#

Junjie

2023-10-07 f291be24a072b4c8993106247e3142b0dcc5f480

 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;
@@ -110,6 +113,7 @@
            vo.setDistAddress(liftProtocol.getDistAddress());
            vo.setCompleteTaskNo(liftProtocol.getCompleteTaskNo());
            vo.setShuttleNo(liftProtocol.getShuttleNo().intValue());
            vo.setToken(liftProtocol.getToken());//令牌
        }
        return R.ok().add(list);
    }
@@ -188,18 +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();
@@ -208,8 +274,9 @@
    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                            @RequestParam Short workNo,
                            @RequestParam String pakMk){
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
        if (liftThread == null) {
            return R.error("plc已掉线");
@@ -223,6 +290,9 @@
        }
        if (pakMk != null) {
            liftProtocol.setPakMk(pakMk.equals("Y"));
        }
        if (token != null) {
            liftProtocol.setToken(token);
        }
        return R.ok();
    }
@@ -262,8 +332,8 @@
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<LiftCommand> commands = assignCommand.getCommands();
        LiftCommand command = commands.get(commandStep);
        List<NyLiftCommand> commands = assignCommand.getCommands();
        NyLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();