#

Junjie

2024-06-12 848b1bc9331722a43b062b6bfb013b7e1804b7f4

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java

@@ -2,7 +2,6 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.zy.asrs.framework.common.BaseRes;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -17,6 +16,8 @@
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskCtg;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.MotionService;
@@ -26,11 +27,9 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
@@ -60,8 +59,6 @@
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -144,19 +141,41 @@

        Integer shuttleNo = param.getShuttleNo();

        //获取迁移任务类型
        //获取手动任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MANUAL")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MANUAL))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error();
        }

        String sourceLoc = null;//源库位
        String targetLoc = null;//任务目标(借用字段)
        String targetSite = param.getShuttleTaskMode();//任务类型(借用字段)
        if (param.getShuttleTaskMode().equals("moveLoc")) {
            //迁移任务
            targetLoc = param.getTargetLocNo();
        } else if (param.getShuttleTaskMode().equals("takeMove")) {
            //取放货任务
            targetLoc = param.getTargetLocNo();
            sourceLoc = param.getSourceLocNo();
        } else if (param.getShuttleTaskMode().equals("reset")) {
            //复位
            Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                    .eq(Device::getStatus, 1)
                    .eq(Device::getDeviceNo, shuttleNo));
            if (device == null) {
                return R.error("设备不存在");
            }

            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                return R.error("设备离线");
            }

            shuttleThread.reset(null);
            return R.ok();
        }

        Task task = new Task();
@@ -166,7 +185,7 @@
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setOriginLoc(sourceLoc);
        task.setDestSite(targetSite);
        task.setDestLoc(targetLoc);
        task.setIoTime(new Date());
@@ -174,6 +193,10 @@
        task.setStatus(1);
        task.setMemo("manual");
        task.setShuttleNo(param.getShuttleNo());

        if (param.getShuttleTaskMode().equals("takeMove")) {
            task.setRecordLoc("Y");//记录库存信息
        }
        boolean result = taskService.save(task);
        if (!result) {
            return R.error();
@@ -200,18 +223,9 @@
    //跑库系统
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/moveLoc")
    @Transactional
    public synchronized R shuttleMoveLoc(@RequestBody ShuttleMoveLocParam param) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getHostId, getHostId()));
        if (deviceType == null) {
            return R.error();
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1)
                .eq(Device::getHostId, getHostId())
                .eq(Device::getDeviceNo, param.getShuttleNo()));
@@ -233,14 +247,34 @@
            return R.error("小车忙碌中");
        }

        shuttleProtocol.setMoveLoc(true);//开启跑库
        shuttleProtocol.setMoveType(param.getMoveType());
        shuttleProtocol.setXStart(param.getStartX());
        shuttleProtocol.setXTarget(param.getTargetX());
        shuttleProtocol.setXCurrent(param.getStartX());
        shuttleProtocol.setYStart(param.getStartY());
        shuttleProtocol.setYTarget(param.getTargetY());
        shuttleProtocol.setYCurrent(param.getStartY());
        shuttleThread.enableMoveLoc(param, true);
        return R.ok();
    }

    //跑库系统关闭
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/moveLocClose")
    public synchronized R shuttleMoveLocClose(@RequestBody ShuttleMoveLocParam param) {
        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1)
                .eq(Device::getHostId, getHostId())
                .eq(Device::getDeviceNo, param.getShuttleNo()));
        if (device == null) {
            return R.error();
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return R.error();
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return R.error();
        }

        shuttleThread.enableMoveLoc(null, false);
        return R.ok();
    }