Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master in...

luxiaotao1123

2024-04-11 74be59f7ae8fe0a4435dc0b532e9a5ba32ab56de

Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack


 Conflicts:

	zy-asrs-wcs/src/main/resources/application.yml

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/common/ExecuteSupport.java

New file
@@ -0,0 +1,7 @@
package com.zy.asrs.wcs.common;

public interface ExecuteSupport {

    Boolean judgement();

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
@@ -11,6 +12,7 @@
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
@@ -64,12 +66,17 @@
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
            //下发行驶路径
            boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo().intValue());
            if (!result) {
                return false;
            if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id) {
                //下发行驶路径
                boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo());
                if (!result) {
                    return false;
                }
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -96,7 +103,9 @@
        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {
        if (!shuttleThread.isIdle(() -> {
            return shuttleProtocol.getTaskNo().equals(taskNo);
        })) {
            return false;
        }


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java

@@ -17,6 +17,7 @@
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.DeviceCtgType;
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;
@@ -30,7 +31,6 @@
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
@@ -60,8 +60,6 @@
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -202,16 +200,8 @@
    @PostMapping("/basShuttle/moveLoc")
    @Transactional
    public synchronized R shuttleMoveLoc(@RequestBody ShuttleMoveLocParam param) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getHostId, getHostId()));
        if (deviceType == null) {
            return R.error();
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1)
                .eq(Device::getHostId, getHostId())
                .eq(Device::getDeviceNo, param.getShuttleNo()));

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/DeviceCtgController.java

File was deleted

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/DeviceCtg.java

File was deleted

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/Motion.java

@@ -5,9 +5,10 @@

import com.zy.asrs.wcs.core.BuildSupport;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.core.service.MotionCtgService;
import com.zy.asrs.wcs.core.service.MotionStsService;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.system.entity.Host;
import com.zy.asrs.wcs.system.entity.User;
import org.springframework.format.annotation.DateTimeFormat;
@@ -343,8 +344,8 @@
    }

    public String getDeviceType$(){
        DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
        DeviceCtg deviceCtg = service.getById(this.deviceCtg);
        DeviceTypeService service = SpringUtils.getBean(DeviceTypeService.class);
        DeviceType deviceCtg = service.getById(this.deviceCtg);
        if (!Cools.isEmpty(deviceCtg)){
            return String.valueOf(deviceCtg.getName());
        }
@@ -458,8 +459,8 @@
    }

    public String getDeviceCtgEl(){
        DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
        DeviceCtg entity = service.getById(this.deviceCtg);
        DeviceTypeService service = SpringUtils.getBean(DeviceTypeService.class);
        DeviceType entity = service.getById(this.deviceCtg);
        if (!Cools.isEmpty(entity)){
            return String.valueOf(entity.getFlag());
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/entity/MotionCtg.java

@@ -3,8 +3,7 @@
import java.text.SimpleDateFormat;
import java.util.Date;

import com.zy.asrs.wcs.core.entity.DeviceCtg;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.system.entity.Host;
import com.zy.asrs.wcs.system.entity.User;
@@ -149,8 +148,8 @@
//    );

    public String getDeviceCtg$(){
        DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
        DeviceCtg deviceCtg = service.getById(this.deviceCtg);
        DeviceTypeService service = SpringUtils.getBean(DeviceTypeService.class);
        DeviceType deviceCtg = service.getById(this.deviceCtg);
        if (!Cools.isEmpty(deviceCtg)){
            return String.valueOf(deviceCtg.getId());
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java

@@ -15,12 +15,10 @@
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -46,12 +44,10 @@
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private LiftDispatcher liftDispatcher;
    //    @Autowired
//    @Autowired
//    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    public List<Motion> generateMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
@@ -934,17 +930,9 @@
        // locNo
        String locNo = task.getDestLoc();

        //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::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        if (device == null) {
@@ -995,17 +983,9 @@
        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::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        if (device == null) {
@@ -1031,11 +1011,11 @@
                // 穿梭车走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                            dto.setShuttleNo(device.getId().intValue());
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
@@ -1046,28 +1026,28 @@
            //托盘顶升
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(task.getShuttleNo()));
                motion.setDevice(String.valueOf(device.getId()));
                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.setDevice(String.valueOf(device.getId()));
                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.setDevice(String.valueOf(device.getId()));
                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.setDevice(String.valueOf(device.getId()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val());
            }));
        } else if (targetSite.equals("reset")) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java

@@ -258,11 +258,11 @@
            return true;
        }

        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
            && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
        ) {
            return false;
        }
//        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
//            && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
//        ) {
//            return false;
//        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/DeviceCtgMapper.java

File was deleted

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/MapNode.java

@@ -1,12 +1,13 @@
package com.zy.asrs.wcs.core.model;

import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import lombok.Data;

/**
 * 地图数据节点
 */
@Data
public class MapNode {
public class MapNode implements Cloneable {

    /**
     * -1 禁用
@@ -36,4 +37,14 @@

    private Integer bay;

    @Override
    public MapNode clone() {
        try {
            return (MapNode) super.clone();
        } catch (CloneNotSupportedException e) {
            e.printStackTrace();
        }
        return null;
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/DeviceCtgType.java

@@ -2,8 +2,8 @@

import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.DeviceCtg;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;

public enum DeviceCtgType {

@@ -18,8 +18,8 @@
    }

    public long val() {
        DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
        DeviceCtg entity = service.selectByFlag(this.toString());
        DeviceTypeService service = SpringUtils.getBean(DeviceTypeService.class);
        DeviceType entity = service.selectByFlag(this.toString());
        if (entity == null) {
            throw new CoolException("DeviceCtgType Error!");
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/DeviceCtgService.java

File was deleted

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/DeviceCtgServiceImpl.java

File was deleted

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -20,13 +20,11 @@
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.entity.Dict;
@@ -55,8 +53,6 @@
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private LocCtgService locCtgService;
    @Autowired
@@ -117,7 +113,7 @@
                    ArrayList<MapNode> nodes = new ArrayList<>();
                    for (JSONObject object : entry.getValue()) {
                        MapNode mapNode = new MapNode();
                        mapNode.setValue(object.getInteger("value"));
                        mapNode.setValue(object.getInteger("shelfType"));
                        mapNode.setTop(object.getInteger("top"));
                        mapNode.setBottom(object.getInteger("bottom"));
                        mapNode.setLeft(object.getInteger("left"));
@@ -143,6 +139,38 @@

            for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
                ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图

                MapNode mapNode = new MapNode();
                mapNode.setValue(-1);
                mapNode.setTop(1000);
                mapNode.setBottom(1000);
                mapNode.setLeft(1000);
                mapNode.setRight(1000);
                mapNode.setRow(0);
                mapNode.setBay(0);
                mapNode.setNo("0-0");

                //获取最长row
                int row = 0;
                //给每个row首尾增加-1节点
                for (ArrayList<MapNode> list : lists) {
                    if (list.size() > row) {
                        row = list.size();
                    }

                    list.add(0, mapNode.clone());
                    list.add(mapNode.clone());
                }

                ArrayList<MapNode> headNodes = new ArrayList<>();
                ArrayList<MapNode> footerNodes = new ArrayList<>();
                for (int i = 0; i < row+2; i++) {
                    headNodes.add(mapNode.clone());
                    footerNodes.add(mapNode.clone());
                }

                lists.add(0, headNodes);
                lists.add(footerNodes);

                Integer lev = entry.getKey();
                Date now = new Date();
@@ -259,15 +287,8 @@
            return;
        }

        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            //获取四向穿梭车线程
@@ -282,6 +303,10 @@
            }

            if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
                continue;
            }

            if (!shuttleThread.isRequireCharge()) {
                continue;
            }

@@ -406,15 +431,8 @@
            return;
        }

        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : list) {
            //获取四向穿梭车线程

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MotionServiceImpl.java

@@ -5,12 +5,12 @@
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
import com.zy.asrs.wcs.core.mapper.MotionMapper;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.service.MotionService;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.zy.asrs.wcs.core.service.MotionStsService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

@@ -21,7 +21,7 @@
public class MotionServiceImpl extends ServiceImpl<MotionMapper, Motion> implements MotionService {

    @Autowired
    private DeviceCtgService deviceCtgService;
    private DeviceTypeService deviceTypeService;
    @Autowired
    private MotionStsService motionStsService;

@@ -29,7 +29,7 @@
    public List<Motion> selectUnCompleteByUuidAndDeviceCtg(String uuid, DeviceCtgType deviceCtgType) {
        return this.list(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getUuid, uuid)
                .eq(Motion::getDeviceCtg, deviceCtgService.selectByFlag(deviceCtgType.toString()).getId())
                .eq(Motion::getDeviceCtg, deviceTypeService.selectByFlag(deviceCtgType.toString()).getId())
                .lt(Motion::getMotionSts, motionStsService.selectByFlag(MotionStsType.COMPLETE.toString()).getId())
                .orderByDesc(Motion::getPriority)
        );

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java

@@ -3,16 +3,11 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
@@ -29,24 +24,15 @@
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private ShuttleAction shuttleAction;
    @Autowired
    private LiftAction liftAction;

    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeShuttle() {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId()));
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val()));
        for (Device device : list) {
            //小车空闲且有跑库程序
            shuttleAction.moveLoc(device);
@@ -66,16 +52,9 @@

    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeLift() {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Lift))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId()));
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val()));
        for (Device device : list) {
            Object object = redisUtil.get(DeviceRedisConstant.LIFT_FLAG + device.getDeviceNo());
            if (object == null) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java

@@ -12,6 +12,7 @@
import com.zy.asrs.wcs.core.entity.TaskCtg;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.LiftCodeType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
@@ -21,11 +22,9 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,16 +48,12 @@
    private LiftDispatcher liftDispatcher;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
//    @Autowired
//    private CommonService commonService;
    @Autowired
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
@@ -69,16 +64,8 @@
        ShuttleThread resThread = null;
        Integer finalDistance = ShuttleDispatcher.INF;

        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, task.getHostId())
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
        if (deviceType == null) {
            throw new CoolException("设备类型不存在");
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java

@@ -6,15 +6,14 @@
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskSerialNo;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.service.TaskSerialNoService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;

import java.util.ArrayList;
@@ -110,18 +109,10 @@
    }

    public static boolean hasShuttleInLoc(String locNo, Long deviceId) {
        DeviceTypeService deviceTypeService = SpringUtils.getBean(DeviceTypeService.class);
        DeviceService deviceService = SpringUtils.getBean(DeviceService.class);

        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return false;
        }

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));

        for (Device device : list) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/controller/LiftController.java

@@ -2,13 +2,13 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
@@ -26,24 +26,14 @@

    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @GetMapping("/lift/status/list")
    public R getLiftStatusList() {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, getHostId())
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Lift)));
        if (deviceType == null) {
            return R.error("设备类型不存在");
        }

        ArrayList<LiftProtocol> data = new ArrayList<>();
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getHostId, getHostId())
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId()));
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val()));
        for (Device device : list) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
            LiftProtocol status = liftThread.getStatus();
@@ -54,18 +44,10 @@

    @GetMapping("/lift/status/one/{deviceNo}")
    public R getLiftStatus(@PathVariable String deviceNo) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, getHostId())
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Lift)));
        if (deviceType == null) {
            return R.error("设备类型不存在");
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getHostId, getHostId())
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.LIFT.val())
                .eq(Device::getDeviceNo, deviceNo));

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/controller/ShuttleController.java

@@ -2,13 +2,12 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.service.ShuttleService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
@@ -25,8 +24,6 @@
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;
    @Autowired
    private ShuttleService shuttleService;

    @GetMapping("/shuttle/status/list")
@@ -37,18 +34,10 @@

    @GetMapping("/shuttle/status/one/{deviceNo}")
    public R getShuttleStatus(@PathVariable String deviceNo) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, getHostId())
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
        if (deviceType == null) {
            return R.error("设备类型不存在");
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getHostId, getHostId())
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getDeviceNo, deviceNo));

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/DeviceTypeService.java

@@ -5,4 +5,6 @@

public interface DeviceTypeService extends IService<DeviceType> {

    DeviceType selectByFlag(String flag);

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/DeviceTypeServiceImpl.java

@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.rcs.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.rcs.mapper.DeviceTypeMapper;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
@@ -9,4 +10,9 @@
@Service("deviceTypeService")
public class DeviceTypeServiceImpl extends ServiceImpl<DeviceTypeMapper, DeviceType> implements DeviceTypeService {

    @Override
    public DeviceType selectByFlag(String flag) {
        return this.getOne(new LambdaQueryWrapper<DeviceType>().eq(DeviceType::getFlag, flag));
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/ShuttleServiceImpl.java

@@ -3,13 +3,13 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.service.ShuttleService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -23,24 +23,15 @@

    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @Override
    public List<ShuttleProtocol> getShuttleStatusList(Long hostId) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getHostId, hostId)
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)));
        if (deviceType == null) {
            throw new CoolException("设备类型不存在");
        }

        ArrayList<ShuttleProtocol> data = new ArrayList<>();
        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getHostId, hostId)
                .eq(Device::getStatus, 1)
                .eq(Device::getDeviceType, deviceType.getId()));
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val()));
        for (Device device : list) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            ShuttleProtocol status = shuttleThread.getStatus();

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java

@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.rcs.thread;

import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.rcs.entity.Device;
@@ -23,7 +24,9 @@

    boolean reset(ShuttleCommand command);//复位开关

    boolean isIdle();//是否空闲
    boolean isIdle();

    boolean isIdle(ExecuteSupport support);//是否空闲

    boolean isRequireCharge();//是否满足充电状态


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java

@@ -7,6 +7,7 @@
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -110,7 +111,8 @@
                shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));

                //故障
                shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
@@ -370,11 +372,20 @@

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            }
        }
        if (this.shuttleProtocol.getIdle() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
                || this.shuttleProtocol.getTaskNo() == null
        ) {
            return false;
        }
@@ -383,7 +394,6 @@
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                && this.shuttleProtocol.getTaskNo() == 0
                ;
        return res;
    }

 zy-asrs-wcs/src/main/resources/application.yml

@@ -18,9 +18,9 @@
#    url: jdbc:mysql://47.97.1.152:3306/asrs?useUnicode=trKue&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
#    username: root
#    password: zy@123
    url: jdbc:mysql://192.168.2.95:3306/asrs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    url: jdbc:mysql://127.0.0.1:3306/asrs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    username: root
    password: root
    password: xltys1995
#    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
#    url: jdbc:sqlserver://47.97.1.152:51433;databasename=jkasrs
#    username: sa

 zy-asrs-wcs/src/main/resources/mapper/core/DeviceCtgMapper.xml

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