return Id;
+    }
+
+    public void setId(Object id) {
+        Id = id;
+    }
+
+    @Override
+    public String getTable() {
+        return table;
+    }
+
+    public void setTable(String table) {
+        this.table = table;
+    }
+
+    @Override
+    public String getIdName() {
+        return idName;
+    }
+
+    public void setIdName(String idName) {
+        this.idName = idName;
+    }
+}

src/main/java/com/mushiny/beans/BaseObject.java

+package com.mushiny.beans;
+
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Created by Tank.li on 2017/7/25.
+ */
+public abstract class BaseObject implements java.io.Serializable{
+
+    private String activeThread;//activeThread
+
+    public String getActiveThread() {
+        return activeThread;
+    }
+
+    public void setActiveThread(String activeThread) {
+        this.activeThread = activeThread;
+    }
+
+    private Map<String,Object> kv = new ConcurrentHashMap<>();
+
+    private Map<String,Object> con;
+    private Map<String,Object> delCon;//删除条件
+
+    public Map<String, Object> getDelCon() {
+        return delCon;
+    }
+
+    public void setDelCon(Map<String, Object> delCon) {
+        this.delCon = delCon;
+    }
+
+    public Map<String, Object> getCon() {
+        return con;
+    }
+
+    public void setCon(Map<String, Object> con) {
+        this.con = con;
+    }
+
+    public Map getNewValue(){
+        return kv;
+    }
+
+    public Map<String, Object> getKv() {
+        return kv;
+    }
+
+    public void setKv(Map<String, Object> kv) {
+        this.kv = kv;
+    }
+
+    /**
+     * 做多次操作
+     * @param key
+     * @param value
+     * @return
+     */
+    public BaseObject addKV(String key, Object value){
+        if(key == null || value == null){
+            return this;
+        }
+        kv.put(key,value);
+        return this;
+    }
+
+    public void clearKV(){
+        kv.clear();
+    }
+
+    public abstract Object getId();
+
+    public abstract String getTable();
+    public abstract String getIdName();
+}

src/main/java/com/mushiny/beans/Charger.java

+package com.mushiny.beans;
+
+/**
+ * Created by Tank.li on 2017/8/7.
+ */
+public class Charger extends BaseObject{
+    public static final String TABLE_NAME="MD_CHARGER";
+    public static final String ID_NAME="ID";
+    /*statusIndex:1, 2, 3, 4
+     statusName:充电, 空闲, 离线, 故障*/
+    public static final int CHARGING = 1;
+    public static final int IDLE = 2;
+    public static final int OFFLINE = 3;
+    public static final int ERROR = 4;
+    private String chargerId;
+    private String addressCodeId;
+    private int direct;
+    private String name;
+    private String state;
+    private String wareHouseId;
+    private String sectionId;
+
+    //美的的charger包含Mac地址
+    private String mac;
+    private String chargerAddr;//充电桩实际地址
+
+    private Integer rcsChargerId;
+    private Integer chargerType;
+
+    public String getChargerAddr() {
+        return chargerAddr;
+    }
+
+    public void setChargerAddr(String chargerAddr) {
+        this.chargerAddr = chargerAddr;
+    }
+
+    public String getMac() {
+        return mac;
+    }
+
+    public void setMac(String mac) {
+        this.mac = mac;
+    }
+
+    public Integer getRcsChargerId() {
+        return rcsChargerId;
+    }
+
+    public void setRcsChargerId(Integer rcsChargerId) {
+        this.rcsChargerId = rcsChargerId;
+    }
+
+    public Integer getChargerType() {
+        return chargerType;
+    }
+
+    public void setChargerType(Integer chargerType) {
+        this.chargerType = chargerType;
+    }
+
+    public String getWareHouseId() {
+        return wareHouseId;
+    }
+
+    public void setWareHouseId(String wareHouseId) {
+        this.wareHouseId = wareHouseId;
+    }
+
+    public String getSectionId() {
+        return sectionId;
+    }
+
+    public void setSectionId(String sectionId) {
+        this.sectionId = sectionId;
+    }
+
+    public String getState() {
+        return state;
+    }
+
+    public void setState(String state) {
+        this.state = state;
+    }
+
+    public String getChargerId() {
+        return chargerId;
+    }
+
+    public void setChargerId(String chargerId) {
+        this.chargerId = chargerId;
+    }
+
+    public String getAddressCodeId() {
+        return addressCodeId;
+    }
+
+    public void setAddressCodeId(String addressCodeId) {
+        this.addressCodeId = addressCodeId;
+    }
+
+    public int getDirect() {
+        return direct;
+    }
+
+    public void setDirect(int direct) {
+        this.direct = direct;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    @Override
+    public Object getId() {
+        return this.getChargerId();
+    }
+
+    @Override
+    public String getTable() {
+        return TABLE_NAME;
+    }
+
+    @Override
+    public String getIdName() {
+        return ID_NAME;
+    }
+
+    @Override
+    public String toString() {
+        return "chargerId:"+chargerId+" ,chargerName:"+name+" ,rcsChargerId:"+rcsChargerId+" ,chargerType:"+chargerType+" ,chargerState:"+state;
+    }
+}

src/main/java/com/mushiny/beans/Item.java

+package com.mushiny.beans;
+
+/**
+ * Created by Tank.li on 2017/6/26.
+ */
+public class Item implements java.io.Serializable{
+    private String itemId;
+    private String itemName;
+    private int amount;
+    private String uniType;
+
+    public String getItemId() {
+        return itemId;
+    }
+
+    public void setItemId(String itemId) {
+        this.itemId = itemId;
+    }
+
+    public String getItemName() {
+        return itemName;
+    }
+
+    public void setItemName(String itemName) {
+        this.itemName = itemName;
+    }
+
+    public int getAmount() {
+        return amount;
+    }
+
+    public void setAmount(int amount) {
+        this.amount = amount;
+    }
+
+    public String getUniType() {
+        return uniType;
+    }
+
+    public void setUniType(String uniType) {
+        this.uniType = uniType;
+    }
+
+    @Override
+    public String toString() {
+        return "Item{" +
+                "itemId='" + itemId + '\'' +
+                ", itemName='" + itemName + '\'' +
+                ", amount=" + amount +
+                ", uniType='" + uniType + '\'' +
+                '}';
+    }
+}

src/main/java/com/mushiny/beans/Pod.java

+package com.mushiny.beans;
+
+import com.mushiny.beans.enums.AddressStatus;
+import com.mushiny.beans.enums.AddressType;
+import com.mushiny.beans.order.Order;
+import com.mushiny.beans.order.StationPodOrder;
+import com.mushiny.business.RobotManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.List;
+import java.util.Objects;
+import java.util.Set;
+
+/**
+ * 计算热度使用的Pod对象 跟数据库存储没关系
+ * Created by Tank.li on 2017/6/25.
+ */
+public class Pod extends BaseObject{
+    private final static Logger logger = LoggerFactory.getLogger(Pod.class);
+
+    private String podId;
+    private String podName;
+
+    private Long rcsPodId;//RCS扫码出来的POD
+
+    private long lockedBy;//被哪个小车锁定,在初始化时锁定
+
+    public long getLockedBy() {
+        return lockedBy;
+    }
+
+    public void setLockedBy(long lockedBy) {
+        this.lockedBy = lockedBy;
+    }
+
+    //pod绑定的Robot 在收到实时包时更新
+    private Robot robot;
+    /*POD朝向 角度*/
+    private int direct;
+
+    //private String addressId;
+    private String sectionId;
+    private String wareHouseId;
+    private String clientId;
+    //最终可能要去的位置排序 如果被占用就取下一个
+    private List<Address> favorAddrs;
+    private double hot = 0.0;
+    //排序后换成Z值的HOT,跟位置一起排序算得
+    private int zHot = 0;
+    //pod当前位置
+    private Address address;
+
+    //pod当前移动的目标位置，一旦调度单生成目的地后，会更新POD的目标位置==调度单的目标位置
+    private String movTargetAddrId;
+
+    private Set<PodPosition> podPositions;
+    private Address ideaTarget;
+    private int isNewCreated;
+
+    public void setIsNewCreated(int isNewCreated) {
+        this.isNewCreated = isNewCreated;
+    }
+
+    public int getIsNewCreated() {
+        return isNewCreated;
+    }
+
+    public Long getRcsPodId() {
+        return rcsPodId;
+    }
+
+    public void setRcsPodId(Long rcsPodId) {
+        this.rcsPodId = rcsPodId;
+    }
+
+    public String getMovTargetAddrId() {
+        return movTargetAddrId;
+    }
+
+    public void setMovTargetAddrId(String movTargetAddrId) {
+        this.movTargetAddrId = movTargetAddrId;
+    }
+
+    public Robot getRobot() {
+        return robot;
+    }
+
+    public void setRobot(Robot robot) {
+        this.robot = robot;
+    }
+
+    public int getDirect() {
+        return direct;
+    }
+
+    public void setDirect(int direct) {
+        this.direct = direct;
+    }
+
+    public String getSectionId() {
+        return sectionId;
+    }
+
+    public void setSectionId(String sectionId) {
+        this.sectionId = sectionId;
+    }
+
+    public List<Address> getFavorAddrs() {
+        return favorAddrs;
+    }
+
+    public void setFavorAddrs(List<Address> favorAddrs) {
+        this.favorAddrs = favorAddrs;
+    }
+
+    public Address getIdeaTarget() {
+        return ideaTarget;
+    }
+
+    public void setIdeaTarget(Address ideaTarget) {
+        this.ideaTarget = ideaTarget;
+    }
+
+    public int getzHot() {
+        return zHot;
+    }
+
+    public void setzHot(int zHot) {
+        this.zHot = zHot;
+    }
+
+    public double getHot() {
+        return hot;
+    }
+
+    public void setHot(double hot) {
+        this.hot = hot;
+    }
+
+    public Address getAddress() {
+        return address;
+    }
+
+    public void setAddress(Address address) {
+        logger.debug("设置POD位置:"+address);
+        if (this.address != null) {
+            this.address.setPod(null);
+            logger.error("setAddress:this.address:"+this.address);
+        }
+        this.address = address;
+
+    }
+
+    public String getPodId() {
+        return podId;
+    }
+
+    public void setPodId(String podId) {
+        this.podId = podId;
+    }
+
+    public String getPodName() {
+        return podName;
+    }
+
+    public void setPodName(String podName) {
+        this.podName = podName;
+    }
+
+    /*public String getId() {
+        return addressId;
+    }
+
+    public void setId(String addressId) {
+        this.addressId = addressId;
+    }*/
+
+    public String getWareHouseId() {
+        return wareHouseId;
+    }
+
+    public void setWareHouseId(String wareHouseId) {
+        this.wareHouseId = wareHouseId;
+    }
+
+    public String getClientId() {
+        return clientId;
+    }
+
+    public void setClientId(String clientId) {
+        this.clientId = clientId;
+    }
+
+    public Set<PodPosition> getPodPositions() {
+        return podPositions;
+    }
+
+    public void setPodPositions(Set<PodPosition> podPositions) {
+        this.podPositions = podPositions;
+    }
+
+    @Override
+    public Object getId() {
+        return this.podId;
+    }
+
+    public static final String TABLE = "MD_POD";
+    @Override
+    public String getTable() {
+        return TABLE;
+    }
+
+    public static final String IDNAME = "ID";
+
+    @Override
+    public String getIdName() {
+        return IDNAME;
+    }
+
+    @Override
+    public String toString() {
+        return "Pod{" +
+                "podName='" + podName + '\'' +
+                ", rcsPodId=" + rcsPodId +
+                ", lockedBy=" + lockedBy +
+                ", robot=" + (robot==null? "":robot.getRobotId()) +
+                ", direct=" + direct +
+                ", isNewCreated=" + isNewCreated +
+                //", sectionId='" + sectionId + '\'' +
+                ", address=" + (address==null? "":address.getId()+":"+address.getNodeState()) +
+                //", \n 热度: favorAddrs=" + favorAddrs +
+                '}';
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+
+        Pod pod = (Pod) o;
+
+        if (direct != pod.direct) return false;
+        return podId.equals(pod.podId);
+    }
+
+    @Override
+    public int hashCode() {
+        int result = podId.hashCode();
+        result = 31 * result + direct;
+        return result;
+    }
+
+    /**
+     * 同步锁定POD
+     * @param order
+     * @return
+     */
+    public synchronized boolean lockPod(Order order) {
+        Long robotId = order.getRobot().getRobotId();
+        //已经被其他车锁定
+        if(lockedBy!= 0 && lockedBy != robotId){
+            return false;
+        }
+        //锁定该POD
+        this.lockedBy = robotId;
+        return true;
+    }
+}

src/main/java/com/mushiny/beans/PodCell.java

+package com.mushiny.beans;
+
+import java.util.Set;
+
+/**
+ * Created by Tank.li on 2017/6/25.
+ */
+public class PodCell implements java.io.Serializable {
+    private String cellId;
+    private String podPositionId;
+    private String podCellName;
+    private Set<Item> items;
+
+    public String getCellId() {
+        return cellId;
+    }
+
+    public void setCellId(String cellId) {
+        this.cellId = cellId;
+    }
+
+    public String getPodPositionId() {
+        return podPositionId;
+    }
+
+    public void setPodPositionId(String podPositionId) {
+        this.podPositionId = podPositionId;
+    }
+
+    public String getPodCellName() {
+        return podCellName;
+    }
+
+    public void setPodCellName(String podCellName) {
+        this.podCellName = podCellName;
+    }
+
+    public Set<Item> getItems() {
+        return items;
+    }
+
+    public void setItems(Set<Item> items) {
+        this.items = items;
+    }
+}

src/main/java/com/mushiny/beans/PodPosition.java

+package com.mushiny.beans;
+
+import java.util.List;
+import java.util.Set;
+
+/**
+ * Created by Tank.li on 2017/6/25.
+ */
+public class PodPosition {
+    private String podPositionId;
+    private String podPositionName;
+    private String position;//四个面A B C D
+    private String podId;
+    private Set<PodCell> podCells;
+
+    public String getPodPositionId() {
+        return podPositionId;
+    }
+
+    public void setPodPositionId(String podPositionId) {
+        this.podPositionId = podPositionId;
+    }
+
+    public String getPodPositionName() {
+        return podPositionName;
+    }
+
+    public void setPodPositionName(String podPositionName) {
+        this.podPositionName = podPositionName;
+    }
+
+    public String getPosition() {
+        return position;
+    }
+
+    public void setPosition(String position) {
+        this.position = position;
+    }
+
+    public String getPodId() {
+        return podId;
+    }
+
+    public void setPodId(String podId) {
+        this.podId = podId;
+    }
+
+    public Set<PodCell> getPodCells() {
+        return podCells;
+    }
+
+    public void setPodCells(Set<PodCell> podCells) {
+        this.podCells = podCells;
+    }
+}

src/main/java/com/mushiny/beans/RobotStatusChangeListener.java

+package com.mushiny.beans;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.beans.PropertyChangeEvent;
+import java.beans.PropertyChangeListener;
+import java.util.Objects;
+
+/**
+ * Created by Tank.li on 2017/7/22.
+ */
+public class RobotStatusChangeListener implements PropertyChangeListener {
+    @Override
+    public void propertyChange(PropertyChangeEvent evt) {
+        String propertyName = evt.getPropertyName();
+        Object oldValue = evt.getOldValue();
+        Object newValue = evt.getNewValue();
+        Robot robot = (Robot) evt.getSource();
+
+        if("status".equals(propertyName)){
+            Integer oldStatus = (Integer) oldValue;
+            Integer newStatus = (Integer) newValue;
+            if(!Objects.equals(oldStatus, newStatus)){
+                robot.setPersistFlag(true);//确实发生变化 需要持久到数据库
+            }
+        }
+        //更新地址
+        if("addressId".equals(propertyName)){
+            String oldAddress = (String) oldValue;
+            String newAddress = (String) newValue;
+            if(!Objects.equals(oldAddress,newAddress)){
+                robot.setPersistFlag(true);//确实发生变化 需要持久到数据库
+            }
+        }
+        //更新pod pod属性的变化指 朝向、id （换了个POD 或者转了个面）
+        if("pod".equals(propertyName)){
+            Pod oldPod = (Pod) oldValue;
+            Pod newPod = (Pod) newValue;
+            if(!Objects.equals(oldPod,newPod)){
+                robot.setPersistFlag(true);//确实发生变化 需要持久到数据库
+            }
+        }
+    }
+
+    /*因为报文和状态都是一坨，所以拆不开 统一主动commit*/
+    private final static Logger logger = LoggerFactory.getLogger(RobotStatusChangeListener.class);
+    /**
+     * 更新机器人状态
+     * @param robot
+     * @param oldStatus
+     * @param newStatus
+     */
+    public void updateStatus(Robot robot, Integer oldStatus, Integer newStatus) {
+        robot.addKV("oldStatus",oldStatus);
+        robot.addKV("status",newStatus);
+        logger.debug("小车Robot_id"+robot.getRobotId()+"状态更新结束,status:"+oldStatus+"==>"+newStatus);
+    }
+
+    /**
+     * 更新小车地址 保险起见 把xy坐标更新了
+     * @param robot
+     * @param oldAddress
+     * @param newAddress
+     */
+    public void updateAddress(Robot robot, String oldAddress, String newAddress) {
+        robot.addKV("OLDADDRCODEID",oldAddress);
+        robot.addKV("ADDRESSCODEID",newAddress);
+        logger.debug("小车Robot_id"+robot.getRobotId()+"位置更新结束,address:"+oldAddress+"==>"+newAddress);
+    }
+
+    /**
+     * 更新POD
+     * @param robot
+     * @param oldPod
+     * @param newPod
+     */
+    public void updatePod(Robot robot, Pod oldPod, Pod newPod) {
+        String oldPodId = oldPod==null? null:oldPod.getPodId();
+        String newPodId = newPod==null? null:newPod.getPodId();
+        robot.addKV("pod_id",newPodId);
+        logger.debug("小车Robot_id"+robot.getRobotId()+"状态更新结束,pod_id:"+oldPodId+"==>"+newPodId);
+    }
+}

src/main/java/com/mushiny/beans/Section.java

+package com.mushiny.beans;
+
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Created by Tank.li on 2017/7/20.
+ */
+public class Section implements java.io.Serializable{
+
+    private String activeMapId;
+
+    public String getActiveMapId() {
+        return activeMapId;
+    }
+
+    public void setActiveMapId(String activeMapId) {
+        this.activeMapId = activeMapId;
+    }
+
+    private String section_id;
+
+    private String section_name;
+
+    private String wareHouse_id;
+
+    private long rcs_sectionId;
+
+    public Map<String,AddressGroup> addressGroupMap = new HashMap<>();
+
+    /**
+     * 当前section的调度单组 key是小车的robot_id
+     */
+
+    private List<Address> storageAddrs;
+
+    public List<Address> getStorageAddrs() {
+        return storageAddrs;
+    }
+
+    public void setStorageAddrs(List<Address> storageAddrs) {
+        this.storageAddrs = storageAddrs;
+    }
+
+    //所有的格子列表
+    public List<Address> addressList = new ArrayList<>();
+    //所有格子索引
+    public Map<String,Address> addressMap = new ConcurrentHashMap<>();
+    //所有充电桩的地址 key是chargerId
+    public Map<String,Charger> chargers = new ConcurrentHashMap<>();
+    //所有工作站
+    public Map<String,WorkStation> workStationMap = new ConcurrentHashMap<>();
+    //自动移动扫描的位置
+    public Map<Address,WorkStation> scanPoionts = new ConcurrentHashMap<>();
+    //工位工作停止点
+    public Map<Address, WorkStation> stopPoionts = new ConcurrentHashMap<>();
+    //POD回程缓冲点
+    public Map<Address, WorkStation> bufferPoionts = new ConcurrentHashMap<>();
+
+    public long getRcs_sectionId() {
+        return rcs_sectionId;
+    }
+
+    public void setRcs_sectionId(long rcs_sectionId) {
+        this.rcs_sectionId = rcs_sectionId;
+    }
+
+    public String getSection_name() {
+        return section_name;
+    }
+
+    public void setSection_name(String section_name) {
+        this.section_name = section_name;
+    }
+
+    public String getSection_id() {
+        return section_id;
+    }
+
+    public void setSection_id(String section_id) {
+        this.section_id = section_id;
+    }
+
+    public String getWareHouse_id() {
+        return wareHouse_id;
+    }
+
+    public void setWareHouse_id(String wareHouse_id) {
+        this.wareHouse_id = wareHouse_id;
+    }
+
+    @Override
+    public String toString() {
+        return "Section{" +
+                "section_id='" + section_id + '\'' +
+                ", section_name='" + section_name + '\'' +
+                '}';
+    }
+}

src/main/java/com/mushiny/beans/WareHouse.java

+package com.mushiny.beans;
+
+/**
+ * Created by Tank.li on 2017/7/20.
+ */
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 仓库对象 一个系统初始化可能包含多个仓库
+ */
+public class WareHouse implements java.io.Serializable {
+    private String wareHouseId;
+    private String wareHouseName;
+
+    public Map<String,Section> sectionMap = new ConcurrentHashMap<>();
+
+
+    public String getWareHouseId() {
+        return wareHouseId;
+    }
+
+    public void setWareHouseId(String wareHouseId) {
+        this.wareHouseId = wareHouseId;
+    }
+
+    public String getWareHouseName() {
+        return wareHouseName;
+    }
+
+    public void setWareHouseName(String wareHouseName) {
+        this.wareHouseName = wareHouseName;
+    }
+}

src/main/java/com/mushiny/beans/WorkStation.java

+package com.mushiny.beans;
+
+import com.mushiny.beans.order.Order;
+import com.mushiny.comm.JsonUtils;
+
+import java.util.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Queue;
+import java.util.concurrent.atomic.AtomicLong;
+
+/**
+ * Created by Tank.li on 2017/6/26.
+ */
+public class WorkStation {
+
+    public AtomicLong inAddr1 = new AtomicLong();//旋转区入口1计数器
+    public AtomicLong inAddr2 = new AtomicLong();//旋转区入口2计数器
+
+    //public Queue<Pod> podQueue = new LinkedList<>();//排队的POD
+
+    /*private Pod onScanPod;
+
+    private Pod onMidPod;
+
+    private Pod onStopPod;*/
+
+    /*public Pod getOnScanPod() {
+        return onScanPod;
+    }
+
+    public void setOnScanPod(Pod onScanPod) {
+        this.onScanPod = onScanPod;
+    }*/
+
+    /*public Pod getOnMidPod() {
+        return onMidPod;
+    }
+
+    public void setOnMidPod(Pod onMidPod) {
+        this.onMidPod = onMidPod;
+    }*/
+
+    /*public Pod getOnStopPod() {
+        return onStopPod;
+    }
+
+    public void setOnStopPod(Pod onStopPod) {
+        this.onStopPod = onStopPod;
+    }*/
+
+
+
+    private String workStationId;
+    private String wareHouseId;
+
+    private String sectionId;
+
+    private String rotatePoint;
+
+    public String getRotatePoint() {
+        return rotatePoint;
+    }
+
+    public void setRotatePoint(String rotatePoint) {
+        this.rotatePoint = rotatePoint;
+    }
+
+    private String scanPoint;
+    //STOP点是工作站的计算点
+    private String stopPoint;
+
+    private String bufferPoint;
+
+    private String midPoint;//扫描点和停止点中间那个
+
+    public String getMidPoint() {
+        return midPoint;
+    }
+
+    public void setMidPoint(String midPoint) {
+        this.midPoint = midPoint;
+    }
+
+    //旋转区外部入口
+    public List<String> rotateOutInAddrs = new ArrayList<>();
+    //旋转区从工作站方向入口
+    private String station2RotateAddr;
+
+    private int face;//工作站朝向
+
+    public String getSectionId() {
+        return sectionId;
+    }
+
+    public void setSectionId(String sectionId) {
+        this.sectionId = sectionId;
+    }
+
+    public int getFace() {
+        return face;
+    }
+
+    public void setFace(int face) {
+        this.face = face;
+    }
+
+    public String getStation2RotateAddr() {
+        return station2RotateAddr;
+    }
+
+    public void setStation2RotateAddr(String station2RotateAddr) {
+        this.station2RotateAddr = station2RotateAddr;
+    }
+    //旋转区出口
+    private String rotateInOutAddr;
+
+    public String getRotateInOutAddr() {
+        return rotateInOutAddr;
+    }
+
+    public void setRotateInOutAddr(String rotateInOutAddr) {
+        this.rotateInOutAddr = rotateInOutAddr;
+    }
+
+    public String getScanPoint() {
+        return scanPoint;
+    }
+
+    public void setScanPoint(String scanPoint) {
+        this.scanPoint = scanPoint;
+    }
+
+    public String getStopPoint() {
+        return stopPoint;
+    }
+
+    public void setStopPoint(String stopPoint) {
+        this.stopPoint = stopPoint;
+    }
+
+    public String getBufferPoint() {
+        return bufferPoint;
+    }
+
+    public void setBufferPoint(String bufferPoint) {
+        this.bufferPoint = bufferPoint;
+    }
+
+    public String getWorkStationId() {
+        return workStationId;
+    }
+
+    public void setWorkStationId(String workStationId) {
+        this.workStationId = workStationId;
+    }
+
+    public String getWareHouseId() {
+        return wareHouseId;
+    }
+
+    public void setWareHouseId(String wareHouseId) {
+        this.wareHouseId = wareHouseId;
+    }
+
+
+    @Override
+    public String toString() {
+        return "WorkStation{" +
+                ", workStationId='" + workStationId + '\'' +
+                ", inAddrs='" + JsonUtils.list2Json(rotateOutInAddrs) + '\'' +
+                ", rotateInOutAddr='" + rotateInOutAddr + '\'' +
+                ", rotatePoint='" + rotatePoint + '\'' +
+                ", scanPoint='" + scanPoint + '\'' +
+                ", stopPoint='" + stopPoint + '\'' +
+                ", bufferPoint='" + bufferPoint + '\'' +
+                ", midPoint='" + midPoint + '\'' +
+                ", face=" + face +
+                '}';
+    }
+}

src/main/java/com/mushiny/beans/enums/AddressStatus.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/8/19.
+ */
+public class AddressStatus {
+    public static final String AVALIABLE = "Available";
+    public static final String OCCUPIED = "Occupied";
+    public static final String RESERVED = "Reserved";
+    public static final String UNAVAILABLE = "Unavailable";
+}

src/main/java/com/mushiny/beans/enums/AddressType.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/9/11.
+ */
+public class AddressType {
+    public static final int STORAGE = 1;
+    public static final int LINE = 8;
+    public static final int ROBOTPARK = 7;
+}

src/main/java/com/mushiny/beans/enums/ChargerStatus.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/11/6.
+ */
+public class ChargerStatus {
+    public static final String CHARGING = "Charging";
+    public static final String ERROR = "Error";
+    public static final String AVAILABLE = "Available";
+    public static final String OFFLINE = "Offline";
+}

src/main/java/com/mushiny/beans/enums/OrderErrorMessage.java

+package com.mushiny.beans.enums;
+
+import com.mushiny.beans.order.Order;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/11/7.
+ */
+public class OrderErrorMessage {
+    private static Map<Integer,String> errorMsg = new HashMap();
+    static {
+        /*public static final int ERROR_POD_NONEEDFACE = 7; //TRIPPOSITION表记录没有需要的面
+        public static final int ERROR_POD_ONPATH = 8;     //重车路径的存储位上有POD
+        public static final int ERROR_NO_HOTADDRESS = 9;  //热度计算没有可用的存储位
+        public static final int ERROR_NOPOD = 10;         //调度单没有POD
+        public static final int SUCCESS = 0;
+        public static final int ERROR_EMPTY_PATH = 1;//空车路径计算失败!
+        public static final int ERROR_HEAVY_PATH = 2;//重车路径计算失败!
+        public static final int ERROR_START_POINT = 3;//小车不在路径起始位置
+        public static final int NO_END_POINT = 4;//没有终点位置
+        public static final int ERROR_ENDPOINT_NOTMATCH = 11;//终点位置不是路径最后一个节点
+        public static final int ERROR_NO_WCSPATH = 5;//没有下发的路径 长度是0或1
+        public static final int ERROR_POD = 6;//没有扫到POD 或者POD错误 被使用*/
+        errorMsg.put(Order.ERROR_POD_NONEEDFACE,"7:TRIPPOSITION表记录没有需要的面");
+        errorMsg.put(Order.ERROR_POD_ONPATH,"8:重车路径的存储位上有POD");
+        errorMsg.put(Order.ERROR_NO_HOTADDRESS,"9:热度计算没有可用的存储位");
+        errorMsg.put(Order.ERROR_NOPOD,"10:调度单没有POD");
+        errorMsg.put(Order.ERROR_EMPTY_PATH,"1:空车路径计算失败");
+        errorMsg.put(Order.ERROR_HEAVY_PATH,"2:重车路径计算失败");
+        errorMsg.put(Order.ERROR_START_POINT,"3:小车不在路径起始位置");
+        errorMsg.put(Order.NO_END_POINT,"4:没有终点位置");
+        errorMsg.put(Order.ERROR_ENDPOINT_NOTMATCH,"11:终点位置不是路径最后一个节点");
+        errorMsg.put(Order.ERROR_NO_WCSPATH,"5:没有下发的路径 长度是0或1");
+        errorMsg.put(Order.ERROR_POD,"6:没有扫到POD 或者POD错误 被使用");
+        errorMsg.put(Order.ERROR_POD_NOTINMAP,"66:货架没有地址");
+        errorMsg.put(Order.ERROR_CHARGE_WITHPOD,"驮着货架充电");
+        errorMsg.put(Order.ERROR_NOCHARGER,"充电桩不存在!");
+        errorMsg.put(Order.ERROR_LOCK_ENDADDR,"20:终点地址锁定失败");
+    }
+
+    public static String getMsg(Integer key){
+        return errorMsg.get(key);
+    }
+}

src/main/java/com/mushiny/beans/enums/OrderPositionStatus.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/8/18.
+ */
+public enum OrderPositionStatus {
+    Available("Available"),
+    Process("Process"),
+    Not_Finished("Not_Finish"),
+    Finished("Finish");
+
+
+    private String type;
+    OrderPositionStatus(String type) {
+        this.type = type;
+    }
+
+    public String getType() {
+        return type;
+    }
+
+    public void setType(String type) {
+        this.type = type;
+    }
+}

src/main/java/com/mushiny/beans/enums/PodStatus.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/9/2.
+ */
+public class PodStatus {
+    public static final String RESERVED = "Reserved";
+    public static final String AVAILABLE = "Available";
+}

src/main/java/com/mushiny/beans/enums/TripStatus.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/8/18.
+ */
+public class TripStatus {
+    public static final String AVAILABLE = "Available"; //可运行的都是Avaliable
+    public static final String NEW = "New"; //新建的都是New
+    public static final String PROCESS = "Process";
+    public static final String LEAVING = "Leaving"; //回库房 可以分配下一个了 进入小车的下一个调度单组的
+    public static final String NOT_FINISHED = "NotFinish";  //需要检查子菜单的状态 可能运行一半又释放回去了
+    public static final String FINISHED = "Finish";
+}

src/main/java/com/mushiny/beans/enums/TripType.java

+package com.mushiny.beans.enums;
+
+/**
+ * Created by Tank.li on 2017/9/6.
+ */
+public class TripType {
+    public static final String POD_RUN = "PodRun";
+    public static final String EMPTY_RUN = "EmptyRun";
+    public static final String STOW_POD = "StowPod";
+    public static final String PICK_POD = "PickPod";
+    public static final String CHARGER_DRIVE = "ChargerDrive";
+    public static final String POD_SCAN = "PodScan";
+    public static final String IBP_POD = "IBPPod";
+    public static final String OBP_POD = "OBPPod";
+    public static final String ICQA_POD = "ICQAPod";
+    public static final String CARRY_EMPTY_POD = "CarryEmptyPod";
+    public static final String CARRY_FULL_POD = "CarryFullPod";
+}

src/main/java/com/mushiny/beans/map/NodeList.java

+package com.mushiny.beans.map;
+
+import com.mushiny.beans.Address;
+import com.mushiny.beans.enums.AddressType;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
+
+/**
+ * Created by Tank.li on 2017/9/11.
+ */
+public class NodeList {
+    private final static Logger logger = LoggerFactory.getLogger(NodeList.class);
+    private Integer x;//x轴包含的列表
+    private List<Address> addressList;
+    private boolean revert;
+
+    private List<List<Long>> addrsList = new ArrayList<>();//输出该轴 多条存储区的路径
+
+    public List<List<Long>> getAddrsList() {
+        return addrsList;
+    }
+
+    public boolean isRevert() {
+        return revert;
+    }
+
+    public void setRevert(boolean revert) {
+        this.revert = revert;
+    }
+
+    public Integer getX() {
+        return x;
+    }
+
+    public void setX(Integer x) {
+        this.x = x;
+    }
+
+    public List<Address> getAddressList() {
+        return addressList;
+    }
+
+    public void setAddressList(List<Address> addressList) {
+        this.addressList = addressList;
+    }
+
+    //正向反向排序
+    public void sort() {
+        if (revert) {
+            Collections.sort(this.addressList, new NodeAddrComparator());
+        } else {
+            Collections.sort(this.addressList, new RevertNodeAddrComparator());
+        }
+    }
+
+    private List<Long> sNodes = new ArrayList<>();
+
+    public List<Long> getsNodes() {
+        return sNodes;
+    }
+
+    public void export() {
+        Address last = null;
+        List<Long> list = null;
+        for (int i = 0; i < addressList.size(); i++) {
+            Address address = addressList.get(i);
+            if (last == null || last.getType() != AddressType.STORAGE) {
+                if (address.getType() == AddressType.STORAGE) {
+                    list = new ArrayList<>();
+                    addrsList.add(list);
+                    list.add(Long.parseLong(address.getId()));
+                }
+            }else{
+                if (address.getType() == AddressType.STORAGE) {
+                    if (list != null) {
+                        list.add(Long.parseLong(address.getId()));
+                    }
+                }
+            }
+            last = address;
+        }
+
+        logger.debug(this.getX()+"生成的路径有:"+addrsList.size());
+        for (int i = 0; i < addrsList.size(); i++) {
+            List<Long> aLong =  addrsList.get(i);
+            StringBuilder sb = new StringBuilder("[");
+            for (int j = 0; j < aLong.size(); j++) {
+                Long addr =  aLong.get(j);
+                if (j<aLong.size()-1) {
+                    sb.append(addr).append(",");
+                } else {
+                    sb.append(addr);
+                }
+            }
+            sb.append("]");
+            logger.debug("路径:"+i+":"+sb);
+        }
+
+        //生成首尾
+        for (int i = 0; i < addrsList.size(); i++) {
+            List<Long> longs = addrsList.get(i);
+            if(longs.size()>1){
+                sNodes.add(longs.get(0));
+                sNodes.add(longs.get(longs.size()-1));
+            }else{
+                sNodes.add(longs.get(0));
+            }
+        }
+        if (sNodes.size() > 2) {
+            //去掉首尾
+            sNodes.remove(0);
+            sNodes.remove(sNodes.size() - 1);
+        }
+
+        StringBuilder sb = new StringBuilder("[");
+        for (int j = 0; j < sNodes.size(); j++) {
+            Long addr = sNodes.get(j);
+            if (j < sNodes.size() - 1) {
+                sb.append(addr).append(",");
+            } else {
+                sb.append(addr);
+            }
+        }
+        sb.append("]");
+
+        logger.debug("sNodes:"+sb.toString());
+    }
+
+    private class NodeAddrComparator implements Comparator<Address> {
+        @Override
+        public int compare(Address o1, Address o2) {
+            if (o1.getxPosition() - o2.getxPosition() > 0) return 1;
+            if (o1.getxPosition() - o2.getxPosition() == 0) return 0;
+            return -1;
+        }
+    }
+
+    private class RevertNodeAddrComparator implements Comparator<Address> {
+        @Override
+        public int compare(Address o1, Address o2) {
+            if (o1.getxPosition() - o2.getxPosition() > 0) return -1;
+            if (o1.getxPosition() - o2.getxPosition() == 0) return 0;
+            return 1;
+        }
+    }
+}

src/main/java/com/mushiny/beans/map/NodeListComparator.java

+package com.mushiny.beans.map;
+
+import java.util.Comparator;
+
+/**
+ * Created by Tank.li on 2017/9/11.
+ */
+public class NodeListComparator implements Comparator<NodeList>{
+    @Override
+    public int compare(NodeList o1, NodeList o2) {
+        if (o1.getX() - o2.getX()>0) return 1;
+        if (o1.getX() - o2.getX()==0) return 0;
+        return -1;
+    }
+}

src/main/java/com/mushiny/beans/order/ChargerDriveOrder.java

+package com.mushiny.beans.order;
+
+import com.mushiny.beans.Address;
+import com.mushiny.beans.Charger;
+import com.mushiny.beans.Pod;
+import com.mushiny.beans.Robot;
+import com.mushiny.beans.enums.OrderErrorMessage;
+import com.mushiny.beans.enums.TripStatus;
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.comm.JsonUtils;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+import org.apache.http.client.utils.DateUtils;
+
+import java.util.Date;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+
+/**
+ * Created by Tank.li on 2017/9/5.
+ */
+public class ChargerDriveOrder extends Order {
+
+    public static final int CHARGER_MUSHINY = 1;
+    public static final int CHARGER_MUSHINY3 = 3;
+    public static final int CHARGER_MIDIA = 2;
+
+    private Charger charger;
+
+    public Charger getCharger() {
+        return charger;
+    }
+
+    public void setCharger(Charger charger) {
+        this.charger = charger;
+    }
+
+    @Override
+    public void sendMessage2Rcs() {
+        if(this.wcsPath.getSeriesPath() == null || this.wcsPath.getSeriesPath().size() ==0){
+            logger.error("调度单初始化失败，不能发送消息:"+this);
+            return;
+        }
+        Map message = this.genWcsMessage();
+        message.put("chargerID",this.getCharger().getRcsChargerId());
+        message.put("chargerType",this.getCharger().getChargerType());
+        message.put("batterManufacturerNumber", this.getRobot().getBatteryNumber());
+        int type = this.getCharger().getChargerType();
+        switch (type){
+            case CHARGER_MUSHINY :
+                MessageSender.sendMapMessage(message, ISender.WCS_RCS_AGV_CHARGE);
+                break;
+            case CHARGER_MUSHINY3 ://3号类型是美的的新充电桩 已经不用了
+                MessageSender.sendMapMessage(message, ISender.WCS_RCS_AGV_CHARGE);
+                break;
+            case CHARGER_MIDIA :
+                message.put("mac",this.getCharger().getMac());
+                message.put("chargerAddr",Long.parseLong(this.getCharger().getChargerAddr()));
+                MessageSender.sendMapMessage(message, ISender.WCS_RCS_MIDEA_CHARGE);
+                break;
+            default:
+                logger.error("没有这种充电桩类型:"+type);
+        }
+        //MessageSender.sendMapMessage(message, ISender.WCS_RCS_AGV_CHARGE);
+        this.setMessage(JsonUtils.map2Json(message));
+        this.setSend2RcsTime(DateUtils.formatDate(new Date(System.currentTimeMillis())));
+    }
+
+    @Override
+    public void initOrder() {
+
+        //如果在执行充电任务时发现驮着货架，将生成内存中的PodRun任务 直接执行
+        if(this.getRobot().getPod()!=null){
+            this.setOrderError(Order.ERROR_CHARGE_WITHPOD);
+            return;
+        }
+
+        if(this.getWareHouseManager() == null){
+            logger.error("this.getWareHouseManager() is null!");
+            return;
+        }
+
+        //20181018 找小车所在位置的货架与小车未解绑
+        try {
+            String addr = this.getRobot().getAddressId();
+            Address address = this.getWareHouseManager().getAddressByAddressCodeId(addr,this.getRobot().getSectionId());
+            if(address.getPod() != null && Objects.equals(address.getPod().getRobot(),this.getRobot()) ){
+                logger.error("小车驮着货架不允许充电!");
+                this.setOrderError(Order.ERROR_CHARGE_WITHPOD);
+                return;
+            }
+
+            if(this.charger ==null){
+                this.setOrderError(Order.ERROR_NOCHARGER);
+                return;
+            }
+
+            //获取终点
+            String endAddr = this.charger.getAddressCodeId();
+            this.setEndAddr(Long.parseLong(endAddr));
+
+            Long srcAddr = Long.parseLong(getRobot().getAddressId());
+            this.wcsPath.setSrcAddr(srcAddr);
+            this.wcsPath.setEndAddr(Long.parseLong(endAddr));
+            Integer sourceVertex = CommonUtils.long2Int(srcAddr);
+            Integer targetVertex = CommonUtils.long2Int(getEndAddr());
+            List<Long> path = this.getWebApiBusiness().getEmptyPath(this.getWareHouseId(),getSectionId(),sourceVertex,targetVertex);
+            if(path==null || path.size()==0 || path.size() == 1){
+                this.setOrderError(Order.ERROR_EMPTY_PATH);
+            }
+            this.wcsPath.setSeriesPath(path);
+            //旋转角度
+            this.wcsPath.setRotateTheta(this.getCharger().getDirect());
+        } catch (Exception e) {
+            logger.error("初始化失败 order:"+this,e);
+        }
+    }
+
+    @Override
+    public void process() {
+        if(this.wcsPath.getSeriesPath() == null || this.wcsPath.getSeriesPath().size() ==0){
+            logger.error("调度单初始化失败，不能发送消息:"+this);
+            return;
+        }
+        this.addKV("TRIP_STATE", TripStatus.PROCESS);
+        this.getJdbcRepository().updateBusinessObject(this);
+    }
+
+    @Override
+    public void finish() {
+        if(this.wcsPath.getSeriesPath() == null || this.wcsPath.getSeriesPath().size() ==0){
+            logger.error("调度单初始化失败，不能发送消息:"+this);
+            return;
+        }
+        this.addKV("TRIP_STATE", TripStatus.FINISHED);
+        this.getJdbcRepository().updateBusinessObject(this);
+    }
+
+    @Override
+    public boolean isFinish() {
+        //return Objects.equals(Long.parseLong(this.getRobot().getAddressId()), this.getEndAddr());
+        logger.debug("位移包不结束调度单，从充电时间电量判断去结束!"+this);
+        if(Objects.equals(Long.parseLong(this.getRobot().getAddressId()), this.getEndAddr())
+                && this.getRobot().getStatus() == Robot.CHARGING){
+            this.setCanFinish(true);
+        }
+        return false;
+    }
+
+    @Override
+    public String getType() {
+        return "ChargerDrive";
+    }
+
+    @Override
+    public void setType(String type) {
+
+    }
+
+    @Override
+    public String toString() {
+        return "ChargerDriveOrder{" +
+                "msg=" + this.getMessage() +
+                "sendTime=" + this.getSend2RcsTime() +
+                "charger=" + charger +
+                ", wcsPath=" + wcsPath +
+                ", orderId=" + this.getOrderId() +
+                ", orderError=" + OrderErrorMessage.getMsg(this.getOrderError()) +
+                ", type=" + this.getType() +
+                '}';
+    }
+
+    @Override
+    public void reInitOrder() {
+        this.initOrder();
+    }
+
+    @Override
+    public Pod getPod() {
+        return null;
+    }
+}

src/main/java/com/mushiny/beans/order/EmptyRunOrder.java

+package com.mushiny.beans.order;
+
+import com.mushiny.beans.Address;
+import com.mushiny.beans.Pod;
+import com.mushiny.beans.Robot;
+import com.mushiny.beans.Section;
+import com.mushiny.beans.enums.AddressStatus;
+import com.mushiny.beans.enums.TripStatus;
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.comm.JsonUtils;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+import org.apache.http.client.utils.DateUtils;
+
+import java.util.*;
+
+/**
+ * Created by Tank.li on 2017/9/5.
+ */
+public class EmptyRunOrder extends Order {
+
+    private String type="EmptyRun";
+
+    /*private Long endAddr;
+
+    public Long getEndAddr() {
+        return endAddr;
+    }
+
+    public void setEndAddr(Long endAddr) {
+        this.endAddr = endAddr;
+    }*/
+
+    /*
+    Long	robotID
+    Long	sectionID
+    Long	time
+    Long	podUpAddress
+    Long	podDownAddress
+    Boolean	isRotatePod
+    Int	rotateTheta
+    List<Long>	seriesPath*/
+    @Override
+    public void sendMessage2Rcs() {
+        Map msg = genWcsMessage();
+        MessageSender.sendMapMessage(msg, ISender.WCS_RCS_AGV_SERIESPATH);
+        this.setMessage(JsonUtils.map2Json(msg));
+        this.setSend2RcsTime(DateUtils.formatDate(new Date(System.currentTimeMillis())));
+    }
+
+    @Override
+    public void initOrder() {
+
+        if (this.getEndAddr() == 0L){
+            lockRandomStorage();//锁定最近存储区
+        }
+        this.wcsPath.setEndAddr(this.getEndAddr());
+        Long srcAddr = Long.parseLong(getRobot().getAddressId());
+        this.wcsPath.setSrcAddr(srcAddr);
+        Integer sourceVertex = CommonUtils.long2Int(srcAddr);
+        Integer targetVertex = CommonUtils.long2Int(this.getEndAddr());
+        List<Long> path = this.getWebApiBusiness().getEmptyPath(this.getWareHouseId(),getSectionId(),sourceVertex,targetVertex);
+        this.wcsPath.setSeriesPath(path);
+    }
+
+    /**
+     * 所有存储位的随机
+     */
+    private void lockRandomStorage() {
+        Section section = this.getWareHouseManager().getSectionById(this.getSectionId());
+        List<Address> storageAddrs = section.getStorageAddrs();
+        Random random = new Random();
+
+        //获取小车小车位置映射表
+        Map robots = this.getRobotManager().getRegistRobots();
+        Iterator<Robot> iterator = robots.values().iterator();
+        Map<String,Robot> idleRobots = new HashMap();
+        while (iterator.hasNext()) {
+            Robot next = iterator.next();
+            if(next.isAvaliable() && next.getStatus() == Robot.IDLE) {
+                //小车的地址
+                idleRobots.put(next.getAddressId(), next);
+            }
+        }
+
+        List<Integer> list = new ArrayList();
+        for (int i = 0; i < storageAddrs.size(); i++) {
+            Integer ranInt = random.nextInt(storageAddrs.size());
+            if(!list.contains(ranInt)){
+                list.add(ranInt);
+            }
+        }
+        for (int i = 0; i < list.size(); i++) {
+            Integer integer = list.get(i);
+            //从第一个节点判断
+            if(integer < storageAddrs.size()){
+               Address address = storageAddrs.get(integer);
+               //只要车不在存储位、其他车目标地址不在存储位
+                //并且该存储位上有货架（很重要，不能去空闲位置 容易挡道）
+                // 并且该存储位的货架没有分配调度任务(New 或 Available)
+                //可能存在延迟 避免不了冲突
+               if(idleRobots.get(address.getId()) == null && address.getLockedBy() == 0L
+                       && Objects.equals(address.getNodeState(), AddressStatus.OCCUPIED)
+                       && noTripOnAddr(address)){
+                    address.robotLock(this.getRobot().getRobotId(),true);
+                    this.setEndAddr(Long.parseLong(address.getId()));
+               }
+            }
+        }
+    }
+
+    private static final String TRIP_ON_ADDRESS = "SELECT 1 FROM RCS_TRIP,MD_POD " +
+            "WHERE RCS_TRIP.POD_ID=MD_POD.ID " +
+            "AND RCS_TRIP.TRIP_STATE IN (?,?,?) AND POD_ID=?";
+    private boolean noTripOnAddr(Address address) {
+        Pod pod = this.getPodManager().getPodByAddress(address.getId(),address.getSectionId());
+        if (pod == null){
+            return false;
+        }
+        List rows = this.getJdbcRepository().queryBySql(TRIP_ON_ADDRESS,
+                TripStatus.AVAILABLE,TripStatus.NEW,TripStatus.PROCESS,pod.getPodId());
+        return rows==null || rows.size() == 0;
+    }
+
+    @Override
+    public void process() {
+        if(isInMem()){
+            return;
+        }
+        this.addKV("TRIP_STATE", TripStatus.PROCESS);
+        this.getJdbcRepository().updateBusinessObject(this);
+    }
+
+    @Override
+    public void finish() {
+        if (!isInMem()) {
+            this.addKV("TRIP_STATE", TripStatus.FINISHED);
+            this.getJdbcRepository().updateBusinessObject(this);
+        }
+        Address endAddr = this.getWareHouseManager().getAddressByAddressCodeId(this.getEndAddr(),this.getSectionId());
+        if (endAddr != null) {
+            endAddr.setLockedBy(0L); //TODO
+            getRobot().setLockedAddr(0L);
+        }
+    }
+
+    @Override
+    public boolean isFinish() {
+        Long end = this.getWcsPath().getEndAddr();
+        return Objects.equals(Long.parseLong(this.getRobot().getAddressId()), this.getEndAddr())
+                || Objects.equals(Long.parseLong(this.getRobot().getAddressId()), end);
+    }
+
+    @Override
+    public String getType() {
+        return this.type;
+    }
+
+    @Override
+    public void setType(String type) {
+      this.type=type;
+    }
+
+    @Override
+    public void reInitOrder() {
+        this.initOrder();//一样处理
+    }
+
+    @Override
+    public String toString() {
+        return "EmptyRun{" +
+                "msg=" + this.getMessage() +
+                "sendTime=" + this.getSend2RcsTime() +
+                ", wcsPath=" + wcsPath +
+                ", orderId=" + this.getOrderId() +
+                ", type=" + this.getType() +
+                '}';
+    }
+}

src/main/java/com/mushiny/beans/order/EnroutePod.java

+package com.mushiny.beans.order;
+
+import com.mushiny.beans.BaseObject;
+
+/**
+ * 用于异步删除的对象
+ * Created by Tank.li on 2017/10/16.
+ */
+public class EnroutePod extends BaseObject{
+    @Override
+    public Object getId() {
+        return this.uuid;
+    }
+
+    private String uuid;
+
+    public String getUuid() {
+        return uuid;
+    }
+
+    public void setUuid(String uuid) {
+        this.uuid = uuid;
+    }
+
+    private String table;
+
+    public void setTable(String table){
+        this.table = table;
+    }
+
+    @Override
+    public String getTable() {
+        return this.table;
+    }
+
+    @Override
+    public String getIdName() {
+        return "ID";
+    }
+}

src/main/java/com/mushiny/beans/order/OrderPosition.java

+package com.mushiny.beans.order;
+
+import com.mushiny.beans.BaseObject;
+
+/**
+ * Created by Tank.li on 2017/9/6.
+ */
+public class OrderPosition extends BaseObject {
+    private String orderPositionId;
+
+    private String podId;
+
+    public String getPodId() {
+        return podId;
+    }
+
+    public void setPodId(String podId) {
+        this.podId = podId;
+    }
+
+    private int index;
+    private String useFace;
+
+    public int getIndex() {
+        return index;
+    }
+
+    public void setIndex(int index) {
+        this.index = index;
+    }
+
+    public String getUseFace() {
+        return useFace;
+    }
+
+    public void setUseFace(String useFace) {
+        this.useFace = useFace;
+    }
+
+    public String getOrderPositionId() {
+        return orderPositionId;
+    }
+
+    public void setOrderPositionId(String orderPositionId) {
+        this.orderPositionId = orderPositionId;
+    }
+
+    @Override
+    public Object getId() {
+        return this.orderPositionId;
+    }
+
+    public static final String TABLE = "RCS_TRIPPOSITION";
+
+    @Override
+    public String getTable() {
+        return TABLE;
+    }
+
+    public static final String IDNAME = "ID";
+
+    @Override
+    public String getIdName() {
+        return IDNAME;
+    }
+
+    @Override
+    public String toString() {
+        return "OrderPosition{" +
+                "orderPositionId='" + orderPositionId + '\'' +
+                ", podId='" + podId + '\'' +
+                ", index=" + index +
+                ", useFace='" + useFace + '\'' +
+                '}';
+    }
+}

src/main/java/com/mushiny/beans/order/PodScanOrder.java

+package com.mushiny.beans.order;
+
+import com.mushiny.beans.Section;
+import com.mushiny.beans.enums.TripStatus;
+import com.mushiny.business.WebApiBusiness;
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.comm.JsonUtils;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+import org.apache.http.client.utils.DateUtils;
+
+import java.util.*;
+
+/**
+ * pod巡检的调度单
+ * Created by Tank.li on 2017/9/19.
+ */
+public class PodScanOrder extends Order {
+
+    private String type = "PodScan";
+    //小车奔跑路径
+    private List<Long> path;
+
+    private Long startScan;//
+    private Long endScan;//
+
+    public Long getStartScan() {
+        return startScan;
+    }
+
+    public void setStartScan(Long startScan) {
+        this.startScan = startScan;
+    }
+
+    public Long getEndScan() {
+        return endScan;
+    }
+
+    public void setEndScan(Long endScan) {
+        this.endScan = endScan;
+    }
+
+    public List<Long> getPath() {
+        return path;
+    }
+
+    public void setPath(List<Long> path) {
+        this.path = path;
+    }
+
+    @Override
+    public void sendMessage2Rcs() {
+        Map msg = new HashMap();
+        msg.put("robotID",this.getRobot().getRobotId());
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        msg.put("sectionID",section.getRcs_sectionId());
+        msg.put("time", System.currentTimeMillis());
+        msg.put("path",this.wcsPath.getSeriesPath());
+        msg.put("startScan",this.getStartScan());
+        msg.put("endScan",this.getEndScan());
+
+        MessageSender.sendMapMessage(msg, ISender.WCS_RCS_PODSCAN_PATH);
+
+        this.setMessage(JsonUtils.map2Json(msg));
+        this.setSend2RcsTime(DateUtils.formatDate(new Date(System.currentTimeMillis())));
+    }
+
+    @Override
+    public void initOrder() {
+        logger.debug("初始化扫描POD的路径:" + this.getType() + ":" + this.getPath());
+        this.wcsPath.setEndAddr(this.getEndAddr());
+        Long srcAddr = Long.parseLong(getRobot().getAddressId());
+        this.wcsPath.setSrcAddr(srcAddr);
+        //第一阶段任务 空车
+        Integer sourceVertex = CommonUtils.long2Int(srcAddr);
+        //第一个节点是路径的第一个节点
+        if(this.getPath() != null && this.getPath().size() == 0){
+            this.setOrderError(Order.ERROR_EMPTY_PATH);
+            return;
+        }
+        this.setStartScan(this.getPath().get(0));
+        this.setEndScan(this.getPath().get(this.getPath().size()-1));
+
+        Integer targetVertex = Integer.parseInt(this.getPath().get(0)+"");
+        //从重车走路径，不钻货架
+        List<Long> path = this.getWebApiBusiness().getHeavyPath(this.getWareHouseId(),getSectionId(),sourceVertex,targetVertex);
+        if(path==null || path.size()==0){
+            this.setOrderError(Order.ERROR_HEAVY_PATH);
+            return;
+        }
+
+        this.add2Path(path,this.getPath());
+        wcsPath.setPodUpAddress(0L);
+        wcsPath.setPodDownAddress(0L);
+        this.wcsPath.setSeriesPath(path);
+        WebApiBusiness.logPath(path,"全");
+    }
+
+    @Override
+    public void process() {
+        this.addKV("TRIP_STATE", TripStatus.PROCESS);
+        this.getJdbcRepository().updateBusinessObject(this);
+    }
+
+    @Override
+    public void finish() {
+        this.addKV("TRIP_STATE", TripStatus.FINISHED);
+        this.getJdbcRepository().updateBusinessObject(this);
+    }
+
+    @Override
+    public String toString() {
+        return "PodScanOrder{" +
+                "type='" + type + '\'' +
+                ", msg =" + this.getMessage() +
+                ", sendTime =" + this.getMessage() +
+                ", startScan=" + startScan +
+                ", endScan=" + endScan +
+                ", path=" + path +
+                ", RCSTime=" + this.getSend2RcsTime() +
+                ", robot=" + (this.getRobot()==null?"":this.getRobot().getRobotId()) +
+                '}';
+    }
+
+    @Override
+    public void reInitOrder() {
+        this.initOrder();
+    }
+
+    @Override
+    public boolean isFinish() {
+       return  Objects.equals(this.getRobot().getAddressId(),this.getEndScan()+"");
+    }
+
+    @Override
+    public String getType() {
+        return type;
+    }
+
+    @Override
+    public void setType(String type) {
+        this.type = type;
+    }
+}

src/main/java/com/mushiny/beans/order/PqaPodOrder.java

+package com.mushiny.beans.order;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 支持IBPPod OBPPod ICQAPod 三种Trip调度类型
+ * Created by Tank.li on 2017/9/25.
+ */
+public class PqaPodOrder extends StationPodOrder{
+    @Override
+    public void finish() {
+        super.finish();
+        //通过Trip调度类型 和 PodID删除ENROUTEPOD表记录 PQA_ENROUTEPOD
+        /*if(this.getIndex() == Order.BUFFER2STORAGE){
+            unBindEnroutePod("PQA_ENROUTEPOD",this.getPod().getPodId());
+        }*/
+    }
+}

src/main/java/com/mushiny/beans/order/WcsPath.java

+package com.mushiny.beans.order;
+
+import com.mushiny.comm.JsonUtils;
+
+import java.util.List;
+
+/**
+ * Created by Tank.li on 2017/9/5.
+ */
+public class WcsPath implements java.io.Serializable {
+    private Long robotID;
+    private Long time;
+    private Long sectionID;
+    private Integer rotateTheta = 0;
+    private List<Long> seriesPath;
+    private Long podUpAddress = 0L;
+    private Long podDownAddress = 0L;
+    private Boolean isRotatePod = Boolean.FALSE;
+
+    private Long srcAddr;
+    private Long endAddr;
+
+    public Long getSrcAddr() {
+        return srcAddr;
+    }
+
+    public void setSrcAddr(Long srcAddr) {
+        this.srcAddr = srcAddr;
+    }
+
+    public Long getEndAddr() {
+        return endAddr;
+    }
+
+    public void setEndAddr(Long endAddr) {
+        this.endAddr = endAddr;
+    }
+
+    public Long getRobotID() {
+        return robotID;
+    }
+
+    public void setRobotID(Long robotID) {
+        this.robotID = robotID;
+    }
+
+    public Long getTime() {
+        return time;
+    }
+
+    public void setTime(Long time) {
+        this.time = time;
+    }
+
+    public Long getSectionID() {
+        return sectionID;
+    }
+
+    public void setSectionID(Long sectionID) {
+        this.sectionID = sectionID;
+    }
+
+    public Integer getRotateTheta() {
+        return rotateTheta;
+    }
+
+    public void setRotateTheta(Integer rotateTheta) {
+        this.rotateTheta = rotateTheta;
+    }
+
+    public List<Long> getSeriesPath() {
+        return seriesPath;
+    }
+
+    public void setSeriesPath(List<Long> seriesPath) {
+        this.seriesPath = seriesPath;
+    }
+
+    public Long getPodUpAddress() {
+        return podUpAddress;
+    }
+
+    public void setPodUpAddress(Long podUpAddress) {
+        this.podUpAddress = podUpAddress;
+    }
+
+    public Long getPodDownAddress() {
+        return podDownAddress;
+    }
+
+    public void setPodDownAddress(Long podDownAddress) {
+        this.podDownAddress = podDownAddress;
+    }
+
+    public Boolean getRotatePod() {
+        return isRotatePod;
+    }
+
+    public void setRotatePod(Boolean rotatePod) {
+        isRotatePod = rotatePod;
+    }
+
+    @Override
+    public String toString() {
+        return "WcsPath{" +
+                "robotID=" + robotID +
+                ", podUpAddress=" + podUpAddress +
+                ", podDownAddress=" + podDownAddress +
+                ", endAddr=" + endAddr +
+                ", srcAddr=" + srcAddr +
+                ", seriesPath=" + JsonUtils.list2Json(seriesPath) +
+                '}';
+    }
+
+    public static void main(String[] args) {
+        WcsPath path = new WcsPath();
+        path.setPodDownAddress(0L);
+        path.setPodUpAddress(0L);
+        System.out.println(path);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/ANNTOMVINOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * 子转入库
+ */
+public class ANNTOMVINOrder extends PodRunOrder {
+
+
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+        super.setType(type);
+    }
+
+    @Override
+    public void process() {
+        super.process();
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.STOCKIN);
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/ANNTOMVOUTOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * 子转出库
+ */
+public class ANNTOMVOUTOrder extends PodRunOrder {
+
+
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+        super.setType(type);
+    }
+
+    public void process() {
+        super.process();
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.SOURCE_ADDRESS, this.getWcsPath().getPodUpAddress());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.STOCKOUT);
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/CarryEmptyPodOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/8/9.
+ */
+public class CarryEmptyPodOrder extends PodRunOrder {
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+
+        super.setType(type);
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+
+        MessageSender.sendMapMessage(message, ISender.WCS_WMS_ARRIVED_STATION);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/CarryFullPodOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/8/9.
+ */
+public class CarryFullPodOrder extends PodRunOrder{
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+
+        super.setType(type);
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        MessageSender.sendMapMessage(message, ISender.WCS_WMS_ARRIVED_STATION);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/CarryPodOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.ISender;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/7/13.
+ */
+public class CarryPodOrder extends PodRunOrder {
+
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+
+        super.setType(type);
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+
+    }
+}

src/main/java/com/mushiny/beans/order/midea/FINISHESWAREHOUSINGOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * 完工入库
+ */
+public class FINISHESWAREHOUSINGOrder extends PodRunOrder {
+
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+       super.setType(type);
+    }
+
+    public void process() {
+        super.process();
+        /**Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.RUNNING);
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);**/
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.STOCKIN);
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+    }
+}

src/main/java/com/mushiny/beans/order/midea/LMGETMATERIALOrder.java

+package com.mushiny.beans.order.midea;
+
+import com.mushiny.beans.Section;
+import com.mushiny.mq.MessageSender;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * 领料出库
+ */
+public class LMGETMATERIALOrder extends PodRunOrder {
+
+
+    @Override
+    public String getType() {
+        return super.getType();
+    }
+
+    @Override
+    public void setType(String type) {
+        super.setType(type);
+    }
+
+    public void process() {
+        super.process();
+        Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.SOURCE_ADDRESS, this.getWcsPath().getPodUpAddress());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.RUNNING);
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        Map message = new LinkedHashMap();
+        Section section = this.getWareHouseManager().getSectionById(this.getRobot().getSectionId());
+        message.put("sectionID",section.getRcs_sectionId());
+        message.put(MideaConstants.TRIP_ID,this.getOrderId());
+        message.put(MideaConstants.TRIP_TYPE,this.getType());
+        message.put(MideaConstants.TARGET_ADDRESS, this.getEndAddr());
+        message.put(MideaConstants.SOURCE_ADDRESS, this.getWcsPath().getPodUpAddress());
+        message.put(MideaConstants.DRIVE_ID, this.getRobot().getRobotId());
+        message.put(MideaConstants.POD_INDEX,this.getPod().getPodId());
+        message.put(MideaConstants.INSTRUCT_STATUS, MideaConstants.STOCKOUT);
+        message.put(MideaConstants.INSTRUCT, this.getInstructId());
+        MessageSender.sendMapMessage(message, MideaConstants.INSTRUCTACK);
+        //
+    }
+}

src/main/java/com/mushiny/beans/order/midea/MideaConstants.java

+package com.mushiny.beans.order.midea;
+
+/**
+ * Created by Administrator on 2018/7/13.
+ */
+public class MideaConstants {
+    public static final String INSTRUCTACK = "InstructAck";
+    public static final String TRIP_ID = "tripId";
+    public static final String TRIP_TYPE = "tripType";
+    public static final String POD_INDEX = "podIndex";
+    public static final String INSTRUCT_STATUS = "instructStatus";
+    public static final String DRIVE_ID = "driverId";
+
+    public static final String TARGET_ADDRESS = "targetAddress";
+    public static final String RUNNING = "RUNNING";
+    public static final String STOCKIN = "STOCKIN";
+    public static final String STOCKOUT = "STOCKOUT";
+    public static final String SOURCE_ADDRESS = "sourceAddress";
+    public static final String ANNTOMVIN = "ANNTOMVIN";
+    public static final String ANNTOMVOUT = "ANNTOMVOUT";
+    public static final String FINISHESWAREHOUSING = "FINISHESWAREHOUSING";
+    public static final String LMGETMATERIAL = "LMGETMATERIAL";
+    public static final String CarryPod = "CarryPod";
+    public static final String PACKAGE = "com.mushiny.beans.order.midea.";
+    public static final String POSTFIX = "Order";
+    public static final String INSTRUCT = "INSTRUCT";
+
+}

src/main/java/com/mushiny/business/AddrScoreComparator.java

+package com.mushiny.business;
+
+import com.mushiny.beans.Address;
+
+import java.util.Comparator;
+
+/**
+ * Created by Tank.li on 2017/6/28.
+ */
+public class AddrScoreComparator implements Comparator<Address> {
+    /*JDK7中的Collections.Sort方法实现中，
+    如果两个值是相等的，那么compare方法需要返回0，
+    否则 可能 会在排序时抛错，而JDK6是没有这个限制的*/
+    @Override
+    public int compare(Address o1, Address o2) {
+        if (o1.getScore() - o2.getScore()>0) return 1;
+        if (o1.getScore() - o2.getScore()==0) return 0;
+        return -1;
+    }
+}

src/main/java/com/mushiny/business/AddressComparator.java

+package com.mushiny.business;
+
+import com.mushiny.beans.Address;
+
+import java.util.Comparator;
+
+/**
+ * Created by Tank.li on 2017/6/26.
+ */
+public class AddressComparator implements Comparator<Address> {
+    @Override
+    public int compare(Address o1, Address o2) {
+        //return o1.getHot() - o2.getHot();
+        if (o1.getHot() - o2.getHot()>0) return 1;
+        if (o1.getHot() - o2.getHot()==0) return 0;
+        return -1;
+    }
+}

src/main/java/com/mushiny/business/MapJsonExample.java

+package com.mushiny.business;
+
+import com.fasterxml.jackson.core.JsonGenerationException;
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.JsonMappingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/7/26.
+ */
+public class MapJsonExample{
+
+    public static void main1(String[] args) {
+        try {
+            ObjectMapper mapper = new ObjectMapper();
+            String json = "";
+            Map<String, Object> map = new HashMap<String, Object>();
+            map.put("name", "mkyong");
+            map.put("age", 29);
+            // convert map to JSON string
+            json = mapper.writeValueAsString(map);
+            System.out.println("===>"+json);
+            json = mapper.writerWithDefaultPrettyPrinter().writeValueAsString(map);
+            // pretty print
+            System.out.println(json);
+        } catch (JsonGenerationException e) {
+            e.printStackTrace();
+        } catch (JsonMappingException e) {
+            e.printStackTrace();
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+
+    public static void main(String[] args) {
+        try {
+            ObjectMapper mapper = new ObjectMapper();
+            String json = "{\"name\":\"mkyong\", \"age\":29}";
+            Map<String, Object> map = new HashMap<String, Object>();
+            // convert JSON string to Map
+            map = mapper.readValue(json, new TypeReference<Map<String, Object>>(){});//比 Map<String, String> 准确
+            System.out.println(map);
+        } catch (JsonGenerationException e) {
+            e.printStackTrace();
+        } catch (JsonMappingException e) {
+            e.printStackTrace();
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+
+}
\ No newline at end of file

src/main/java/com/mushiny/business/MediaInit.java

+package com.mushiny.business;
+
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.comm.MediaConfig;
+import com.mushiny.jdbc.repositories.JdbcRepository;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/1/19.
+ */
+//@Component
+//@org.springframework.core.annotation.Order(value = 1)
+public class MediaInit implements CommandLineRunner {
+    private final static Logger logger = LoggerFactory.getLogger(MediaInit.class);
+
+    private static MediaConfig mediaConfig = new MediaConfig();
+    @Autowired
+    private JdbcRepository jdbcRepository;
+
+    private String initPods(){
+        //MediaConfig mediaConfig = new MediaConfig();
+        String podsStr = mediaConfig.getProperties().getProperty("pods");
+        logger.debug("读取mediaPod配置文件：pods="+podsStr);
+        if (!CommonUtils.isEmpty(podsStr)){
+            String[] pod_addrArr = podsStr.split(",");
+            logger.debug("开始更新POD，配置中共"+pod_addrArr.length+"个POD");
+            for (int i = 0; i < pod_addrArr.length; i++) {
+                String pod_addr = pod_addrArr[i];
+                String[] podAddr = pod_addr.split("-");
+                String podIndex = podAddr[0];
+                String addr = podAddr[1];
+                List parmsList = new ArrayList();
+                parmsList.add(addr);            //placemark
+                parmsList.add(podAddr[2]);              //x
+                parmsList.add(podAddr[3]);              //y
+                parmsList.add("Available");     //state
+                parmsList.add(0);               //toward
+                parmsList.add(podIndex);        //pod_index
+                logger.debug("media演示场地pod地址初始化：podIndex="+podIndex+", paramsList="+ parmsList);
+                int num = jdbcRepository.updateByKey("MEDIA.UpdatePodAddrByPodIndex", parmsList);
+            }
+        }
+        return podsStr;
+    }
+
+    private void clearRobots(){
+        Map delMap = new HashMap();
+        delMap.put("1","1");
+        int delNum = jdbcRepository.deleteRecords("WCS_ROBOT", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeleteRobots");
+        logger.debug("media演示场地，清除所有小车共："+delNum);
+    }
+
+    private void clearTrips(){
+        Map delMap = new HashMap();
+        delMap.put("1", "1");
+        int delNumTrips = jdbcRepository.deleteRecords("RCS_TRIP", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeleteTrips");
+        logger.debug("media演示场地，清除所有调度单共："+delNumTrips);
+        int delNumTripPositions = jdbcRepository.deleteRecords("RCS_TRIPPOSITION", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeleteTripPositions");
+        logger.debug("media演示场地，清除所有调度单明细共："+delNumTripPositions);
+    }
+
+    private void clearEnroutepods(){
+        Map delMap = new HashMap();
+        delMap.put("1", "1");
+        int delNumIB = jdbcRepository.deleteRecords("IB_ENROUTEPOD", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeleteIB");
+        logger.debug("media演示场地，清除IB在途pod共："+delNumIB);
+        int delNumOB = jdbcRepository.deleteRecords("OB_ENROUTEPOD", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeleteOB");
+        logger.debug("media演示场地，清除OB在途pod共："+delNumOB);
+        int delNumPQA = jdbcRepository.deleteRecords("PQA_ENROUTEPOD", delMap);
+        //jdbcRepository.queryByKey("MEDIA.DeletePQA");
+        logger.debug("media演示场地，清除PQA在途pod共："+delNumPQA);
+    }
+
+    /*public static void main(String[] args) {
+        System.out.println(initPods());
+    }*/
+
+    @Override
+    public void run(String... strings) throws Exception {
+        logger.debug("开始初始化Media演示地图...");
+        clearTrips();
+        clearRobots();
+        clearEnroutepods();
+        initPods();
+        logger.debug("初始化Media演示地图结束！");
+    }
+}

src/main/java/com/mushiny/business/PodComparator.java

+package com.mushiny.business;
+
+import com.mushiny.beans.Pod;
+
+import java.util.Comparator;
+
+/**
+ * Created by Tank.li on 2017/6/28.
+ */
+public class PodComparator implements Comparator<Pod> {
+
+    @Override
+    public int compare(Pod o1, Pod o2) {
+        //return (o1.getHot()-o2.getHot()>0)? 1:-1;
+        if (o1.getHot() - o2.getHot()>0) return 1;
+        if (o1.getHot() - o2.getHot()==0) return 0;
+        return -1;
+    }
+}

src/main/java/com/mushiny/business/RunningOrderInit.java

+package com.mushiny.business;
+
+import com.mushiny.beans.enums.TripStatus;
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.jdbc.repositories.JdbcRepository;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/3/21.
+ */
+@Component
+@org.springframework.core.annotation.Order(value = 1)
+public class RunningOrderInit implements CommandLineRunner {
+    private final static Logger logger = LoggerFactory.getLogger(RunningOrderInit.class);
+    private Map processRobots = new HashMap();
+    @Autowired
+    private JdbcRepository jdbcRepository;
+    private int restoreProcessTrip2Available(){
+        String getProcessTrip_sql = "select * from RCS_TRIP where trip_state=? or trip_state=?";
+        String updateProcessTrip_sql = "update RCS_TRIP set trip_state=? where ID=?";
+        String getProcessTripPosition_sql = "select * from RCS_TRIPPOSITION where TRIP_ID=? and tripposition_state=?";
+        String updateProcessTripPosition_sql = "update RCS_TRIPPOSITION set tripposition_state=? where ID=?";
+        List<Map> rows = this.jdbcRepository.queryBySql(getProcessTrip_sql.toUpperCase(), TripStatus.PROCESS, TripStatus.LEAVING);
+        if (rows!=null && rows.size()>0){
+            logger.debug("上一次未完成的调度单有："+rows.size()+"条");
+            List<Map> positionRows;
+            for (int i = 0; i < rows.size(); i++) {
+                Map map =  rows.get(i);
+                String tripId = CommonUtils.parseString("ID", map);
+                String robotId = CommonUtils.parseString("DRIVE_ID", map);
+                String tripType = CommonUtils.parseString("TRIP_TYPE", map);
+                processRobots.put(robotId, map);
+                this.jdbcRepository.updateBySql(updateProcessTrip_sql.toUpperCase(), TripStatus.AVAILABLE, tripId);
+                logger.debug("更新RCS_TRIP状态Process-->Available成功,tripId:"+tripId);
+                positionRows = this.jdbcRepository.queryBySql(getProcessTripPosition_sql.toUpperCase(), tripId, TripStatus.PROCESS);
+                if (positionRows!=null && positionRows.size()>0){
+                    logger.debug("调度单tripId:"+tripId+"中正在进行的明细有："+positionRows.size()+"条");
+                    for (int j = 0; j < positionRows.size(); j++) {
+                        Map positionMap =  positionRows.get(j);
+                        String positionId = CommonUtils.parseString("ID", positionMap);
+                        this.jdbcRepository.updateBySql(updateProcessTripPosition_sql.toUpperCase(), TripStatus.AVAILABLE, positionId);
+                        logger.debug("更新RCS_TRIPPOSITION状态Process-->Available成功,tripPositionId:"+positionId);
+                    }
+                }
+            }
+        }else{
+            logger.debug("重启wcs后，未扫描到上一次正在执行中的调度单");
+        }
+        return 1;
+    }
+
+    private void clearRobots(){
+        Map delMap = new HashMap();
+        delMap.put("1","1");
+        int delNum = jdbcRepository.deleteRecords("WCS_ROBOT", delMap);
+        logger.debug("启动WCS，清除所有小车共："+delNum);
+    }
+
+    @Override
+    public void run(String... strings) throws Exception {
+        logger.debug("启动WCS，准备清除数据库所有小车...");
+        clearRobots();
+        restoreProcessTrip2Available();
+        logger.debug("启动WCS，已经清除数据库所有小车，并还原所有Process调度单为Available...");
+    }
+}

src/main/java/com/mushiny/business/SystemPropertiesManager.java

+package com.mushiny.business;
+
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.jdbc.repositories.JdbcRepository;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Created by Tank.li on 2017/7/25.
+ */
+@Component
+@org.springframework.core.annotation.Order(value = 0)
+public class SystemPropertiesManager implements CommandLineRunner{
+
+    private final static Logger logger = LoggerFactory.getLogger(RobotManager.class);
+
+    @Autowired
+    private JdbcRepository jdbcRepository;
+
+    private Map<SysKey,String> properties = new ConcurrentHashMap<>();
+
+    public String getProperty(String key,String wareHouseId){
+        return properties.get(new SysKey(wareHouseId,key));
+    }
+
+    @Override
+    public void run(String... strings) throws Exception {
+        loadSystemProperties();
+    }
+    @Scheduled(fixedDelay = 100000l)
+    public void loadSystemProperties() {
+        /*SYSTEM_KEY` varchar(255) NOT NULL,
+          `SYSTEM_VALUE` varchar(255) NOT NULL,
+          `WAREHOUSE_ID` varchar(255) NOT NULL,*/
+        logger.debug("加载系统参数信息.....");
+        List<Map> rows = this.jdbcRepository.queryByKey("SystemPropertiesManager.loadSystemProperty");
+        for (int i = 0; i < rows.size(); i++) {
+            Map row = rows.get(i);
+            String WAREHOUSE_ID = CommonUtils.parseString("WAREHOUSE_ID",row);
+            String SYSTEM_KEY = CommonUtils.parseString("SYSTEM_KEY",row);
+            String SYSTEM_VALUE = CommonUtils.parseString("SYSTEM_VALUE",row);
+            properties.put(new SysKey(WAREHOUSE_ID,SYSTEM_KEY), SYSTEM_VALUE);
+        }
+        logger.debug("加载系统参数信息结束:"+properties);
+    }
+
+    private class SysKey{
+        private String wareHouseId;
+        private String key;
+
+        public SysKey(String wareHouseId, String key) {
+            this.wareHouseId = wareHouseId;
+            this.key = key;
+        }
+
+        @Override
+        public boolean equals(Object o) {
+            if (this == o) return true;
+            if (o == null || getClass() != o.getClass()) return false;
+
+            SysKey sysKey = (SysKey) o;
+
+            if (wareHouseId != null ? !wareHouseId.equals(sysKey.wareHouseId) : sysKey.wareHouseId != null)
+                return false;
+            return key != null ? key.equals(sysKey.key) : sysKey.key == null;
+        }
+
+        @Override
+        public int hashCode() {
+            int result = wareHouseId != null ? wareHouseId.hashCode() : 0;
+            result = 31 * result + (key != null ? key.hashCode() : 0);
+            return result;
+        }
+    }
+}

src/main/java/com/mushiny/business/WebApiBusiness.java

+package com.mushiny.business;
+
+/**
+ * Created by Tank.li on 2017/7/26.
+ */
+
+import com.mushiny.beans.Pod;
+import com.mushiny.beans.WorkStation;
+import com.mushiny.beans.order.Order;
+import com.mushiny.comm.CommonUtils;
+import com.mushiny.comm.JsonUtils;
+import com.mushiny.map.MapManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.web.client.RestTemplateBuilder;
+import org.springframework.stereotype.Component;
+import org.springframework.web.client.RestClientException;
+import org.springframework.web.client.RestTemplate;
+
+import java.util.ArrayList;
+import java.util.List;
+@Component
+public class WebApiBusiness {
+    private final static Logger logger = LoggerFactory.getLogger(WebApiBusiness.class);
+    private final RestTemplateBuilder builder;
+    @Value("${mushiny.webapi.path-planning.emptyPath}")
+    private String path_empty_url;
+    @Value("${mushiny.webapi.path-planning.heavyPath}")
+    private String path_heavy_url;
+    @Value("${mushiny.webapi.callStowPods_url}")
+    private String callStowPods_url;
+    @Value("${mushiny.webapi.path-planning.updateNewCost}")
+    private String update_newCost_url;
+    @Value("${mushiny.webapi.path-planning.addHeavyCost}")
+    private String add_heavyCost_url;
+
+    @Autowired
+    public WebApiBusiness(RestTemplateBuilder builder) {
+        this.builder = builder;
+    }
+
+    @Value("${mushiny.webapi.path-planning.turning}")
+    private String path_podTurning_url;
+
+    /**
+     * 获取POD旋转度数
+     * */
+    public int getPodTurning(String face, int sourceToward ,int targetToward){
+        RestTemplate restTemplate = builder.build();
+        /*String restUrl = "http://192.168.1.10:12003/path-planning/pod/turning?" +
+                "face={face}&sourceToward={sourceToward}&targetToward={targetToward}";*/
+        return restTemplate.getForObject(path_podTurning_url,Integer.class,face,sourceToward,targetToward);
+    }
+
+    /**
+     * @deprecated
+     * @param pod
+     * @param workStation
+     * @param needFace
+     * @return
+     */
+    public static int getPodTurning2(Pod pod, WorkStation workStation,String needFace){
+        int podFace = pod.getDirect();
+        int wsFace = workStation.getFace();
+        logger.debug("计算旋转角度: podFace:"+podFace+" wsFace:"+wsFace+" needFace:"+needFace);
+        return CommonUtils.aFaceToward(podFace,wsFace,needFace);
+    }
+
+    public static void main(String[] args) {
+        /*WorkStation workStation = new WorkStation();
+        workStation.setFace(180);
+        Pod pod = new Pod();
+        pod.setDirect(270);
+        String needFace = "D";
+
+        System.out.println("计算A面角度:"+ getPodTurning2(pod,workStation,needFace));*/
+        System.out.println(JsonUtils.json2List("",Long.class));
+    }
+
+    public List<Long> getEmptyPath(String warehouseId,String sectionId, Integer sourceVertex ,Integer targetVertex){
+        RestTemplate restTemplate = builder.build();
+        String res = null;
+        try {
+            logger.debug("emptyPath:"+warehouseId+" " +sectionId+" " +sourceVertex+" " +targetVertex);
+            res = restTemplate.getForObject(this.path_empty_url,
+                    String.class, warehouseId,sectionId,sourceVertex,targetVertex);
+        } catch (RestClientException e) {
+            logger.error("空车车路径获取失败! sourceVertex:"+sourceVertex+" targetVertex:"+targetVertex,e);
+        }
+
+        List<Long> path = JsonUtils.json2List(res,Long.class);
+        logPath(path,"空车");
+        return path;
+    }
+
+    public List<Long> getHeavyPath(String warehouseId,String sectionId, Integer sourceVertex ,Integer targetVertex){
+        RestTemplate restTemplate = builder.build();
+        String res = null;
+        try {
+            logger.debug("heavyPath:"+warehouseId+" " +sectionId+" " +sourceVertex+" " +targetVertex);
+            res = restTemplate.getForObject(this.path_heavy_url,
+                    String.class, warehouseId,sectionId,sourceVertex,targetVertex);
+        } catch (Exception e) {
+            logger.error("重车车路径获取失败! sourceVertex:"+sourceVertex+" targetVertex:"+targetVertex,e);
+        }
+        List<Long> path = JsonUtils.json2List(res,Long.class);
+        logPath(path,"重车");
+        return path;
+        /*List<Integer> path = new ArrayList<>();
+        path.add(11);
+        path.add(12);
+        path.add(13);
+        path.add(14);
+        path.add(15);
+        return path;*/
+    }
+
+    public void callStowPods(String logicStationId) {
+        RestTemplate restTemplate = builder.build();
+        String res = null;
+        try {
+            logger.debug("logicStationId:"+logicStationId+" this.callStowPods_url:"+this.callStowPods_url);
+            res = restTemplate.getForObject(this.callStowPods_url, String.class, logicStationId);
+            logger.debug("callStowPods_url返回结果:"+res);
+        } catch (Exception e) {
+            logger.error(" 呼叫StowPod失败：logicStationId:"+logicStationId,e);
+        }
+
+    }
+
+    public String updateNewCost(String warehouseId,String sectionId, String addressList, String newCost){
+        RestTemplate restTemplate = builder.build();
+        String res = null;
+        try {
+            logger.debug("updateNewCost:"+warehouseId+" " +sectionId+" " +addressList+" " +newCost);
+            res = restTemplate.getForObject(this.update_newCost_url,
+                    String.class, warehouseId,sectionId,addressList,newCost);
+        } catch (RestClientException e) {
+            logger.error("更新NEW-COST失败! addressList:"+addressList+" newCost:"+newCost,e);
+        }
+        if ("1".equals(res)){
+            logger.debug("path-planning更新NEW-COST成功! addressList:"+addressList+" newCost:"+newCost);
+        }else{
+            logger.debug("path-planning更新NEW-COST失败! addressList:"+addressList+" newCost:"+newCost);
+        }
+
+        return res;
+    }
+
+    public String addHeavyCost(String warehouseId,String sectionId, String addressList, String heavyCost){
+        RestTemplate restTemplate = builder.build();
+        String res = null;
+        try {
+            logger.debug("addHeavyCost:"+warehouseId+" " +sectionId+" " +addressList+" " +heavyCost);
+            res = restTemplate.getForObject(this.add_heavyCost_url,
+                    String.class, warehouseId,sectionId,addressList,heavyCost);
+        } catch (RestClientException e) {
+            logger.error("addHeavyCost失败! addressList:"+addressList+" heavyCost:"+heavyCost,e);
+        }
+        if ("1".equals(res)){
+            logger.debug("path-planning:addHeavyCost成功! addressList:"+addressList+" heavyCost:"+heavyCost);
+        }else{
+            logger.debug("path-planning:addHeavyCost失败! addressList:"+addressList+" heavyCost:"+heavyCost);
+        }
+        return res;
+    }
+
+    public static String logPath(List<Long> pod2Target,String type) {
+        StringBuilder stringBuilder = new StringBuilder("[");
+        for (int i = 0; i < pod2Target.size(); i++) {
+            Long integer = pod2Target.get(i);
+            if (i < pod2Target.size() - 1) {
+                stringBuilder.append(integer).append(",");
+            } else {
+                stringBuilder.append(integer);
+            }
+        }
+        stringBuilder.append("]");
+        logger.debug(type + "路径是:" + stringBuilder.toString());
+        return stringBuilder.toString();
+    }
+}
\ No newline at end of file

src/main/java/com/mushiny/comm/AGVConfigParameters.java

+package com.mushiny.comm;
+
+import java.io.*;
+import java.util.Properties;
+
+/**
+ * Created by zf on 2017/11/17.
+ */
+public class AGVConfigParameters {
+    private Properties properties = new Properties();
+    private String defaultFilePath = "/AGVConfigParameters.properties";
+
+    public Properties getProperties() {
+        if (properties == null || properties.isEmpty()){
+            init(defaultFilePath);
+        }
+        return properties;
+    }
+
+    public AGVConfigParameters() {
+        init(defaultFilePath);
+    }
+
+    private void init(String filePath){
+        //读取属性文件a.properties
+        try {
+            if (CommonUtils.isEmpty(filePath)){
+                filePath = defaultFilePath;
+            }
+            InputStream in = AGVConfigParameters.class.getResourceAsStream(filePath);
+            properties.load(in);     ///加载属性列表
+            in.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /*public String getProperty(String key){
+        if (properties==null || properties.isEmpty()){
+            return "AGVConfigParameters配置文件为空！";
+        }
+        return properties.getProperty(key);
+    }
+
+    public void setProperty(String key, String value){
+        if (properties == null){
+            init(defaultFilePath);
+        }
+        properties.setProperty(key, value);
+    }
+
+    ///保存属性到b.properties文件
+    public void addProperty(String key, String value){
+        System.out.println("addProperty:"+key+" "+value);
+        if (properties == null || properties.isEmpty()){
+            init(defaultFilePath);
+        }
+        try {
+            String filePath = AGVConfigParameters.class.getResource(defaultFilePath).toString();
+            filePath = filePath.substring(6);
+            File file = new File(filePath);
+            if (!file.exists()){
+                file.createNewFile();
+            }
+            FileOutputStream fos = new FileOutputStream(file, true);
+            properties.setProperty(key, value);
+            properties.store(fos, "add new properties!");
+            fos.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        AGVConfigParameters t = new AGVConfigParameters();
+        t.addProperty("b", "3");
+    }*/
+
+}

src/main/java/com/mushiny/comm/Agv.java

+package com.mushiny.comm;
+
+/**
+ * Created by Tank.li on 2017/10/25.
+ */
+public class Agv {
+    private String name;
+    private int status;
+    private boolean available;
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public int getStatus() {
+        return status;
+    }
+
+    public void setStatus(int status) {
+        this.status = status;
+    }
+
+    public boolean isAvailable() {
+        return available;
+    }
+
+    public void setAvailable(boolean available) {
+        this.available = available;
+    }
+}

src/main/java/com/mushiny/comm/BizActor.java

+package com.mushiny.comm;
+
+import com.mushiny.beans.Robot;
+
+import java.util.Objects;
+
+/**
+ * Created by Tank.li on 2017/10/25.
+ */
+public class BizActor {
+    private static final Object locker = new Object();
+    public void action(Agv agv){
+        synchronized (locker){
+            if(agv.isAvailable() && agv.getStatus()==1){
+                agv.setAvailable(false);
+                agv.setStatus(Robot.WORKING);
+                System.out.println(Thread.currentThread().getName()+"执行");
+                try {
+                    Thread.sleep(6000L);
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+                System.out.println(Thread.currentThread().getName()+"执行结束");
+            }else{
+                System.out.println(Thread.currentThread().getName()+"未执行");
+            }
+            agv.setStatus(Robot.IDLE);
+            agv.setAvailable(true);
+        }
+    }
+}

src/main/java/com/mushiny/comm/CheckFunctionUseTime.java

+package com.mushiny.comm;
+
+import org.aspectj.lang.ProceedingJoinPoint;
+import org.aspectj.lang.annotation.Around;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * Created by zf on 2018/1/26.
+ */
+//@Aspect
+@Component
+public class CheckFunctionUseTime {
+    private final static Logger LOGGER =  LoggerFactory.getLogger(CheckFunctionUseTime.class);
+    public static final String POINT = "execution(* com.mushiny.controller.WcsController.*(..))";
+    private static final long ONE_MINUTE = 10;
+    //@Around(POINT)
+    public Object timeAround(ProceedingJoinPoint joinPoint) {
+        // 定义返回对象、得到方法需要的参数
+        Object obj = null;
+        Object[] args = joinPoint.getArgs();
+        long startTime = System.currentTimeMillis();
+
+        try {
+            obj = joinPoint.proceed(args);
+        } catch (Throwable e) {
+            LOGGER.error("统计某方法执行耗时环绕通知出错", e);
+        }
+
+        // 获取执行的方法名
+        long endTime = System.currentTimeMillis();
+        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
+        String methodName = signature.getDeclaringTypeName() + "." + signature.getName();
+
+        // 打印耗时的信息
+        this.printExecTime(methodName, startTime, endTime);
+
+        return obj;
+    }
+
+    /**
+     * 打印方法执行耗时的信息，如果超过了一定的时间，才打印
+     * @param methodName
+     * @param startTime
+     * @param endTime
+     */
+    private void printExecTime(String methodName, long startTime, long endTime) {
+        long diffTime = endTime - startTime;
+
+        if (diffTime > ONE_MINUTE) {
+            LOGGER.debug("-----" + methodName + " 方法执行耗时："  +diffTime +" ms");
+        }
+    }
+}

src/main/java/com/mushiny/comm/JsonUtils.java

+package com.mushiny.comm;
+
+/**
+ * Created by Tank.li on 2017/7/27.
+ */
+
+import org.codehaus.jackson.map.ObjectMapper;
+import org.codehaus.jackson.type.JavaType;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+public class JsonUtils {
+
+    private static ObjectMapper objectMapper = new ObjectMapper();
+
+    public static <T> String bean2Json(T bean) {
+        try {
+            return objectMapper.writeValueAsString(bean);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return "";
+    }
+
+    public static String map2Json(Map map) {
+        try {
+            return objectMapper.writeValueAsString(map);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return "";
+    }
+
+    public static String list2Json(List list) {
+        try {
+            return objectMapper.writeValueAsString(list);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return "";
+    }
+
+    public static <T> T json2Bean(String json, Class<T> beanClass) {
+        try {
+            return objectMapper.readValue(json, beanClass);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    public static <T> List<T> json2List(String json, Class<T> beanClass) {
+        if(CommonUtils.isEmpty(json)){
+            return new ArrayList<>();
+        }
+        try {
+            return (List<T>) objectMapper.readValue(json, getCollectionType(List.class, beanClass));
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    public static Map json2Map(String json) {
+        if(CommonUtils.isEmpty(json)){
+            return  new HashMap();
+        }
+        try {
+            return (Map) objectMapper.readValue(json, Map.class);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+
+    public static JavaType getCollectionType(Class<?> collectionClass, Class<?>... elementClasses) {
+        return objectMapper.getTypeFactory().constructParametricType(collectionClass, elementClasses);
+    }
+
+    public static void main(String[] args) {
+        Map data = new HashMap();
+        data.put("sectionID","1");
+        data.put("reCode", "1");
+        data.put("reMsg", "succes");
+        /*List<String> canwork = new ArrayList<>();
+        List<String> cannotwork = new ArrayList<>();
+        canwork.add("1");
+        canwork.add("2");
+        canwork.add("3");
+        cannotwork.add("4");
+        cannotwork.add("5");
+        cannotwork.add("6");
+
+        data.put("blockedAddressList",cannotwork);
+        data.put("availableAddressList",canwork);*/
+
+        String json = map2Json(data);
+        System.out.println(json);
+
+        System.out.println("===>"+Long.parseLong("P0000003".substring(1)));
+    }
+}

src/main/java/com/mushiny/comm/MediaConfig.java

+package com.mushiny.comm;
+
+import org.springframework.stereotype.Component;
+
+import java.io.InputStream;
+import java.util.Properties;
+
+/**
+ * Created by zf on 2017/11/17.
+ */
+@Component
+public class MediaConfig {
+    private Properties properties = new Properties();
+    private String defaultFilePath = "/mediaPods.properties";
+
+    public Properties getProperties() {
+        if (properties == null || properties.isEmpty()){
+            init(defaultFilePath);
+        }
+        return properties;
+    }
+
+    public MediaConfig() {
+        init(defaultFilePath);
+    }
+
+    private void init(String filePath){
+        //读取属性文件a.properties
+        try {
+            if (CommonUtils.isEmpty(filePath)){
+                filePath = defaultFilePath;
+            }
+            InputStream in = MediaConfig.class.getResourceAsStream(filePath);
+            properties.load(in);     ///加载属性列表
+            in.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /*public String getProperty(String key){
+        if (properties==null || properties.isEmpty()){
+            return "AGVConfigParameters配置文件为空！";
+        }
+        return properties.getProperty(key);
+    }
+
+    public void setProperty(String key, String value){
+        if (properties == null){
+            init(defaultFilePath);
+        }
+        properties.setProperty(key, value);
+    }
+
+    ///保存属性到b.properties文件
+    public void addProperty(String key, String value){
+        System.out.println("addProperty:"+key+" "+value);
+        if (properties == null || properties.isEmpty()){
+            init(defaultFilePath);
+        }
+        try {
+            String filePath = AGVConfigParameters.class.getResource(defaultFilePath).toString();
+            filePath = filePath.substring(6);
+            File file = new File(filePath);
+            if (!file.exists()){
+                file.createNewFile();
+            }
+            FileOutputStream fos = new FileOutputStream(file, true);
+            properties.setProperty(key, value);
+            properties.store(fos, "add new properties!");
+            fos.close();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    public static void main(String[] args) {
+        AGVConfigParameters t = new AGVConfigParameters();
+        t.addProperty("b", "3");
+    }*/
+
+}

src/main/java/com/mushiny/comm/SpringUtil.java

+package com.mushiny.comm;
+
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
+import org.springframework.stereotype.Component;
+
+@Component
+public class SpringUtil implements ApplicationContextAware {
+
+    private static ApplicationContext applicationContext;
+
+    @Override
+    public void setApplicationContext(ApplicationContext applicationContext) throws BeansException {
+        if(SpringUtil.applicationContext == null) {
+            SpringUtil.applicationContext = applicationContext;
+        }
+        System.out.println("ApplicationContext配置成功,在普通类可以通过调用SpringUtils.getAppContext()获取applicationContext对象,applicationContext="+SpringUtil.applicationContext+"========");
+    }
+
+    //获取applicationContext
+    public static ApplicationContext getApplicationContext() {
+        return applicationContext;
+    }
+
+    //通过name获取 Bean.
+    public static Object getBean(String name){
+        return getApplicationContext().getBean(name);
+    }
+
+    //通过class获取Bean.
+    public static <T> T getBean(Class<T> clazz){
+        return getApplicationContext().getBean(clazz);
+    }
+
+    //通过name,以及Clazz返回指定的Bean
+    public static <T> T getBean(String name,Class<T> clazz){
+        return getApplicationContext().getBean(name, clazz);
+    }
+
+}

src/main/java/com/mushiny/comm/TestThread.java

+package com.mushiny.comm;
+
+/**
+ * Created by Tank.li on 2017/10/25.
+ */
+public class TestThread extends Thread{
+    private BizActor bizActor = new BizActor();
+    private Agv agv;
+
+    public Agv getAgv() {
+        return agv;
+    }
+
+    public void setAgv(Agv agv) {
+        this.agv = agv;
+    }
+
+    public TestThread(String name) {
+        super(name);
+    }
+
+    @Override
+    public void run() {
+        bizActor.action(agv);
+    }
+}

src/main/java/com/mushiny/comm/ThreadTest.java

+package com.mushiny.comm;
+
+import com.mushiny.beans.Robot;
+
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/10/25.
+ */
+public class ThreadTest {
+    public static void main(String[] args) {
+
+
+
+    }
+}

src/main/java/com/mushiny/controller/CarryPodController.java

+package com.mushiny.controller;
+
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * Created by Administrator on 2018/7/3.
+ */
+@RestController
+@RequestMapping("/carry")
+public class CarryPodController {
+
+}

src/main/java/com/mushiny/controller/MideaController.java

+package com.mushiny.controller;
+
+import com.mushiny.beans.Pod;
+import com.mushiny.beans.Section;
+import com.mushiny.business.PodManager;
+import com.mushiny.business.WareHouseManager;
+import com.mushiny.mq.MessageSender;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Created by Administrator on 2018/7/3.
+ */
+@RestController
+@RequestMapping(value="/midea")
+public class MideaController {
+    @Autowired
+    private PodManager podManager;
+    @Autowired
+    private WareHouseManager wareHouseManager;
+
+    @Autowired
+    private MessageSender messageSender;
+
+    @GetMapping(path = "/allPodsInfo")
+    public String checkWorkStationAddrs(HttpServletRequest request, HttpServletResponse response) {
+        response.setHeader("Access-Control-Allow-Origin", "*");
+        String sectionId = request.getParameter("sectionId");
+        Section section = this.wareHouseManager.getSectionById(sectionId);
+        if(section == null){
+            section = this.wareHouseManager.getSectionByRcsSectionId(Long.parseLong(sectionId));
+        }
+        //获取所有信息
+        List<Pod> pods = this.podManager.getPods(section);
+
+        return "";
+    }
+
+    @GetMapping(path = "/send2Rmq")
+    public String send2Rmq(HttpServletRequest request, HttpServletResponse response) {
+        /*generalErrorID
+        seriousErrorList List
+        commonErrorList List
+        errorStatus
+        sectionID
+        time
+        robotID
+        seriousErrorID
+        commonErrorID
+        generalErrorList List*/
+        /*response.setHeader("Access-Control-Allow-Origin", "*");
+        Map data = new HashMap();
+        data.put("robotID",1L);
+        data.put("time",System.currentTimeMillis());
+        data.put("generalErrorID",1);
+        List generalErrorList = new ArrayList();
+        Map detail = new HashMap();
+        detail.put("description","不在Tag位");
+        detail.put("generalErrorID",1);
+        detail.put("bitPosition",2);
+        generalErrorList.add(detail);
+        data.put("generalErrorList",generalErrorList);
+        data.put("seriousErrorID",1);
+        data.put("commonErrorID",1);
+        data.put("errorStatus","errorStatus");*/
+
+        Map data = new HashMap();
+        /*请求名称	String	 name
+         sectionID	Long	 sectionID
+         时间戳	    Long	 requestTime*/
+        data.put("sectionID",1L);
+        data.put("requestTime",System.currentTimeMillis());
+
+        this.messageSender.sendMsg("section1","RCS_WCS_MAP_REQUEST",data);
+
+        return "OK";
+    }
+
+}

src/main/java/com/mushiny/controller/PodHeatDegreeController.java

+package com.mushiny.controller;
+
+import com.mushiny.service.PodService;
+import com.mushiny.service.impl.PodServiceImpl;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * Created by Tank.li on 2017/7/3.
+ */
+@RestController
+@RequestMapping(value="/heatdegree")
+public class PodHeatDegreeController {
+
+    @Autowired
+    private PodService podService;
+
+    @RequestMapping("/pod2node")
+    public String computeTargetPosition(String podId, String sectionId) {
+        return podService.computeTargetAddress(podId,sectionId);
+    }
+
+}

src/main/java/com/mushiny/jdbc/config/JdbcConfig.java

+package com.mushiny.jdbc.config;
+
+import com.alibaba.druid.pool.DruidDataSource;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.context.annotation.ImportResource;
+import org.springframework.core.env.Environment;
+
+import javax.sql.DataSource;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+@Configuration
+@ImportResource(locations={"classpath:sql.xml"})
+public class JdbcConfig {
+    @Autowired
+    private Environment env;
+
+    @Bean
+    public DataSource dataSource() {
+        System.out.println("in init datasource");
+        DruidDataSource dataSource = new DruidDataSource();
+        dataSource.setUrl(env.getProperty("spring.datasource.url"));
+        dataSource.setUsername(env.getProperty("spring.datasource.username"));//用户名
+        dataSource.setPassword(env.getProperty("spring.datasource.password"));//密码
+        dataSource.setInitialSize(2);
+        dataSource.setMaxActive(20);
+        dataSource.setMinIdle(0);
+        dataSource.setMaxWait(60000);
+        dataSource.setValidationQuery("SELECT 1");
+        dataSource.setTestOnBorrow(false);
+        dataSource.setTestWhileIdle(true);
+        dataSource.setPoolPreparedStatements(false);
+        return dataSource;
+    }
+}

src/main/java/com/mushiny/jdbc/config/SqlMapper.java

+package com.mushiny.jdbc.config;
+
+import java.util.Properties;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public class SqlMapper {
+    private Properties sqls;
+
+    public Properties getSqls() {
+        return sqls;
+    }
+
+    public void setSqls(Properties sqls) {
+        this.sqls = sqls;
+    }
+}

src/main/java/com/mushiny/jdbc/domain/BaseParam.java

+package com.mushiny.jdbc.domain;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public abstract class BaseParam implements IParam {
+
+    //定义的java.sql.Types.***类型，为空的话，默认返回字符串
+    private int type;
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    //无参数构造函数 默认为字符串
+    public BaseParam() {
+        this.type = java.sql.Types.CHAR;
+    }
+
+    /**
+     * 构造不同的返回类型，java.sql.Types定义了格式
+     *
+     * @param type java.sql.Types 里头定义的类型格式
+     */
+    public BaseParam(int type) {
+        this.type = type;
+    }
+
+    private int index;
+    private Object value;
+
+    @Override
+    public int getIndex() {
+        return index;
+    }
+
+    @Override
+    public void setIndex(int index) {
+        this.index = index;
+    }
+
+    @Override
+    public Object getValue() {
+        return value;
+    }
+
+    @Override
+    public void setValue(Object value) {
+        this.value = value;
+    }
+
+    @Override
+    public String toString() {
+        return "index:"+index+" value:"+value;
+    }
+}

src/main/java/com/mushiny/jdbc/domain/IParam.java

+package com.mushiny.jdbc.domain;
+
+import java.sql.CallableStatement;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public interface IParam {
+    /**
+     * 索引值
+     * @param index
+     */
+    void setIndex(int index);
+
+    /**
+     * 参数
+     * @param value
+     */
+    void setValue(Object value);
+
+    /**
+     * 返回值
+     * @return
+     */
+    Object getValue();
+
+    /**
+     * 返回索引
+     * @return
+     */
+    int getIndex();
+    //注册参数//入参与返回参数注册方式不一样
+
+    /**
+     * 设置参数
+     * @param callableStatement
+     */
+    void registerParam(CallableStatement callableStatement);
+
+}

src/main/java/com/mushiny/jdbc/domain/InOutParam.java

+package com.mushiny.jdbc.domain;
+
+import java.sql.CallableStatement;
+import java.sql.SQLException;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public class InOutParam extends BaseParam {
+    @Override
+    public void registerParam(CallableStatement callableStatement) {
+        try {
+            callableStatement.setObject(this.getIndex(),this.getValue(),this.getType());
+            callableStatement.registerOutParameter(this.getIndex(),this.getType());
+        } catch (SQLException e) {
+            e.printStackTrace();
+        }
+    }
+}

src/main/java/com/mushiny/jdbc/domain/InParam.java

+package com.mushiny.jdbc.domain;
+
+import java.sql.CallableStatement;
+import java.sql.SQLException;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public class InParam extends BaseParam {
+
+    @Override
+    public void registerParam(CallableStatement callableStatement) {
+        try {
+            callableStatement.setObject(this.getIndex(),this.getValue(),this.getType());
+        } catch (SQLException e) {
+            e.printStackTrace();
+        }
+    }
+
+}

src/main/java/com/mushiny/jdbc/domain/OutParam.java

+package com.mushiny.jdbc.domain;
+
+import java.sql.CallableStatement;
+import java.sql.SQLException;
+
+/**
+ * Created by Tank.li on 2017/6/13.
+ */
+public class OutParam extends BaseParam {
+    @Override
+    public void registerParam(CallableStatement callableStatement) {
+        try {
+            callableStatement.registerOutParameter(this.getIndex(),this.getType());
+        } catch (SQLException e) {
+            e.printStackTrace();
+        }
+    }
+}

src/main/java/com/mushiny/jdbc/repositories/BoPersister.java

+package com.mushiny.jdbc.repositories;
+
+import com.mushiny.beans.BaseObject;
+import com.mushiny.comm.CommonUtils;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Created by Tank.li on 2017/9/23.
+ */
+public class BoPersister extends Thread {
+
+    private final static Logger logger = LoggerFactory.getLogger(BoPersister.class);
+
+    private JdbcRepository jdbcRepository;
+
+    public JdbcRepository getJdbcRepository() {
+        return jdbcRepository;
+    }
+
+    public void setJdbcRepository(JdbcRepository jdbcRepository) {
+        this.jdbcRepository = jdbcRepository;
+    }
+
+    public void persist(BaseObject baseObject) {
+        if (baseObject.getDelCon() != null && !baseObject.getDelCon().isEmpty()) {
+            //做删除操作
+            jdbcRepository.deleteRecords(baseObject.getTable(), baseObject.getDelCon());
+        } else if(baseObject.getId() == null //?
+                && (baseObject.getCon()==null || baseObject.getCon().isEmpty())){
+            //新增操作
+            jdbcRepository.insertBusinessObject(baseObject);
+        }else {
+            //做更新操作
+            Map newValue = baseObject.getNewValue();
+            if (newValue == null || newValue.isEmpty()) {
+                //logger.debug("未做更新操作，表"+baseObject.getTable()+"的状态是空:"+newValue);
+                return;
+            }
+            CommonUtils.modifyUselessInfo(newValue);
+            Map con = new HashMap();
+            con.put(baseObject.getIdName(), baseObject.getId());
+            jdbcRepository.updateRecords(baseObject.getTable(), newValue, con);
+            baseObject.clearKV();
+            logger.debug("BO:" + baseObject.getTable() + "状态已刷新到数据库!" + baseObject.getActiveThread()+" "
+                    + baseObject.getIdName() + ":" + baseObject.getId());
+        }
+    }
+
+    @Override
+    public void run() {
+        BaseObject baseObject = null;
+        while((baseObject = jdbcRepository.getBo())!=null){
+            if (baseObject.getCon() == null) {
+                try {
+                    persist(baseObject);
+                } catch (Throwable e) {
+                    e.printStackTrace();
+                    logger.error("persist(baseObject) fail:" + baseObject.getActiveThread()+" "
+                            +baseObject.getTable() + " "+baseObject.getId()+" "+baseObject.getKv(),e);
+                }
+            }else {
+                //按条件批量更新
+                try {
+                    this.jdbcRepository.updateRecords(baseObject.getTable(),
+                            baseObject.getNewValue(),baseObject.getCon());
+                } catch (Throwable e) {
+                    e.printStackTrace();
+                    logger.error("updateRecords fail:" + baseObject.getActiveThread()+" "
+                            +baseObject.getTable() + " "+baseObject.getNewValue()+" "+baseObject.getCon(),e);
+                }
+            }
+        }
+    }
+}