From 45dd3bfd08d2c95ae284bae369507a19a2e524b7 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 24 二月 2025 15:24:27 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/controller/RgvController.java | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 50 insertions(+), 8 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 033d277..639cbd7 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -6,13 +6,11 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
-import com.zy.asrs.domain.param.EnergyGatheringRingParam;
-import com.zy.asrs.domain.param.RgvOperatorParam;
-import com.zy.asrs.domain.param.RgvWrkMastParam;
-import com.zy.asrs.domain.param.RingThroughParam;
+import com.zy.asrs.domain.param.*;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasRgvErrMapper;
+import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.WrkMastService;
@@ -35,8 +33,10 @@
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;
import javax.rmi.CORBA.Util;
@@ -66,6 +66,11 @@
private MainServiceImpl mainService;
@Autowired
private BasDevpPositionService basDevpPositionService;
+ @Autowired
+ private BasCircularShuttleService basCircularShuttleService;
+
+ @Value("${constant-parameters.perimeter}")
+ private Long perimeter;
@PostMapping("/table/rgv/state")
@ManagerAuth(memo = "RGV淇℃伅琛�")
@@ -347,8 +352,9 @@
ringThroughParam.setIndex(rgv.getId());
// ringThroughParam.setIndex(i);
-// double[] doubles = Utils.RingThroughXY2(1737000.0, NumUtils.GetRandomIntInRange(183));
- double[] doubles = Utils.RingThroughXYRgv(1737000.0, 1737000.0-rgvProtocol.RgvPos.doubleValue());
+// double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
+// double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
+ double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue());
// double[] doubles = Utils.RingThroughXY2(183.0, 100*i );
ringThroughParam.setValueX(doubles[0]-2.94);
@@ -362,13 +368,14 @@
@PostMapping("/ring/through/dev/position/data")
// @ManagerAuth(memo = "绔欑偣淇℃伅")
+ // 绔欑偣浣嶇疆淇℃伅
public R ringThroughDev(){
List<RingThroughParam> result = new ArrayList<>();
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
for (BasDevpPosition basDevpPosition : basDevpPositions){
RingThroughParam ringThroughParam = new RingThroughParam();
ringThroughParam.setIndex(basDevpPosition.getDevNo());
- double[] doubles = Utils.RingThroughXYSta(1737000.0, 1737000.0-basDevpPosition.getPlcPosition());
+ double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
result.add(ringThroughParam);
@@ -416,7 +423,7 @@
}
@PostMapping("/ring/through/task/wrk/mast/position/data")
-// @ManagerAuth(memo = "绔欑偣淇℃伅")
+// @ManagerAuth(memo = "浣滀笟淇℃伅")
public R ringThroughTaskWrkMast(){
List<RgvWrkMastParam> result = new ArrayList<>();
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
@@ -442,4 +449,39 @@
return R.ok().add(result);
}
+ @PostMapping("/task/rgv/circular/shuttle/mast/position/data")
+// @ManagerAuth(memo = "浣滀笟淇℃伅")
+ public R rgvCircularShuttle(){
+ List<RgvCircularShuttleParam> result = new ArrayList<>();
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<>());
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
+ RgvCircularShuttleParam rgvCircularShuttleParam = new RgvCircularShuttleParam(basCircularShuttle);
+ if (!Cools.isEmpty(rgvCircularShuttleParam.getRgvNo())){
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvCircularShuttleParam.getRgvNo());
+ if (rgvThread != null) {
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol != null) {
+ rgvCircularShuttleParam.setPosition(rgvProtocol.getRgvPos());
+ if (rgvCircularShuttleParam.getStatus()==0){
+ rgvCircularShuttleParam.setStatus$(rgvProtocol.statusType.desc);
+ }
+ }
+ }
+ }
+ result.add(rgvCircularShuttleParam);
+ }
+ return R.ok().add(result);
+ }
+
+
+ @PostMapping("/disable/rgv/status")
+// @ManagerAuth(memo = "浣滀笟淇℃伅")
+ public R rgvDisableStatus(@RequestParam Integer rgvId,
+ @RequestParam Integer status){
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
+ basCircularShuttle.setStatus(status);
+ basCircularShuttleService.updateById(basCircularShuttle);
+ return R.ok();
+ }
+
}
\ No newline at end of file
--
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