#

Junjie

2024-04-09 f84448a10d99a0fa82e71088051e3517637edaa7

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

@@ -10,6 +10,7 @@
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;
@@ -23,6 +24,14 @@
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.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;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +58,10 @@
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -120,10 +133,11 @@
        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");
        }
@@ -183,4 +197,51 @@
        return R.ok();
    }

    //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::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();
    }

}