#

luxiaotao1123

2024-04-17 99a13ac3e2c52881577cbf4a69ccc17f349eeec7

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

@@ -10,12 +10,14 @@
import com.zy.asrs.wcs.common.domain.BaseParam;
import com.zy.asrs.wcs.common.domain.KeyValVo;
import com.zy.asrs.wcs.common.domain.PageParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleOperatorParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Motion;
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.TaskStsType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.MotionService;
@@ -23,6 +25,13 @@
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.Utils;
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.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +58,8 @@
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -120,10 +131,11 @@
        ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response);
    }

    //手动操作
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/operator/shuttle")
    @Transactional
    public R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
    public synchronized R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.error("参数为空");
        }
@@ -138,21 +150,26 @@
            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();
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
        task.setTaskSts(TaskStsType.NEW_MANUAL.getId());
        task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
        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());
@@ -165,6 +182,8 @@
            return R.error();
        }

        task = taskService.getById(task.getId());

        // generate motion list
        List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
        if (Cools.isEmpty(motionList)) {
@@ -173,7 +192,7 @@
        }
        motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

        task.setTaskSts(TaskStsType.ANALYZE_MANUAL.getId());
        task.setTaskSts(TaskStsType.ANALYZE_MANUAL.sts);
        if (!taskService.updateById(task)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo);
            return R.error();
@@ -181,4 +200,43 @@
        return R.ok();
    }

    //跑库系统
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/moveLoc")
    @Transactional
    public synchronized R shuttleMoveLoc(@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();
        }

        if (!shuttleThread.isIdle()) {
            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());
        return R.ok();
    }

}