From 4453cdecbc6e7a925ae76e3223418654f1cf0b18 Mon Sep 17 00:00:00 2001
From: taisheng <taisheng@qq.com>
Date: 星期二, 22 四月 2025 16:01:15 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 464 ++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 294 insertions(+), 170 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index acff75b..2c0f5bc 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -1,6 +1,7 @@
package com.zy.asrs.controller;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
@@ -9,21 +10,27 @@
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.common.model.enums.NavigationMapType;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.NavigateMapUtils;
+import com.zy.common.utils.RedisUtil;
+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.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.ShuttleRedisCommand;
+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.ShuttleThread;
@@ -32,7 +39,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
-import java.util.Date;
+import java.util.HashMap;
import java.util.List;
/**
@@ -51,74 +58,59 @@
private WrkMastService wrkMastService;
@Autowired
private LocMastService locMastService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ 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 steStateTable(){
- List<ShuttleStateTableVo> list = new ArrayList<>();
- List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
- for (BasShuttle basShuttle : shuttles) {
+ public R shuttleStateTable(){
+ ArrayList<JSONObject> list = new ArrayList<>();
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
// 琛ㄦ牸琛�
- ShuttleStateTableVo vo = new ShuttleStateTableVo();
- vo.setShuttleNo(basShuttle.getShuttleNo()); //鍥涘悜绌挎杞﹀彿
- list.add(vo);
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("shuttleNo", slave.getId());
+ list.add(baseObj);
// 鑾峰彇鍥涘悜绌挎杞︿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();
+ JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
+ if (shuttleData != null) {
+ baseObj.putAll(shuttleData);
+ }
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().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
+
+ 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(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�
+ }
}
- 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
+
+ Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
+ String lowerPower = "N";
+ if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
+ lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
}
- 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() * 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
+ shuttleData.put("lowerPower", lowerPower);//鏄惁浣庣數閲�
+ baseObj.putAll(shuttleData);
}
return R.ok().add(list);
}
@@ -127,23 +119,25 @@
@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;
}
+ if (shuttleProtocol.getShuttleNo() == null) {
+ 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) {
@@ -154,17 +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(Utils.getLev(shuttleProtocol.getLocNo()));//鍥涘悜绌挎杞﹀綋鍓嶅眰楂�
+ vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//鍥涘悜绌挎杞﹀綋鍓嶅眰楂�
+
+ BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+ if (basShuttle != null) {
+ vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+ }
}
return R.ok().add(list);
}
@@ -188,82 +179,87 @@
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;
- }
+ @RequestMapping(value = "/command/query")
+ public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error("鎸囦护涓嶅瓨鍦�");
}
- return R.ok().add(vo);
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ 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);
}
- @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);
- }
-
- @PostMapping("/detl/update")
- @ManagerAuth
- public R steUpdate(ShuttleDataVo vo){
- BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
- if (basShuttle == null) {
+ //鍥為��鍛戒护
+ @RequestMapping(value = "/command/rollback")
+ public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep) {
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
return R.error();
}
- // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- throw new CoolException(vo.getShuttleNo() + "鍙峰洓鍚戠┛姊溅涓嶅湪绾匡紝鏃犳硶淇濆瓨");
- }
-// if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
-// if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
-// throw new CoolException("鏈嶅姟鍣ㄩ敊璇�");
-// }
-// }
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- 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");
- }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ redisCommand.setCommandStep(commandStep);
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
- basShuttle.setPakMk(vo.getPakMk());
- basShuttle.setWrkNo(vo.getWorkNo());
- basShuttle.setUpdateTime(new Date());
- if (!basShuttleService.updateById(basShuttle)) {
- throw new CoolException("淇敼澶辫触");
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ 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<ShuttleCommand> commands = assignCommand.getCommands();
+ ShuttleCommand command = commands.get(commandStep);
+ command.setComplete(complete != 0);
+ 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(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ Integer shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error();
+ }
+ 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�
+ 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(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
return R.ok();
}
@@ -280,7 +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);
}
@@ -288,31 +286,157 @@
assignCommand.setLocNo(param.getDistLocNo());
}
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- if (param.getShuttleNo().equals(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");
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- 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) 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");
- }
- }
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, param.getShuttleNo());
+ if (shuttleThread == null) {
+ throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
- return R.error();
+ 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().intValue());
+ assignCommand.setShuttleNo(param.getShuttleNo()); // 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.MOVE_LOC_NO) {
+ //绉诲姩鍒扮洰鏍囧簱浣�
+ 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(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
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
+ //鎵樼洏涓嬮檷
+ 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.getHasCharge()) {
+ //宸插厖鐢碉紝鍏抽棴鍏呯數
+ charge = false;
+ }else {
+ //寮�鍚厖鐢�
+ charge = true;
+ }
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
+ //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.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();
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_OPEN) {
+ //婕旂ず妯″紡-寮�
+ shuttleThread.enableDemo(true);
+ return R.ok();
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_DEMO_CLOSE) {
+ //婕旂ず妯″紡-鍏�
+ shuttleThread.enableDemo(false);
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
+ }
+
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ return R.ok();
+ }
+
+ @PostMapping("/detl/update")
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R shuttleUpdate(@RequestParam Integer shuttleNo,
+ @RequestParam Integer workNo,
+ @RequestParam String pakMk) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ shuttleThread.setSyncTaskNo(workNo);
+ }
+ if (pakMk != null) {
+ shuttleThread.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.setChargeLine(chargeLine);
+ if (!basShuttleService.updateById(basShuttle)) {
+ return R.error();
+ }
+ 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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