src/main/java/com/zy/asrs/controller/ConsoleController.java
@@ -7,24 +7,13 @@ import com.core.common.R; import com.zy.asrs.domain.param.SystemSwitchParam; import com.zy.asrs.entity.BasMap; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasMapService; import com.zy.asrs.service.WrkMastService; import com.zy.common.model.MapNode; import com.zy.common.model.enums.NavigationMapType; import com.zy.common.utils.NavigateMapData; import com.zy.common.utils.RedisUtil; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.RedisKeyType; 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.properties.SystemProperties; 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.*; @@ -47,10 +36,6 @@ private RedisUtil redisUtil; @Autowired private NavigateMapData navigateMapData; @Autowired private WrkMastService wrkMastService; @Autowired private SlaveProperties slaveProperties; @PostMapping("/system/running/status") @ManagerAuth(memo = "系统运行状态") @@ -128,50 +113,6 @@ @ManagerAuth(memo = "重置Redis地图") public R resetMapToRedisByLev(@PathVariable Integer lev, HttpServletRequest request) { redisUtil.del(RedisKeyType.MAP.key + lev); return R.ok(); } /** * 任务检测 */ @GetMapping("/checkTask") @ManagerAuth(memo = "任务检测") public R checkTask() { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>()); if (!wrkMasts.isEmpty()) { return R.error("存在未结束任务"); } 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; } if (shuttleProtocol.getTaskNo() > 0) { return R.error(slave.getId() + "号小车存在工作号"); } } 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; } if (forkLiftProtocol.getTaskNo() > 0) { return R.error(slave.getId() + "号货叉提升机存在工作号"); } } return R.ok(); }
@@ -2,6 +2,7 @@ import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.annotations.ManagerAuth; import com.core.common.BaseRes; import com.core.common.Cools; @@ -10,7 +11,9 @@ import com.zy.asrs.domain.param.LiftOperatorParam; import com.zy.asrs.domain.vo.*; import com.zy.asrs.entity.BasLift; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.BasLiftService; import com.zy.asrs.service.DeviceConfigService; import com.zy.common.service.CommonService; import com.zy.common.utils.RedisUtil; import com.zy.core.action.ForkLiftAction; @@ -41,25 +44,27 @@ @Autowired private CommonService commonService; @Autowired private SlaveProperties slaveProperties; @Autowired private BasLiftService basLiftService; @Autowired private RedisUtil redisUtil; @Autowired private ForkLiftAction forkLiftAction; @Autowired private DeviceConfigService deviceConfigService; @PostMapping("/table/lift/state") @ManagerAuth(memo = "提升机信息表") public R liftStateTable(){ ArrayList<JSONObject> list = new ArrayList<>(); for (ForkLiftSlave slave : slaveProperties.getForkLift()) { List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { // 表格行 JSONObject baseObj = new JSONObject(); baseObj.put("shuttleNo", slave.getId()); baseObj.put("shuttleNo", device.getDeviceNo()); list.add(baseObj); // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId()); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } @@ -79,13 +84,15 @@ @ManagerAuth(memo = "提升机数据表") public R liftMsgTable(){ List<LiftMsgTableVo> list = new ArrayList<>(); for (ForkLiftSlave slave : slaveProperties.getForkLift()) { List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { // 表格行 LiftMsgTableVo vo = new LiftMsgTableVo(); vo.setLiftNo(slave.getId()); // 提升机号 vo.setLiftNo(device.getDeviceNo()); // 提升机号 list.add(vo); // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId()); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } @@ -117,10 +124,12 @@ @GetMapping("/detl/{liftNo}") public R liftDetl(@PathVariable("liftNo") Integer liftNo){ LiftDataVo vo = new LiftDataVo(); for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) { if (liftNo.equals(liftSlave.getId())) { vo.setLiftNo(liftSlave.getId()); BasLift basLift = basLiftService.selectById(liftSlave.getId()); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { if (liftNo.equals(device.getDeviceNo())) { vo.setLiftNo(device.getDeviceNo()); BasLift basLift = basLiftService.selectById(device.getDeviceNo()); if (!Cools.isEmpty(basLift)) { vo.setWorkNo(basLift.getWrkNo()); vo.setPakMk(basLift.getPakMk()); @@ -134,11 +143,13 @@ @GetMapping("/sensor/detl/{liftNo}") public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){ LiftSensorDataVo vo = new LiftSensorDataVo(); for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) { if (liftNo.equals(liftSlave.getId())) { vo.setLiftNo(liftSlave.getId()); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { if (liftNo.equals(device.getDeviceNo())) { vo.setLiftNo(device.getDeviceNo()); // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId()); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { return R.error("设备不在线"); } src/main/java/com/zy/asrs/controller/OpenController.java
@@ -7,9 +7,11 @@ import com.zy.asrs.domain.enums.NotifyMsgType; import com.zy.asrs.domain.param.*; import com.zy.asrs.entity.ApiLog; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.LocMast; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.ApiLogService; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.service.WrkMastService; import com.zy.asrs.utils.NotifyUtils; @@ -19,11 +21,8 @@ import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.SlaveType; import com.zy.core.enums.WrkIoType; 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; @@ -47,13 +46,13 @@ @Autowired private NotifyUtils notifyUtils; @Autowired private SlaveProperties slaveProperties; @Autowired private ApiLogService apiLogService; @Autowired private LocMastService locMastService; @Autowired private WrkMastService wrkMastService; @Autowired private DeviceConfigService deviceConfigService; @PostMapping("/createMoveTask") @OpenApiLog(memo = "小车移动任务") @@ -238,8 +237,10 @@ 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()); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -253,8 +254,10 @@ //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()); List<DeviceConfig> forkLiftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkLiftList) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -76,6 +76,8 @@ private NotifyUtils notifyUtils; @Autowired private BasShuttleChargeService basShuttleChargeService; @Autowired private DeviceConfigService deviceConfigService; /** * 初始化实时地图 @@ -438,9 +440,11 @@ */ public synchronized void shuttleFinished() { try { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; @@ -919,9 +923,11 @@ */ public synchronized void forkLiftFinished() { try { for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { //获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; @@ -991,9 +997,11 @@ */ private void recShuttleErr() { Date now = new Date(); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -1004,7 +1012,7 @@ if (shuttleProtocol.getTaskNo() != 0) { //有任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo()); BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo()); // 有异常 if (latest == null) { if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) { @@ -1022,7 +1030,7 @@ null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 shuttleSlave.getId(), // 四向穿梭车 device.getDeviceNo(), // 四向穿梭车 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 @@ -1040,7 +1048,7 @@ JSON.toJSONString(shuttleProtocol) // 系统状态数据 ); if (!basShuttleErrLogService.insert(basShuttleErrLog)) { News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName); } } } else { @@ -1050,7 +1058,7 @@ latest.setUpdateTime(now); latest.setStatus(2); if (!basShuttleErrLogService.updateById(latest)) { News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId()); News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId()); } } } @@ -1063,9 +1071,11 @@ */ private void recLiftErr() { Date now = new Date(); for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } @@ -1076,7 +1086,7 @@ if (forkLiftProtocol.getTaskNo() != 0) { //有任务 BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo()); BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(device.getDeviceNo(), forkLiftProtocol.getTaskNo()); // 有异常 if (latest == null) { if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) { @@ -1095,7 +1105,7 @@ null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 forkLiftSlave.getId(), // 提升机 device.getDeviceNo(), // 提升机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 @@ -1113,7 +1123,7 @@ JSON.toJSONString(forkLiftProtocol) // 系统状态数据 ); if (!basLiftErrLogService.insert(basLiftErrLog)) { News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName); News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName); } } } else { @@ -1123,7 +1133,7 @@ latest.setUpdateTime(now); latest.setStatus(2); if (!basLiftErrLogService.updateById(latest)) { News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId()); News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId()); } } } @@ -1142,9 +1152,11 @@ return;//无充电桩 } for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; @@ -1217,15 +1229,15 @@ wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电 wrkMast.setIoPri((double) 999); wrkMast.setLocNo(chargeLocNo); wrkMast.setShuttleNo(shuttle.getId()); wrkMast.setShuttleNo(device.getDeviceNo()); wrkMast.setMemo("charge"); wrkMast.setAppeTime(new Date()); if (!wrkMastService.insert(wrkMast)) { News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId()); News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo()); continue; } News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId()); News.info("保存{}号四向穿梭车充电任务成功!!!", device.getDeviceNo()); } } catch (Exception e) { e.printStackTrace(); @@ -1238,8 +1250,10 @@ public synchronized void executeShuttleCharge() { try { //查询小车充电任务 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId()); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo()); if(wrkMast == null) { continue; } @@ -1909,8 +1923,10 @@ //自动切换出入库模式 public void autoSwitchForkLiftIOMode() { for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { Integer liftNo = forkLiftSlave.getId(); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { Integer liftNo = device.getDeviceNo(); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { continue; src/main/java/com/zy/asrs/task/NotifyScheduler.java
@@ -4,7 +4,9 @@ import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.domain.NotifyDto; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.HttpRequestLog; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.HttpRequestLogService; import com.zy.asrs.utils.NotifyUtils; import com.zy.common.utils.HttpHandler; @@ -32,23 +34,27 @@ @Autowired private NotifyUtils notifyUtils; @Autowired private SlaveProperties slaveProperties; @Autowired private ConfigService configService; @Autowired private HttpRequestLogService httpRequestLogService; @Autowired private DeviceConfigService deviceConfigService; @Scheduled(cron = "0/3 * * * * ? ") public synchronized void notifyShuttle(){ for (ShuttleSlave slave : slaveProperties.getShuttle()) { notifyMsg(String.valueOf(SlaveType.Shuttle), slave.getId()); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { notifyMsg(String.valueOf(SlaveType.Shuttle), device.getDeviceNo()); } } @Scheduled(cron = "0/3 * * * * ? ") public synchronized void notifyForkLift(){ for (ForkLiftSlave slave : slaveProperties.getForkLift()) { notifyMsg(String.valueOf(SlaveType.ForkLift), slave.getId()); List<DeviceConfig> forkLiftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkLiftList) { notifyMsg(String.valueOf(SlaveType.ForkLift), device.getDeviceNo()); } }
@@ -3,12 +3,13 @@ import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.DeviceConfigService; import com.zy.common.utils.HttpHandler; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.SlaveType; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.ShuttleThread; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; @@ -18,6 +19,7 @@ import org.springframework.stereotype.Component; import java.util.HashMap; import java.util.List; /** * 小车电量预警检测 => 强制预警 @@ -29,7 +31,7 @@ @Autowired private ConfigService configService; @Autowired private SlaveProperties slaveProperties; private DeviceConfigService deviceConfigService; /** * 小车电量预警检测 => 强制预警 @@ -57,8 +59,10 @@ buffer.append("【通知】四向库\n");//消息标题 boolean hasReport = false;//是否有需要报告的数据 for (ShuttleSlave slave : slaveProperties.getShuttle()) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } src/main/java/com/zy/asrs/utils/Utils.java
@@ -4,8 +4,10 @@ import com.core.common.Arith; import com.core.common.Cools; import com.core.common.SpringUtils; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.LocMast; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.service.WrkMastService; import com.zy.common.model.NavigateNode; @@ -109,15 +111,18 @@ //获取除白名单外的指定楼层全部穿梭车xy坐标点 public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) { SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class); DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); ArrayList<int[]> list = new ArrayList<>(); for (ShuttleSlave slave : slaveProperties.getShuttle()) { if (slave.getId().intValue() == whiteShuttle) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { if (device.getDeviceNo().intValue() == whiteShuttle) { continue;//跳过白名单 } //获取穿梭车所在节点位置 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -146,11 +151,14 @@ //检测楼层是否有可用穿梭车 public static boolean checkLevHasShuttle(Integer lev) { SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class); DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class); for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -197,14 +205,17 @@ return null; } SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class); if (slaveProperties == null) { DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); if (deviceConfigService == null) { return null; } List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (String loc : groupLoc) { for (ShuttleSlave slave : slaveProperties.getShuttle()) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); for (DeviceConfig device : shuttleList) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -220,7 +231,7 @@ if (shuttleProtocol.getCurrentLocNo().equals(loc)) { //存在小车 return slave.getId(); return device.getDeviceNo(); } } } src/main/java/com/zy/common/utils/ForkLiftUtils.java
@@ -4,6 +4,8 @@ import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.SpringUtils; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.utils.Utils; import com.zy.common.model.NavigateNode; import com.zy.core.cache.SlaveConnection; @@ -68,9 +70,11 @@ //获取提升机站点 public static ForkLiftStaProtocol getLiftStaByStaNo(Integer staNo) { SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class); for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId()); DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { return null; } src/main/java/com/zy/common/utils/NavigateMapData.java
@@ -1,10 +1,13 @@ package com.zy.common.utils; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasMap; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.LocMast; import com.zy.asrs.service.BasMapService; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.utils.Utils; import com.zy.common.model.MapNode; @@ -13,14 +16,11 @@ import com.zy.core.enums.MapNodeType; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.model.ForkLiftSlave; import com.zy.core.model.protocol.ForkLiftStaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.ForkLiftThread; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.io.*; import java.util.ArrayList; import java.util.List; @@ -31,7 +31,7 @@ public class NavigateMapData { @Autowired private SlaveProperties slaveProperties; private DeviceConfigService deviceConfigService; @Autowired private BasMapService basMapService; @@ -286,8 +286,10 @@ public List<List<MapNode>> loadForkLift(List<List<MapNode>> lists, Integer mapType, Integer lev) { try { //加载货叉提升机放货点位数据 for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } src/main/java/com/zy/common/utils/ShuttleOperaUtils.java
@@ -4,7 +4,9 @@ import com.core.common.SpringUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.BasShuttle; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.BasShuttleService; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.utils.Utils; import com.zy.common.model.MapNode; import com.zy.common.model.NavigateNode; @@ -18,7 +20,6 @@ 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; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; @@ -45,9 +46,9 @@ @Autowired private ConfigService configService; @Autowired private SlaveProperties slaveProperties; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private DeviceConfigService deviceConfigService; public synchronized List<ShuttleCommand> getStartToTargetCommands(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { return getStartToTargetCommands(startLocNo, endLocNo, mapType, null, assignCommand, shuttleThread); @@ -285,8 +286,11 @@ private HashMap<String, Integer> findCarMap() { HashMap<String, Integer> carMap = new HashMap<>(); for (ShuttleSlave slave : slaveProperties.getShuttle()) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -299,7 +303,7 @@ continue; } carMap.put(currentLocNo, slave.getId()); carMap.put(currentLocNo, device.getDeviceNo()); } return carMap; } src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java
@@ -7,8 +7,10 @@ import com.zy.asrs.domain.ShuttleGatherResult; import com.zy.asrs.domain.param.ShuttleGatherParam; import com.zy.asrs.entity.BasShuttle; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasShuttleService; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.WrkMastService; import com.zy.asrs.utils.Utils; import com.zy.common.model.NavigateNode; @@ -24,7 +26,6 @@ import com.zy.core.model.ForkLiftSlave; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.protocol.*; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.ForkLiftThread; import com.zy.core.thread.ShuttleThread; import com.zy.system.entity.Config; @@ -42,8 +43,6 @@ public class ShuttleDispatchUtils { @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastService wrkMastService; @Autowired private CommonService commonService; @@ -53,6 +52,8 @@ private ConfigService configService; @Autowired private BasShuttleService basShuttleService; @Autowired private DeviceConfigService deviceConfigService; /** * 调度车辆-调度指定穿梭车 @@ -68,15 +69,17 @@ ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车 ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { continue; } if (checkChargeWrk(shuttle.getId())) { if (checkChargeWrk(device.getDeviceNo())) { continue;//存在充电任务，过滤小车 } @@ -84,7 +87,7 @@ continue;//小车忙碌中 } BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId())); BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", device.getDeviceNo())); if (basShuttle != null) { if (basShuttle.getStatus() == 0) { continue;//小车被禁用 @@ -341,10 +344,12 @@ return false; } List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); int levCount = 0;//目标楼层车辆数量 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { continue; @@ -410,11 +415,14 @@ return null; } List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); //获取小车同一楼层的站点 ArrayList<ForkLiftStaProtocol> list = new ArrayList<>(); int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车楼层 for (ForkLiftSlave slave : slaveProperties.getForkLift()) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId()); for (DeviceConfig device : forkliftList) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } @@ -426,7 +434,7 @@ continue; } ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), lev); ForkLiftStaProtocol forkLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(device.getDeviceNo(), lev); if (forkLiftStaProtocol == null) { continue; } @@ -441,7 +449,7 @@ } //判断目标楼层站点是否无托盘 ForkLiftStaProtocol targetLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(slave.getId(), targetLev); ForkLiftStaProtocol targetLiftStaProtocol = ForkLiftUtils.getLiftStaByLev(device.getDeviceNo(), targetLev); if (targetLiftStaProtocol == null) { continue; } @@ -501,10 +509,12 @@ * 获取楼层可用小车数量 */ public int getShuttleCountByLev(int lev) { List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); int count = 0; for (ShuttleSlave slave : slaveProperties.getShuttle()) { for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -514,7 +524,7 @@ continue; } if (checkChargeWrk(slave.getId())) { if (checkChargeWrk(device.getDeviceNo())) { continue;//存在充电任务，过滤小车 }
@@ -78,7 +78,6 @@ <div> <!-- <el-button @click="testMove()">测试移动车</el-button>--> <el-button @click="resetMap()">重置地图</el-button> <el-button @click="checkTask()">任务检测</el-button> <!-- <el-button @click="initLoc()">初始化库位</el-button>--> </div> </div> @@ -662,30 +661,6 @@ message: that.currentLev + '层地图重置完成', type: 'success' }); } }) }, checkTask() { let that = this $.ajax({ url:baseUrl+"/console/checkTask", headers:{ 'token': localStorage.getItem('token') }, data:{}, method:'get', success:function (res) { if (res.code === 200) { that.$message({ message: res.msg, type: 'success' }); } else { that.$message({ message: res.msg, type: 'error' }); } } }) },
