From 3845999a338b696f62f76b217bb871d5e759b37b Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期日, 07 四月 2024 16:56:41 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java | 17 ++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 4
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 93 +++++++++++++++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java | 3
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java | 90 +++++++++++++++++++++-
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java | 15 +++
7 files changed, 217 insertions(+), 7 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
index 21b798f..763cdfe 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
+++ b/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("鍙傛暟涓虹┖");
+ }
+
+ Integer shuttleNo = param.getShuttleNo();
+
+ //鑾峰彇杩佺Щ浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, "MANUAL")
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return R.error();
+ }
+
+ String targetLoc = null;//浠诲姟鐩爣(鍊熺敤瀛楁)
+ String targetSite = param.getShuttleTaskMode();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
+ if (param.getShuttleTaskMode().equals("moveLoc")) {
+ //杩佺Щ浠诲姟
+ 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("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", 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("淇濆瓨{}鍙峰洓鍚戠┛姊溅鎵嬪姩浠诲姟澶辫触!!!", shuttleNo);
+ return R.error();
+ }
+ return R.ok();
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java
new file mode 100644
index 0000000..00ddd3a
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java
@@ -0,0 +1,17 @@
+package com.zy.asrs.wcs.core.domain.param;
+
+import lombok.Data;
+
+@Data
+public class ShuttleOperatorParam {
+
+ // 鍥涘悜绌挎杞﹀彿
+ private Integer shuttleNo;
+
+ // 鍛戒护绫诲瀷
+ private String shuttleTaskMode;
+
+ // 鐩爣搴撲綅
+ private String targetLocNo;
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
index 08280d0..f2ce497 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
+++ b/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;
}
+ /**
+ * 鐢熸垚灏忚溅鎵嬪姩鍔ㄤ綔
+ */
+ public List<Motion> generateShuttleManualMotion(Task task) {
+ List<Motion> motionList = new ArrayList<>();
+ if (task.getTaskSts() != TaskStsType.NEW_MOVE.getId()) {
+ return motionList;
+ }
+ String targetLoc = task.getDestLoc();//浠诲姟鐩爣(鍊熺敤瀛楁)
+ String targetSite = task.getDestSite();//浠诲姟绫诲瀷(鍊熺敤瀛楁)
+
+ //鑾峰彇绌挎杞︾被鍨�
+ 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")) {//绉诲姩
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+
+ // 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
+ if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {
+
+ // 绌挎杞﹁蛋琛岃嚦鐩爣搴撲綅
+ 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")) {
+ //鎵樼洏椤跺崌
+ 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")) {
+ //鎵樼洏涓嬮檷
+ 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")) {
+ //鍏呯數寮�
+ 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")) {
+ //鍏呯數鍏�
+ 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")) {
+ //澶嶄綅
+ }
+
+ return motionList;
+ }
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
index ad73d9b..6374639 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
+++ b/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),//鎵樼洏椤跺崌
+ SHUTTLE_PALLET_DOWN(SHUTTLE),//鎵樼洏涓嬮檷
+
// AGV ----------------------------------------------
AGV_TRANSPORT(AGV),
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java
index 405119c..891970b 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java
@@ -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();
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
index e7c5592..a342164 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
+++ b/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);
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
index 58d0e4b..8188546 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
+++ b/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);
--
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