#

Junjie

2023-10-13 5f685f89bf6501325b6129ecf709b988369eeedd

 src/main/java/com/zy/asrs/controller/LiftController.java

@@ -12,16 +12,19 @@
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NyLiftUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.enums.NyLiftTaskModelType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -189,18 +192,80 @@
                    throw new CoolException("提升机不在线");
                }

                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 提升机编号
                assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
                assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
                assignCommand.setAuto(false);//手动模式
                assignCommand.setLev(param.getLev());//移动楼层
                if (param.getLiftTaskMode() == 1) {
                    //提升机升降楼层
                    int workNo = commonService.getWorkNo(3);//获取任务号

                if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                    Integer startSta = null;
                    Integer targetSta = null;
                    for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                        if (liftStaProtocol.getLev() == liftProtocol.getLev().intValue()) {
                            startSta = liftStaProtocol.getStaNo();
                        }

                        if (liftStaProtocol.getLev() == param.getLev()) {
                            targetSta = liftStaProtocol.getStaNo();
                        }
                    }

                    if (startSta == null || targetSta == null) {
                        throw new CoolException("起点或目标点不存在");
                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, startSta, targetSta, workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 2) {
                    //移动托盘
                    int workNo = commonService.getWorkNo(3);//获取任务号

//                    LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(param.getSourceStaNo());
//                    LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(param.getStaNo());
//                    if (sourceLiftSta == null || liftSta == null) {
//                        throw new CoolException("源站或目标站不存在");
//                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, param.getSourceStaNo(), param.getStaNo(), workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 0) {
                    //提升机复位
                    liftProtocol.setToken(0);
                    liftProtocol.setProtocolStatusType(LiftProtocolStatusType.IDLE);
                } else {
                    throw new CoolException("命令下发失败");
                    throw new CoolException("未知命令");
                }

            }
        }
        return R.error();