Merge remote-tracking branch 'origin/shuttle_rcs' into shuttle_rcs

Junjie

2025-02-17 21569e095e2c707e87634d6b94526a6609f902a9

Merge remote-tracking branch 'origin/shuttle_rcs' into shuttle_rcs

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

@@ -6,11 +6,22 @@
import com.zy.asrs.domain.param.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.service.CommonService;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

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

@Slf4j
@RestController
@@ -23,6 +34,8 @@
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private SlaveProperties slaveProperties;

    @PostMapping("/createMoveTask")
    public R createMoveTask(@RequestBody CreateMoveTaskParam param) {
@@ -99,6 +112,44 @@
        return R.error("任务取消失败");
    }

    @PostMapping("/deviceStatus")
    public R getDeviceStatus() {
        HashMap<String, Object> map = new HashMap<>();
        //获取小车数据
        ArrayList<ShuttleProtocol> shuttleProtocols = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }
            shuttleProtocols.add(shuttleProtocol);
        }

        //获取货叉提升机数据
        ArrayList<ForkLiftProtocol> forkLiftProtocols = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
                continue;
            }

            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }
            forkLiftProtocols.add(forkLiftProtocol);
        }

        map.put("shuttle", shuttleProtocols);
        map.put("forkLift", forkLiftProtocols);
        return R.ok().add(map);
    }

    @GetMapping("/test")
    public R test() {
        notifyUtils.notify("task", 1, "9999", "W9999", NotifyMsgType.SHUTTLE_MOVING, "data");

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