From 0143cc146be484ab3f41e15ec2fc4dab21ebc65f Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 14 一月 2025 14:13:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 263 +++++++++++++++++++++++++++++-----------------------
1 files changed, 145 insertions(+), 118 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 3c7508f..d2c475c 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -2,7 +2,6 @@
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;
@@ -16,31 +15,31 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
-import com.zy.common.model.NyShuttleOperaResult;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.NyHttpUtils;
-import com.zy.common.utils.NyShuttleOperaUtils;
+import com.zy.common.utils.NavigateMapUtils;
import com.zy.common.utils.RedisUtil;
-import com.zy.common.utils.ShuttleDispatchUtils;
-import com.zy.core.cache.MessageQueue;
+import com.zy.common.utils.ShuttleOperaUtils;
+import com.zy.core.News;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
+import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
-import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.NyShuttleThread;
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;
import java.util.List;
/**
@@ -65,23 +64,32 @@
private RedisUtil redisUtil;
@Autowired
private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
public R shuttleStateTable(){
ArrayList<JSONObject> list = new ArrayList<>();
- List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
- for (BasShuttle basShuttle : shuttles) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+ // 琛ㄦ牸琛�
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("shuttleNo", slave.getId());
+ list.add(baseObj);
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
if (shuttleData != null) {
- list.add(shuttleData);
+ baseObj.putAll(shuttleData);
}
continue;
}
@@ -89,14 +97,20 @@
shuttleData.put("moveAdvancePath", null);//绌挎杞﹂璁¤矾寰�
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
- Object object = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
if (object != null) {
ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//绌挎杞﹂璁¤矾寰�
}
}
- list.add(shuttleData);
+ Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
+ String lowerPower = "N";
+ if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
+ lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
+ }
+ shuttleData.put("lowerPower", lowerPower);//鏄惁浣庣數閲�
+ baseObj.putAll(shuttleData);
}
return R.ok().add(list);
}
@@ -105,18 +119,17 @@
@ManagerAuth(memo = "鍥涘悜绌挎杞︽暟鎹〃")
public R steMsgTable(){
List<ShuttleMsgTableVo> list = new ArrayList<>();
- List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
- for (BasShuttle basShuttle : shuttles) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
// 琛ㄦ牸琛�
ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
- vo.setShuttleNo(basShuttle.getShuttleNo()); // 鍥涘悜绌挎杞﹀彿
+ vo.setShuttleNo(slave.getId()); // 鍥涘悜绌挎杞﹀彿
list.add(vo);
// 鑾峰彇绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
@@ -124,7 +137,7 @@
continue;
}
- vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//浠诲姟鍙�
+ vo.setWorkNo(shuttleProtocol.getTaskNo());//浠诲姟鍙�
if (shuttleProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
@@ -135,19 +148,14 @@
if (shuttleProtocol.getProtocolStatusType() != null) {
vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//鐘舵��
}
- vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
- vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//褰撳墠鐨勭數鍘嬪��
- vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//褰撳墠鐨勬ā鎷熼噺鍊�
- vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//褰撳墠鐨勮璧颁己鏈嶉�熷害
- vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
- vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
vo.setLocNo(shuttleProtocol.getLocNo());//鍥涘悜绌挎杞﹀綋鍓嶅簱浣嶅彿
vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//鍥涘悜绌挎杞﹀綋鍓嶅眰楂�
-// vo.setRunSpeed(basShuttle.getRunSpeed());//鍥涘悜绌挎杞﹁繍琛岄�熷害(璁剧疆)
- vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle != null) {
+ vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+ }
}
return R.ok().add(list);
}
@@ -173,25 +181,34 @@
@RequestMapping(value = "/command/query")
public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
- return R.error();
+ return R.error("鎸囦护涓嶅瓨鍦�");
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- return R.ok().add(redisCommand);
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("commands", commands);
+ map.put("shuttleNo", redisCommand.getShuttleNo());
+ map.put("commandStep", redisCommand.getCommandStep());
+ map.put("wrkNo", redisCommand.getWrkNo());
+
+ return R.ok().add(map);
}
//鍥為��鍛戒护
@RequestMapping(value = "/command/rollback")
public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep) {
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
redisCommand.setCommandStep(commandStep);
- redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
@@ -200,53 +217,49 @@
public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep
, @RequestParam("complete") Integer complete) {
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
- NyShuttleHttpCommand command = commands.get(commandStep);
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ ShuttleCommand command = commands.get(commandStep);
command.setComplete(complete != 0);
- redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
//閲嶅惎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/restart")
public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- Short shuttleNo = redisCommand.getShuttleNo();
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ Integer shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
if (shuttleThread == null) {
return R.error();
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return R.error();
- }
- if (!shuttleProtocol.isIdle()) {
+ if (!shuttleThread.isIdle()) {
return R.error();
}
//鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ shuttleThread.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
return R.ok();
}
//鍒犻櫎浠诲姟(鍛戒护)
@RequestMapping(value = "/command/del")
public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
- redisUtil.del("shuttle_wrk_no_" + wrkNo);
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
return R.ok();
}
@@ -263,7 +276,9 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
+ if (param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.MOVE_LOC_NO.id
+ || param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.MOVE_LOC_NO_TASK.id
+ || param.getShuttleTaskMode().intValue() == ShuttleTaskModeType.TRANSPORT.id) {
if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
return R.parse(BaseRes.PARAM);
}
@@ -273,85 +288,70 @@
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
if (param.getShuttleNo().equals(shuttleSlave.getId())) {
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
if (shuttleThread == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
- ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
- assignCommand.setTaskNo((short) commonService.getWorkNo(3));//鑾峰彇浠诲姟鍙�
+ ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode().intValue());
+ assignCommand.setShuttleNo(shuttleSlave.getId()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(shuttleTaskModeType.id);
+ assignCommand.setTaskNo(commonService.getWorkNo(99));//鑾峰彇浠诲姟鍙�
assignCommand.setAuto(false);//鎵嬪姩妯″紡
- if (shuttleTaskModeType == ShuttleTaskModeType.TRANSPORT) {
- //鎼繍璐х墿浠诲姟
- NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getSourceLocNo(), param.getDistLocNo());
- if (result == null) {
- throw new CoolException("璺緞璁＄畻澶辫触");
- }
-
- assignCommand.setCommands(result.getCommands());
- assignCommand.setNodes(result.getNodes());
- } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
+ if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
//绉诲姩鍒扮洰鏍囧簱浣�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo());
- if (result == null) {
+ Integer mapType = NavigationMapType.NORMAL.id;
+ if (shuttleProtocol.getHasLift()) {
+ mapType = NavigationMapType.DFX.id;
+ }
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, assignCommand, shuttleThread);
+ if (commands == null) {
throw new CoolException("璺緞璁＄畻澶辫触");
}
- assignCommand.setCommands(result.getCommands());
- assignCommand.setNodes(result.getNodes());
+ assignCommand.setCommands(commands);
+
+ //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+ boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(param.getDistLocNo()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result2) {
+ News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", param.getDistLocNo(), shuttleProtocol.getShuttleNo());
+ throw new CoolException("璺緞閿佸畾澶辫触");
+ }
+
} else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
//鎵樼洏椤跺崌
- NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
- ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.add(command);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
assignCommand.setCommands(commands);
} else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
//鎵樼洏涓嬮檷
- NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
- ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.add(command);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
assignCommand.setCommands(commands);
} else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
//鍏呯數寮�鍏�
boolean charge = false;
- if (shuttleProtocol.getChargState() == 1) {
+ if (shuttleProtocol.getHasCharge()) {
//宸插厖鐢碉紝鍏抽棴鍏呯數
charge = false;
}else {
//寮�鍚厖鐢�
charge = true;
}
- NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
- ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.add(command);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
assignCommand.setCommands(commands);
} else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
//澶嶄綅
- shuttleProtocol.setTaskNo(0);//宸ヤ綔鍙锋竻绌�
- shuttleProtocol.setToken(0);//浠ょ墝娓呯┖
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//浠诲姟鐘舵��-绌洪棽
- shuttleProtocol.setPakMk(false);//浣滀笟鏍囪澶嶄綅
+ shuttleThread.setSyncTaskNo(0);//宸ヤ綔鍙锋竻绌�
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//浠诲姟鐘舵��-绌洪棽
+ shuttleThread.setPakMk(true);//浣滀笟鏍囪澶嶄綅
+
+ shuttleThread.enableMoveLoc(null, false);
return R.ok();
- } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
- //灏忚溅绠″埗
- NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
- ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.add(suspendCommand);
- assignCommand.setCommands(commands);
- } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
- //灏忚溅鍙栨秷绠″埗
- NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
- ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
- commands.add(suspendCommand);
- assignCommand.setCommands(commands);
- } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_TASK) {
//绉诲姩鍒扮洰鏍囧簱浣�(鐢熸垚绉诲姩浠诲姟)
shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
return R.ok();
@@ -359,11 +359,8 @@
throw new CoolException("鏈煡鍛戒护");
}
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
- return R.ok();
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ return R.ok();
}
}
return R.error();
@@ -375,22 +372,15 @@
@RequestParam Integer workNo,
@RequestParam String pakMk,
@RequestParam Integer token) {
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
if (shuttleThread == null) {
return R.error("plc宸叉帀绾�");
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return R.error("plc宸叉帀绾�");
- }
if (workNo != null) {
- shuttleProtocol.setTaskNo(workNo);
+ shuttleThread.setSyncTaskNo(workNo);
}
if (pakMk != null) {
- shuttleProtocol.setPakMk(pakMk.equals("Y"));
- }
- if (token != null) {
- shuttleProtocol.setToken(token);
+ shuttleThread.setPakMk(pakMk.equals("Y"));
}
return R.ok();
}
@@ -402,7 +392,7 @@
if (basShuttle == null) {
return R.error("鍥涘悜绌挎杞︿笉瀛樺湪");
}
-// basShuttle.setRunSpeed(runSpeed);
+ basShuttle.setRunSpeed(runSpeed);
basShuttle.setChargeLine(chargeLine);
if (!basShuttleService.updateById(basShuttle)) {
return R.error();
@@ -410,4 +400,41 @@
return R.ok();
}
+ /**
+ * 璺戝簱绋嬪簭
+ */
+ @PostMapping("/moveLoc")
+ @ManagerAuth
+ public R moveLoc(@RequestParam Integer shuttleNo,
+ @RequestParam Integer moveType,
+ @RequestParam Integer xStart,
+ @RequestParam Integer xTarget,
+ @RequestParam Integer yStart,
+ @RequestParam Integer yTarget) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error();
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return R.error();
+ }
+
+ if (!shuttleThread.isIdle()) {
+ return R.error("灏忚溅蹇欑涓�");
+ }
+
+ ShuttleMoveLocParam param = new ShuttleMoveLocParam();
+ param.setShuttleNo(shuttleNo);
+ param.setMoveType(moveType);
+ param.setStartX(xStart);
+ param.setTargetX(xTarget);
+ param.setStartY(yStart);
+ param.setTargetY(yTarget);
+
+ shuttleThread.enableMoveLoc(param, true);
+ return R.ok();
+ }
+
}
--
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