1

zhang

2025-08-29 c6ac196d7207e64b8591f84932439214561fc446

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

@@ -39,6 +39,7 @@
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;

/**
@@ -185,7 +186,16 @@
            return R.error("指令不存在");
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        return R.ok().add(redisCommand);
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();

        HashMap<String, Object> map = new HashMap<>();
        map.put("commands", commands);
        map.put("shuttleNo", redisCommand.getShuttleNo());
        map.put("commandStep", redisCommand.getCommandStep());
        map.put("wrkNo", redisCommand.getWrkNo());

        return R.ok().add(map);
    }

    //回退命令
@@ -276,98 +286,100 @@
            assignCommand.setLocNo(param.getDistLocNo());
        }

        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
                if (shuttleThread == null) {
                    throw new CoolException("四向穿梭车不在线");
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                if (shuttleProtocol == null) {
                    throw new CoolException("四向穿梭车不在线");
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode().intValue());
                assignCommand.setShuttleNo(shuttleSlave.getId()); // 四向穿梭车编号
                assignCommand.setTaskMode(shuttleTaskModeType.id);
                assignCommand.setTaskNo(commonService.getWorkNo(99));//获取任务号
                assignCommand.setAuto(false);//手动模式

                if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
                    //移动到目标库位
                    Integer mapType = NavigationMapType.NORMAL.id;
                    if (shuttleProtocol.getHasLift()) {
                        mapType = NavigationMapType.DFX.id;
                    }
                    List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, assignCommand, shuttleThread);
                    if (commands == null) {
                        throw new CoolException("路径计算失败");
                    }

                    assignCommand.setCommands(commands);

                    //尝试锁定目标站路径
                    boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(param.getDistLocNo()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//所使用的路径进行锁定禁用
                    if (!result2) {
                        News.info("{}任务，{}小车，路径锁定失败，禁止派发", param.getDistLocNo(), shuttleProtocol.getShuttleNo());
                        throw new CoolException("路径锁定失败");
                    }

                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
                    //托盘顶升
                    List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
                    //托盘下降
                    List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
                    //充电开关
                    boolean charge = false;
                    if (shuttleProtocol.getHasCharge()) {
                        //已充电，关闭充电
                        charge = false;
                    }else {
                        //开启充电
                        charge = true;
                    }
                    List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
                    //复位
                    shuttleThread.setSyncTaskNo(0);//工作号清空
                    shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
                    shuttleThread.setPakMk(true);//作业标记复位

                    shuttleThread.enableMoveLoc(null, false);
                    return R.ok();
                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_TASK) {
                    //移动到目标库位(生成移动任务)
                    shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
                    return R.ok();
                } else {
                    throw new CoolException("未知命令");
                }

                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                return R.ok();
            }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, param.getShuttleNo());
        if (shuttleThread == null) {
            throw new CoolException("四向穿梭车不在线");
        }
        return R.error();
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            throw new CoolException("四向穿梭车不在线");
        }

        ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode().intValue());
        assignCommand.setShuttleNo(param.getShuttleNo()); // 四向穿梭车编号
        assignCommand.setTaskMode(shuttleTaskModeType.id);
        assignCommand.setTaskNo(commonService.getWorkNo(99));//获取任务号
        assignCommand.setAuto(false);//手动模式

        if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
            //移动到目标库位
            Integer mapType = NavigationMapType.NORMAL.id;
            if (shuttleProtocol.getHasLift()) {
                mapType = NavigationMapType.DFX.id;
            }
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, assignCommand, shuttleThread);
            if (commands == null) {
                throw new CoolException("路径计算失败");
            }

            assignCommand.setCommands(commands);

            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(param.getDistLocNo()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", param.getDistLocNo(), shuttleProtocol.getShuttleNo());
                throw new CoolException("路径锁定失败");
            }

        } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
            //托盘顶升
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
            //托盘下降
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
            //充电开关
            boolean charge = false;
            if (shuttleProtocol.getHasCharge()) {
                //已充电，关闭充电
                charge = false;
            }else {
                //开启充电
                charge = true;
            }
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
            assignCommand.setCommands(commands);
        } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
            //复位
            shuttleThread.setSyncTaskNo(0);//工作号清空
            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
            shuttleThread.setPakMk(true);//作业标记复位

            shuttleThread.enableMoveLoc(null, false);
            return R.ok();
        } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_TASK) {
            //移动到目标库位(生成移动任务)
            shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
            return R.ok();
        } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_OPEN) {
            //演示模式-开
            shuttleThread.enableDemo(true);
            return R.ok();
        } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_CLOSE) {
            //演示模式-关
            shuttleThread.enableDemo(false);
            return R.ok();
        } else {
            throw new CoolException("未知命令");
        }

        shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
        return R.ok();
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R shuttleUpdate(@RequestParam Integer shuttleNo,
                           @RequestParam Integer workNo,
                           @RequestParam String pakMk,
                           @RequestParam Integer token) {
                           @RequestParam String pakMk) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            shuttleThread.setTaskNo(workNo);
            shuttleThread.setSyncTaskNo(workNo);
        }
        if (pakMk != null) {
            shuttleThread.setPakMk(pakMk.equals("Y"));