From 09cb60c8bcbb4f7371e8b692da9af00c5d4fc538 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期二, 01 八月 2023 15:22:55 +0800 Subject: [PATCH] 小车行走路径锁定方案,走一步锁两步,走完即解锁 --- src/main/java/com/zy/asrs/controller/LiftController.java | 62 +++++++++++------------------- 1 files changed, 23 insertions(+), 39 deletions(-) diff --git a/src/main/java/com/zy/asrs/controller/LiftController.java b/src/main/java/com/zy/asrs/controller/LiftController.java index 2226d09..0b5503b 100644 --- a/src/main/java/com/zy/asrs/controller/LiftController.java +++ b/src/main/java/com/zy/asrs/controller/LiftController.java @@ -52,14 +52,13 @@ @ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃") public R liftStateTable(){ List<LiftStateTableVo> list = new ArrayList<>(); - List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no")); - for (BasLift basLift : lifts) { + for (LiftSlave slave : slaveProperties.getLift()) { // 琛ㄦ牸琛� LiftStateTableVo vo = new LiftStateTableVo(); - vo.setLiftNo(basLift.getLiftNo()); //鎻愬崌鏈哄彿 + vo.setLiftNo(slave.getId()); //鎻愬崌鏈哄彿 list.add(vo); // 鑾峰彇鎻愬崌鏈轰俊鎭� - LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo()); + LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId()); if (liftThread == null) { vo.setProtocolStatus(LiftProtocolStatusType.OFFLINE.id);//绂荤嚎 continue; @@ -70,28 +69,17 @@ } vo.setTaskNo(liftProtocol.getTaskNo()); // 浠诲姟鍙� vo.setProtocolStatus(liftProtocol.getProtocolStatusType().id); - vo.setLiftLock(liftProtocol.getLiftLock()); - vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback()); - vo.setReady(liftProtocol.getReady()); - vo.setRunning(liftProtocol.getRunning()); - vo.setMode(liftProtocol.getMode()); - vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock()); - vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback()); - vo.setReverseFeedback(liftProtocol.getReverseFeedback()); - vo.setMotorOverload(liftProtocol.getMotorOverload()); - vo.setLineEndHasStock(liftProtocol.getLineEndHasStock()); - vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm()); - vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm()); - vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm()); - vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm()); - vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck()); - vo.setNotReady(liftProtocol.getNotReady()); - vo.setServoError1(liftProtocol.getServoError1()); - vo.setServoError2(liftProtocol.getServoError2()); - vo.setServoError3(liftProtocol.getServoError3()); - vo.setServoError4(liftProtocol.getServoError4()); - vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed()); - vo.setPakMk(liftProtocol.getPakMk()); + vo.setModel(liftProtocol.getModel()); + vo.setBusy(liftProtocol.getBusy()); + vo.setHasTray(liftProtocol.getHasTray()); + vo.setHasCar(liftProtocol.getHasCar()); + vo.setDeviceError(liftProtocol.getDeviceError()); + vo.setFrontOverrun(liftProtocol.getFrontOverrun()); + vo.setBackOverrun(liftProtocol.getBackOverrun()); + vo.setLeftOverrun(liftProtocol.getLeftOverrun()); + vo.setRightOverrun(liftProtocol.getRightOverrun()); + vo.setOverHeight(liftProtocol.getOverHeight()); + vo.setOverWeight(liftProtocol.getOverWeight()); } return R.ok().add(list); } @@ -100,14 +88,13 @@ @ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃") public R liftMsgTable(){ List<LiftMsgTableVo> list = new ArrayList<>(); - List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no")); - for (BasLift basLift : lifts) { + for (LiftSlave slave : slaveProperties.getLift()) { // 琛ㄦ牸琛� LiftMsgTableVo vo = new LiftMsgTableVo(); - vo.setLiftNo(basLift.getLiftNo()); // 鎻愬崌鏈哄彿 + vo.setLiftNo(slave.getId()); // 鎻愬崌鏈哄彿 list.add(vo); // 鑾峰彇鎻愬崌鏈轰俊鎭� - LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo()); + LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId()); if (liftThread == null) { continue; } @@ -118,13 +105,10 @@ vo.setWorkNo(liftProtocol.getTaskNo().intValue());//浠诲姟鍙� vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪 - vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock()); - vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback()); - vo.setReverseFeedback(liftProtocol.getReverseFeedback()); - vo.setMotorOverload(liftProtocol.getMotorOverload()); - vo.setLineEndHasStock(liftProtocol.getLineEndHasStock()); - vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm()); - vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm()); + vo.setLev(liftProtocol.getLev()); + vo.setTaskAddress(liftProtocol.getTaskAddress()); + vo.setDistAddress(liftProtocol.getDistAddress()); + vo.setCompleteTaskNo(liftProtocol.getCompleteTaskNo()); vo.setShuttleNo(liftProtocol.getShuttleNo().intValue()); } return R.ok().add(list); @@ -278,8 +262,8 @@ } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); - List<LiftCommand> commands = assignCommand.getCommands(); - LiftCommand command = commands.get(commandStep); + List<NyLiftCommand> commands = assignCommand.getCommands(); + NyLiftCommand command = commands.get(commandStep); command.setComplete(complete != 0); redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); -- Gitblit v1.9.1