中段码根据规则进行更新 行走少于五个库位，不传中断码 行走少于十个库位，中断码给倒数第二个 行走大于十个库位，中断码给倒数第三个

Junjie

2023-07-03 f25949443a6e59eda90b47ab4c423668bcb690a6

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

@@ -23,7 +23,6 @@
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
@@ -115,7 +114,7 @@
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//当前的电压值
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
@@ -169,7 +168,7 @@
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setRunSpeed(basShuttle.getRunSpeed());//四向穿梭车运行速度(设置)
            vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
        }
@@ -241,37 +240,27 @@
    }

    @PostMapping("/detl/update")
    @ManagerAuth
    public R steUpdate(ShuttleDataVo vo){
        BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
        if (basShuttle == null) {
            return R.error();
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer shuttleNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk){
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
            if (shuttleThread == null) {
                return R.error("plc已掉线");
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return R.error("plc已掉线");
            }
            if (workNo != null) {
                shuttleProtocol.setTaskNo(workNo);
            }
            if (pakMk != null) {
                shuttleProtocol.setPakMk(pakMk.equals("Y"));
            }
        }
        // 获取四向穿梭车信息
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
        }
//        if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
//            if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
//                throw new CoolException("服务器错误");
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } else {
            throw new CoolException("命令下发失败");
        }

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
        }
        return R.ok();
        return R.error("plc已掉线");
    }

    @PostMapping("/runSpeed/{shuttleNo}")