From 0b83448133a1af459273318bc5b0c2a4bc6e0448 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 08 四月 2023 17:09:14 +0800
Subject: [PATCH] 四向穿梭车逻辑优化
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 33 ++++++++++++++++++++++++++++++++-
1 files changed, 32 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 58cfaed..d8aab42 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -9,9 +9,13 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -45,6 +49,8 @@
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private LocMastService locMastService;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
@@ -69,12 +75,37 @@
vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //鍥涘悜绌挎杞︾姸鎬�
vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//褰撳墠浠诲姟鐘舵��
vo.setCurrentCode(shuttleProtocol.getCurrentCode());//褰撳墠浜岀淮鐮�
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ if (currentLocMast == null) {
+ vo.setLocNo("");//鑾峰彇褰撳墠搴撲綅鍙�
+ vo.setLocNoX(0);
+ vo.setLocNoY(0);
+ vo.setLocNoLev(0);//褰撳墠搴撲綅灞傞珮
+ }else {
+ vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
+ int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
+ vo.setLocNoX(locNoXY[0]);
+ vo.setLocNoY(locNoXY[1]);
+ vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+ }
vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//閿欒缂栧彿
}
vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc杈撳嚭鐘舵�両O
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
+ vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
+ vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
+ vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
+ vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
+ }
if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//閿欒淇℃伅鐮�
}
@@ -247,7 +278,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2) {
+ if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
return R.parse(BaseRes.PARAM);
}
--
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