package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.ManagerAuth;
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import com.core.common.BaseRes;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.param.ShuttleOperatorParam;
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import com.zy.asrs.domain.vo.*;
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import com.zy.asrs.entity.BasShuttle;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NyShuttleOperaResult;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.NyHttpUtils;
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import com.zy.common.utils.NyShuttleOperaUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.common.utils.ShuttleDispatchUtils;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.NyShuttleHttpCommand;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleRedisCommand;
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import com.zy.core.model.protocol.NyShuttleProtocol;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.NyShuttleThread;
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import com.zy.core.thread.ShuttleThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 四向穿梭车接口
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*/
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@Slf4j
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@RestController
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@RequestMapping("/shuttle")
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public class ShuttleController {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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@PostMapping("/table/shuttle/state")
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@ManagerAuth(memo = "四向穿梭车信息表")
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public R shuttleStateTable(){
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ArrayList<JSONObject> list = new ArrayList<>();
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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// 表格行
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JSONObject baseObj = new JSONObject();
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baseObj.put("shuttleNo", slave.getId());
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list.add(baseObj);
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// 获取四向穿梭车信息
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
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if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
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if (shuttleData != null) {
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baseObj.putAll(shuttleData);
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}
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continue;
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}
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shuttleData.put("moveAdvancePath", null);//穿梭车预计路径
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if (shuttleProtocol.getTaskNo() != 0) {
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//存在任务，获取指令
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Object object = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
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if (object != null) {
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ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
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shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//穿梭车预计路径
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}
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}
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baseObj.putAll(shuttleData);
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}
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return R.ok().add(list);
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}
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@PostMapping("/table/shuttle/msg")
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@ManagerAuth(memo = "四向穿梭车数据表")
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public R steMsgTable(){
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List<ShuttleMsgTableVo> list = new ArrayList<>();
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for (ShuttleSlave slave : slaveProperties.getShuttle()) {
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// 表格行
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ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
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vo.setShuttleNo(slave.getId()); // 四向穿梭车号
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list.add(vo);
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// 获取穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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if (shuttleProtocol.getShuttleNo() == null) {
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continue;
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}
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vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
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if (shuttleProtocol.getTaskNo() > 0) {
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WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
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if (wrkMast != null) {
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vo.setSourceLocNo(wrkMast.getSourceLocNo());//源库位
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vo.setDistLocNo(wrkMast.getLocNo());//目标库位
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}
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}
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if (shuttleProtocol.getProtocolStatusType() != null) {
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vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态
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}
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vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
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vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
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vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
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vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
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vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
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vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率
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vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
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vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
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vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 作业标记
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vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
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vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
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BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
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if (basShuttle != null) {
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vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
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}
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}
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return R.ok().add(list);
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}
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@PostMapping("/latest/data/shuttle")
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@ManagerAuth(memo = "四向穿梭车实时数据")
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public R shuttleLatestData(){
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return R.ok();
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}
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@PostMapping("/output/shuttle")
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@ManagerAuth
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public R steOutput(){
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StringBuilder str = new StringBuilder();
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String s;
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int i = 0;
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while((s = OutputQueue.SHUTTLE.poll()) != null && i <=10) {
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str.append("\n").append(s);
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i++;
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}
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return R.ok().add(str.toString());
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}
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@RequestMapping(value = "/command/query")
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public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return R.error();
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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return R.ok().add(redisCommand);
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}
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//回退命令
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@RequestMapping(value = "/command/rollback")
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public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
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, @RequestParam("commandStep") Integer commandStep) {
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return R.error();
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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redisCommand.setCommandStep(commandStep);
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redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
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return R.ok();
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}
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//命令完成状态切换
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@RequestMapping(value = "/command/completeSwitch")
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public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
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, @RequestParam("commandStep") Integer commandStep
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, @RequestParam("complete") Integer complete) {
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return R.error();
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
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NyShuttleHttpCommand command = commands.get(commandStep);
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command.setComplete(complete != 0);
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redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
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return R.ok();
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}
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//重启任务(命令)
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@RequestMapping(value = "/command/restart")
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public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return R.error();
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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Short shuttleNo = redisCommand.getShuttleNo();
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
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if (shuttleThread == null) {
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return R.error();
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return R.error();
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}
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if (!shuttleProtocol.isIdle()) {
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return R.error();
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}
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//四向穿梭车处于空闲状态，进行任务的恢复
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shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
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return R.ok();
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}
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//删除任务(命令)
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@RequestMapping(value = "/command/del")
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public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return R.error();
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}
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redisUtil.del("shuttle_wrk_no_" + wrkNo);
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return R.ok();
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}
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/****************************************************************/
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/************************** 手动操作 ******************************/
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/****************************************************************/
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@ManagerAuth(memo = "手动操作")
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@PostMapping("/operator/shuttle")
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public R shuttleOperator(ShuttleOperatorParam param){
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if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
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return R.parse(BaseRes.PARAM);
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}
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
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if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
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return R.parse(BaseRes.PARAM);
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}
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assignCommand.setSourceLocNo(param.getSourceLocNo());
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assignCommand.setLocNo(param.getDistLocNo());
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}
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for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
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if (param.getShuttleNo().equals(shuttleSlave.getId())) {
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
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if (shuttleThread == null) {
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throw new CoolException("四向穿梭车不在线");
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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throw new CoolException("四向穿梭车不在线");
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}
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ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
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assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
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assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
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assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
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assignCommand.setAuto(false);//手动模式
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if (shuttleTaskModeType == ShuttleTaskModeType.TRANSPORT) {
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//搬运货物任务
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NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getSourceLocNo(), param.getDistLocNo());
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if (result == null) {
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throw new CoolException("路径计算失败");
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}
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assignCommand.setCommands(result.getCommands());
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assignCommand.setNodes(result.getNodes());
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} else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
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//移动到目标库位
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Integer mapType = NavigationMapType.NORMAL.id;
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if (shuttleProtocol.getLiftPosition() == 2) {
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mapType = NavigationMapType.DFX.id;
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}
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NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
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if (result == null) {
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throw new CoolException("路径计算失败");
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}
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assignCommand.setCommands(result.getCommands());
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assignCommand.setNodes(result.getNodes());
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} else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
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//托盘顶升
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NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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commands.add(command);
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assignCommand.setCommands(commands);
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} else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
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//托盘下降
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NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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commands.add(command);
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assignCommand.setCommands(commands);
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} else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
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//充电开关
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boolean charge = false;
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if (shuttleProtocol.getChargState() == 1) {
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//已充电，关闭充电
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charge = false;
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}else {
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//开启充电
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charge = true;
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}
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NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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commands.add(command);
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assignCommand.setCommands(commands);
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} else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
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//复位
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shuttleProtocol.setTaskNo(0);//工作号清空
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shuttleProtocol.setToken(0);//令牌清空
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
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shuttleProtocol.setPakMk(false);//作业标记复位
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shuttleProtocol.setMoveLoc(false);
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shuttleProtocol.setMoveType(0);
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shuttleProtocol.setXStart(0);
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shuttleProtocol.setXTarget(0);
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shuttleProtocol.setXCurrent(0);
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shuttleProtocol.setYStart(0);
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shuttleProtocol.setYTarget(0);
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shuttleProtocol.setYCurrent(0);
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return R.ok();
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} else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
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//小车管制
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NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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commands.add(suspendCommand);
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assignCommand.setCommands(commands);
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} else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
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//小车取消管制
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NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
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ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
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commands.add(suspendCommand);
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assignCommand.setCommands(commands);
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} else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
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//移动到目标库位(生成移动任务)
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shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
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return R.ok();
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} else {
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throw new CoolException("未知命令");
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}
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if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
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return R.ok();
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} else {
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throw new CoolException("命令下发失败");
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}
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}
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}
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return R.error();
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}
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@PostMapping("/detl/update")
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@ManagerAuth(memo = "修改数据")
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public R shuttleUpdate(@RequestParam Integer shuttleNo,
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@RequestParam Integer workNo,
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@RequestParam String pakMk,
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@RequestParam Integer token) {
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return R.error("plc已掉线");
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return R.error("plc已掉线");
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}
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if (workNo != null) {
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shuttleProtocol.setTaskNo(workNo);
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}
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if (pakMk != null) {
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shuttleProtocol.setPakMk(pakMk.equals("Y"));
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}
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if (token != null) {
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shuttleProtocol.setToken(token);
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}
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return R.ok();
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}
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@PostMapping("/runSpeed/{shuttleNo}")
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@ManagerAuth
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public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
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BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
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if (basShuttle == null) {
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return R.error("四向穿梭车不存在");
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}
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// basShuttle.setRunSpeed(runSpeed);
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basShuttle.setChargeLine(chargeLine);
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if (!basShuttleService.updateById(basShuttle)) {
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return R.error();
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}
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return R.ok();
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}
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/**
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* 跑库程序
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*/
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@PostMapping("/moveLoc")
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@ManagerAuth
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public R moveLoc(@RequestParam Integer shuttleNo,
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@RequestParam Integer moveType,
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@RequestParam Integer xStart,
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@RequestParam Integer xTarget,
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@RequestParam Integer yStart,
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@RequestParam Integer yTarget) {
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return R.error();
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}
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NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return R.error();
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}
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if (!shuttleProtocol.isIdle()) {
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return R.error("小车忙碌中");
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}
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shuttleProtocol.setMoveLoc(true);//开启跑库
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shuttleProtocol.setMoveType(moveType);
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shuttleProtocol.setXStart(xStart);
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shuttleProtocol.setXTarget(xTarget);
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shuttleProtocol.setXCurrent(xStart);
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shuttleProtocol.setYStart(yStart);
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shuttleProtocol.setYTarget(yTarget);
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shuttleProtocol.setYCurrent(yStart);
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return R.ok();
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}
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}
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