From 11b28c7a6c5f0882b8385a370b20919c6246fc1d Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 10 五月 2023 08:05:24 +0800
Subject: [PATCH] 工作完成时状态码变更
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 181 ++++++++++++++++++++++++++++----------------
1 files changed, 114 insertions(+), 67 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index d1d94ea..0f428b9 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -6,31 +6,27 @@
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
-import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
-import com.zy.asrs.domain.param.SteModeParam;
-import com.zy.asrs.domain.param.SteOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasSte;
+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;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
-import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.ShuttleThread;
-import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -53,6 +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〃")
@@ -67,27 +65,62 @@
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
if (shuttleThread == null) {
+ vo.setStatus(ShuttleProtocolStatusType.OFFLINE.id);//璁惧绂荤嚎
+ vo.setBusyStatus(ShuttleProtocolStatusType.OFFLINE.desc);
continue;
}
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
continue;
}
vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
- if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
- vo.setStatus(shuttleProtocol.getBusyStatusType().desc); // 鐘舵��
+ vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //鍥涘悜绌挎杞︾姸鎬�
+ vo.setStatus(shuttleProtocol.getProtocolStatusType().id);//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.setRow(shuttleProtocol.getRow());
- vo.setBay(shuttleProtocol.getBay());
- vo.setLev(shuttleProtocol.getLev());
- vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
- vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
+ 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.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode()));
+ vo.setErrorCode(shuttleProtocol.getErrorCodeType());//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.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode()));
+ vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//閿欒淇℃伅鐮�
}
+ vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC杈撳叆鐘舵��
+ vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+ vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+ vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+ vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//褰撳墠鐨勭數鍘嬪��
+ vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//褰撳墠鐨勬ā鎷熼噺鍊�
+ vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+ vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//褰撳墠鐨勮璧颁己鏈嶉�熷害
+ vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
}
return R.ok().add(list);
}
@@ -111,22 +144,42 @@
if (shuttleProtocol == null) {
continue;
}
+ if (shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
- vo.setWorkNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
+ vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//浠诲姟鍙�
if (shuttleProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
- //vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
- vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
- vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
- vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
- vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ vo.setSourceLocNo(wrkMast.getSourceLocNo());//婧愬簱浣�
+ vo.setDistLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
}
}
- vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); // 閫熷害
- vo.setPakMk(shuttleProtocol.getPakMk()); // 浣滀笟鏍囪
+ 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(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��
}
return R.ok().add(list);
+ }
+
+ @PostMapping("/latest/data/shuttle")
+ @ManagerAuth(memo = "鍥涘悜绌挎杞﹀疄鏃舵暟鎹�")
+ public R shuttleLatestData(){
+ return R.ok();
}
@PostMapping("/output/shuttle")
@@ -150,9 +203,6 @@
vo.setShuttleNo(shuttleSlave.getId());
BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
if (!Cools.isEmpty(basShuttle)) {
- vo.setRow(basShuttle.getRow());
- vo.setBay(basShuttle.getBay());
- vo.setLev(basShuttle.getLev());
vo.setWorkNo(basShuttle.getWrkNo());
vo.setPakMk(basShuttle.getPakMk());
}
@@ -182,23 +232,6 @@
// 绌挎杞︽彁绀轰俊鎭� ----------------------
- // 浠诲姟淇℃伅 ----------------
- vo.setPakInTask(shuttleProtocol.isPakInTask());
- vo.setPakOutTask(shuttleProtocol.isPakOutTask());
- vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
- vo.setGoHpTask(shuttleProtocol.isGoHpTask());
- vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
- vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
- vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
- vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
- vo.setPakInFinish(shuttleProtocol.isPakInFinish());
- vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
- vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
- vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
- vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
- vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
- vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());
-
// 鐘舵�佷俊鎭� -------------
break;
@@ -226,20 +259,33 @@
// }
// }
ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setTaskNo(vo.getWorkNo());
+ shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
}
- basShuttle.setRow(vo.getRow());
- basShuttle.setBay(vo.getBay());
- basShuttle.setLev(vo.getLev());
basShuttle.setPakMk(vo.getPakMk());
basShuttle.setWrkNo(vo.getWorkNo());
basShuttle.setUpdateTime(new Date());
if (!basShuttleService.updateById(basShuttle)) {
throw new CoolException("淇敼澶辫触");
+ }
+ return R.ok();
+ }
+
+ @PostMapping("/runSpeed/{shuttleNo}")
+ @ManagerAuth
+ public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
+
+ BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
+ if (basShuttle == null) {
+ return R.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ }
+ basShuttle.setRunSpeed(runSpeed);
+ basShuttle.setChargeLine(chargeLine);
+ if (!basShuttleService.updateById(basShuttle)) {
+ return R.error();
}
return R.ok();
}
@@ -255,6 +301,16 @@
return R.parse(BaseRes.PARAM);
}
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
+ if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
+ return R.parse(BaseRes.PARAM);
+ }
+ assignCommand.setSourceLocNo(param.getSourceLocNo());
+ assignCommand.setLocNo(param.getDistLocNo());
+ }
+
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
if (param.getShuttleNo().equals(shuttleSlave.getId())) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
@@ -265,23 +321,14 @@
if (shuttleProtocol == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
+
ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setShuttleNo(shuttleSlave.getId()); // 鍥涘悜绌挎杞︾紪鍙�
-// if (param.getShuttleTaskMode() == 16) {
-// steCommand.setComplete(true);
-// } else if (param.getSteTaskMode() == 99) {
-// steCommand.setControlMode((short) 1);
-// } else if (param.getSteTaskMode() == 100) {
-// steCommand.setControlMode((short) 0);
-// } else {
-// if (steTaskModeType == null) {
-// throw new CoolException("浠诲姟绫诲瀷閿欒");
-// }
-// steCommand.setTaskNo(param.getTaskNo()); // 宸ヤ綔鍙�
-// steCommand.setTaskMode(steTaskModeType);
-// }
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(2, shuttleCommand))) {
+ assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
+ assignCommand.setTaskNo((short) 9999);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+
+ 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");
--
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