From 3c5935f579c0d51e64721101e81886ff957be229 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 02 八月 2023 09:14:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 216 ++++++++++++++++++++---------------------------------
1 files changed, 82 insertions(+), 134 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 4240bdd..896319a 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -10,14 +10,15 @@
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.model.NyShuttleOperaResult;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.NavigatePositionConvert;
+import com.zy.common.utils.NyHttpUtils;
+import com.zy.common.utils.NyShuttleOperaUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -25,11 +26,13 @@
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.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;
@@ -61,73 +64,20 @@
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
- public R steStateTable(){
- List<ShuttleStateTableVo> list = new ArrayList<>();
+ public R shuttleStateTable(){
+ ArrayList<NyShuttleProtocol> list = new ArrayList<>();
List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
for (BasShuttle basShuttle : shuttles) {
- // 琛ㄦ牸琛�
- ShuttleStateTableVo vo = new ShuttleStateTableVo();
- vo.setShuttleNo(basShuttle.getShuttleNo()); //鍥涘悜绌挎杞﹀彿
- list.add(vo);
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
+ NyShuttleThread shuttleThread = (NyShuttleThread) 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();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
continue;
}
- vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
- 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.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());//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�
- }
- 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());//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
+ list.add(shuttleProtocol);
}
return R.ok().add(list);
}
@@ -177,7 +127,7 @@
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.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);
@@ -200,51 +150,6 @@
i++;
}
return R.ok().add(str.toString());
- }
-
- @GetMapping("/detl/{shuttleNo}")
- public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
- ShuttleDataVo vo = new ShuttleDataVo();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- if (shuttleNo.equals(shuttleSlave.getId())) {
- vo.setShuttleNo(shuttleSlave.getId());
- BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
- if (!Cools.isEmpty(basShuttle)) {
- vo.setWorkNo(basShuttle.getWrkNo());
- vo.setPakMk(basShuttle.getPakMk());
- }
- break;
- }
- }
- return R.ok().add(vo);
- }
-
- @GetMapping("/sensor/detl/{shuttleNo}")
- public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
- ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- if (shuttleNo.equals(shuttleSlave.getId())) {
- vo.setShuttleNo(shuttleSlave.getId());
- // 鑾峰彇绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
- if (shuttleThread == null) {
- return R.error("璁惧涓嶅湪绾�");
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return R.error("璁惧涓嶅湪绾�");
- }
-
- // 绌挎杞﹀紓甯� -----------
-
- // 绌挎杞︽彁绀轰俊鎭� ----------------------
-
- // 鐘舵�佷俊鎭� -------------
-
- break;
- }
- }
- return R.ok().add(vo);
}
@RequestMapping(value = "/command/query")
@@ -282,8 +187,8 @@
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- List<ShuttleCommand> commands = assignCommand.getCommands();
- ShuttleCommand command = commands.get(commandStep);
+ List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
+ NyShuttleHttpCommand command = commands.get(commandStep);
command.setComplete(complete != 0);
redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
@@ -298,11 +203,11 @@
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
Short shuttleNo = redisCommand.getShuttleNo();
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
if (shuttleThread == null) {
return R.error();
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
return R.error();
}
@@ -310,7 +215,7 @@
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());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ 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��
return R.ok();
}
@@ -349,11 +254,11 @@
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
if (param.getShuttleNo().equals(shuttleSlave.getId())) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
if (shuttleThread == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
@@ -363,6 +268,52 @@
assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
assignCommand.setTaskNo((short) commonService.getWorkNo(3));//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) {
+ //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) {
+ throw new CoolException("璺緞璁＄畻澶辫触");
+ }
+
+ assignCommand.setCommands(result.getCommands());
+ assignCommand.setNodes(result.getNodes());
+ } 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);
+ 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);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
+ //鍏呯數寮�鍏�
+ NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(command);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
+ //澶嶄綅
+ shuttleProtocol.setTaskNo(0);//宸ヤ綔鍙锋竻绌�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//浠诲姟鐘舵��-绌洪棽
+ shuttleProtocol.setPakMk(true);//浣滀笟鏍囪澶嶄綅
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
+ }
if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
return R.ok();
@@ -376,37 +327,34 @@
@PostMapping("/detl/update")
@ManagerAuth(memo = "淇敼鏁版嵁")
- public R liftUpdate(@RequestParam Integer shuttleNo,
- @RequestParam Short workNo,
+ public R shuttleUpdate(@RequestParam Integer shuttleNo,
+ @RequestParam Integer workNo,
@RequestParam String pakMk){
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
- if (shuttleThread == null) {
- return R.error("plc宸叉帀绾�");
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return R.error("plc宸叉帀绾�");
- }
- if (workNo != null) {
- shuttleProtocol.setTaskNo(workNo);
- }
- if (pakMk != null) {
- shuttleProtocol.setPakMk(pakMk.equals("Y"));
- }
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error("plc宸叉帀绾�");
}
- 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);
+ }
+ if (pakMk != null) {
+ shuttleProtocol.setPakMk(pakMk.equals("Y"));
+ }
+ 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.setRunSpeed(runSpeed);
basShuttle.setChargeLine(chargeLine);
if (!basShuttleService.updateById(basShuttle)) {
return R.error();
--
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