zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
@@ -2,25 +2,36 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.plugins.pagination.Page; import com.zy.asrs.framework.common.BaseRes; import com.zy.asrs.framework.common.Cools; import com.zy.asrs.framework.common.R; import com.zy.asrs.framework.common.SnowflakeIdWorker; import com.zy.asrs.wcs.common.annotation.OperationLog; 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.ShuttleOperatorParam; import com.zy.asrs.wcs.core.entity.BasShuttle; import com.zy.asrs.wcs.core.entity.Motion; import com.zy.asrs.wcs.core.entity.Task; import com.zy.asrs.wcs.core.entity.TaskCtg; import com.zy.asrs.wcs.core.kernel.AnalyzeService; import com.zy.asrs.wcs.core.model.enums.TaskStsType; import com.zy.asrs.wcs.core.service.BasShuttleService; import com.zy.asrs.wcs.core.service.MotionService; import com.zy.asrs.wcs.core.service.TaskCtgService; 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.system.controller.BaseController; import com.zy.asrs.wcs.utils.ExcelUtil; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.security.access.prepost.PreAuthorize; import org.springframework.transaction.annotation.Transactional; import org.springframework.web.bind.annotation.*; import javax.servlet.http.HttpServletResponse; import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.Map; import java.util.*; @RestController @RequestMapping("/api") @@ -28,6 +39,16 @@ @Autowired private BasShuttleService basShuttleService; @Autowired private TaskCtgService taskCtgService; @Autowired private SnowflakeIdWorker snowflakeIdWorker; @Autowired private TaskService taskService; @Autowired private AnalyzeService analyzeService; @Autowired private MotionService motionService; @PreAuthorize("hasAuthority('core:basShuttle:list')") @PostMapping("/basShuttle/page") @@ -99,4 +120,65 @@ ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response); } @PreAuthorize("hasAuthority('core:basShuttle:operator')") @PostMapping("/basShuttle/operator/shuttle") @Transactional public R shuttleOperator(@RequestBody ShuttleOperatorParam param) { if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) { return R.error("参数为空"); } Integer shuttleNo = param.getShuttleNo(); //获取迁移任务类型 TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>() .eq(TaskCtg::getFlag, "MANUAL") .eq(TaskCtg::getStatus, 1)); if (taskCtg == null) { return R.error(); } String targetLoc = null;//任务目标(借用字段) String targetSite = param.getShuttleTaskMode();//任务类型(借用字段) if (param.getShuttleTaskMode().equals("moveLoc")) { //迁移任务 targetLoc = param.getTargetLocNo(); } Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL"))); task.setTaskSts(TaskStsType.NEW_MANUAL.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); task.setOriginLoc(null); task.setDestSite(targetSite); task.setDestLoc(targetLoc); task.setIoTime(new Date()); task.setStartTime(new Date()); task.setStatus(1); task.setMemo("manual"); task.setShuttleNo(param.getShuttleNo()); boolean result = taskService.save(task); if (!result) { return R.error(); } // generate motion list List<Motion> motionList = analyzeService.generateShuttleManualMotion(task); if (Cools.isEmpty(motionList)) { News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo); return R.error(); } motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo())); task.setTaskSts(TaskStsType.ANALYZE_MANUAL.getId()); if (!taskService.updateById(task)) { News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo); return R.error(); } return R.ok(); } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java
New file @@ -0,0 +1,17 @@ package com.zy.asrs.wcs.core.domain.param; import lombok.Data; @Data public class ShuttleOperatorParam { // 四向穿梭车号 private Integer shuttleNo; // 命令类型 private String shuttleTaskMode; // 目标库位 private String targetLocNo; } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -4,6 +4,7 @@ import com.zy.asrs.framework.common.Cools; import com.zy.asrs.wcs.core.domain.dto.MotionDto; import com.zy.asrs.wcs.core.entity.Task; import com.zy.asrs.wcs.core.model.enums.DeviceCtgType; import com.zy.asrs.wcs.core.model.enums.MotionCtgType; import com.zy.asrs.wcs.core.model.enums.TaskStsType; import com.zy.asrs.wcs.core.model.enums.WorkZoneType; @@ -982,6 +983,98 @@ return motionList; } /** * 生成小车手动动作 */ public List<Motion> generateShuttleManualMotion(Task task) { List<Motion> motionList = new ArrayList<>(); if (task.getTaskSts() != TaskStsType.NEW_MOVE.getId()) { return motionList; } String targetLoc = task.getDestLoc();//任务目标(借用字段) String targetSite = task.getDestSite();//任务类型(借用字段) //获取穿梭车类型 DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>() .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)) .eq(DeviceType::getStatus, 1)); if (deviceType == null) { return motionList; } Device device = deviceService.getOne(new LambdaQueryWrapper<Device>() .eq(Device::getDeviceNo, task.getShuttleNo()) .eq(Device::getDeviceType, deviceType.getId()) .eq(Device::getHostId, task.getHostId()) .eq(Device::getStatus, 1)); if (device == null) { return motionList; } ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue()); if (shuttleThread == null) { return motionList; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { return motionList; } if (targetSite.equals("moveLoc")) {//移动 String shuttleLocNo = shuttleProtocol.getCurrentLocNo(); // 判断穿梭车是否在目标层 if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) { // 穿梭车走行至目标库位 motionList.addAll(kernelService.shuttleMove( MotionDto.build((dto -> { dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue()); dto.setLocNo(shuttleLocNo); })), MotionDto.build((dto -> { dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue()); dto.setLocNo(targetLoc); })), MotionCtgType.SHUTTLE_MOVE )); } } else if (targetSite.equals("palletLift")) { //托盘顶升 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val()); })); } else if (targetSite.equals("palletDown")) { //托盘下降 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val()); })); } else if (targetSite.equals("chargeOpen")) { //充电开 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val()); })); } else if (targetSite.equals("chargeClose")) { //充电关 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val()); })); } else if (targetSite.equals("reset")) { //复位 } return motionList; } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
@@ -51,6 +51,9 @@ SHUTTLE_CHARGE_ON(SHUTTLE), SHUTTLE_CHARGE_OFF(SHUTTLE), SHUTTLE_PALLET_LIFT(SHUTTLE),//托盘顶升 SHUTTLE_PALLET_DOWN(SHUTTLE),//托盘下降 // AGV ---------------------------------------------- AGV_TRANSPORT(AGV),
@@ -1,6 +1,10 @@ package com.zy.asrs.wcs.core.model.enums; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.asrs.framework.common.SpringUtils; import com.zy.asrs.framework.exception.CoolException; import com.zy.asrs.wcs.core.entity.TaskSts; import com.zy.asrs.wcs.core.service.TaskStsService; public enum TaskStsType { @@ -51,4 +55,15 @@ throw new CoolException("TaskStsType Error!!!"); } public Long getId() { TaskStsService taskStsService = SpringUtils.getBean(TaskStsService.class); TaskSts taskSts = taskStsService.getOne(new LambdaQueryWrapper<TaskSts>() .eq(TaskSts::getUuid, sts) .eq(TaskSts::getStatus, 1)); if (taskSts == null) { throw new CoolException("TaskStsType Error!!!"); } return taskSts.getId(); } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -268,7 +268,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE"))); task.setTaskSts(TaskStsType.NEW_CHARGE.sts); task.setTaskSts(TaskStsType.NEW_CHARGE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); @@ -365,7 +365,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE"))); task.setTaskSts(TaskStsType.NEW_MOVE.sts); task.setTaskSts(TaskStsType.NEW_MOVE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -177,7 +177,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE"))); task.setTaskSts(TaskStsType.NEW_MOVE.sts); task.setTaskSts(TaskStsType.NEW_MOVE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null);
