From 629959675a97b4d41c1c36eaa60ee1671c224e93 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 13 八月 2025 09:12:35 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/LiftController.java | 404 +++++++++++++++++++++++++++++++--------------------------
1 files changed, 221 insertions(+), 183 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/LiftController.java b/src/main/java/com/zy/asrs/controller/LiftController.java
index a45f231..c3552dc 100644
--- a/src/main/java/com/zy/asrs/controller/LiftController.java
+++ b/src/main/java/com/zy/asrs/controller/LiftController.java
@@ -1,6 +1,7 @@
package com.zy.asrs.controller;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
@@ -8,21 +9,24 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.LiftOperatorParam;
-import com.zy.asrs.domain.vo.*;
+import com.zy.asrs.domain.vo.LiftDataVo;
+import com.zy.asrs.domain.vo.LiftMsgTableVo;
+import com.zy.asrs.domain.vo.LiftSensorDataVo;
import com.zy.asrs.entity.BasLift;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasLiftService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
-import com.zy.core.cache.MessageQueue;
+import com.zy.core.action.LiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.LiftProtocolStatusType;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.*;
+import com.zy.core.enums.*;
+import com.zy.core.model.command.LiftAssignCommand;
+import com.zy.core.model.command.LiftCommand;
+import com.zy.core.model.command.LiftRedisCommand;
import com.zy.core.model.protocol.LiftProtocol;
-import com.zy.core.properties.SlaveProperties;
+import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -40,57 +44,40 @@
public class LiftController {
@Autowired
- private SlaveProperties slaveProperties;
+ private CommonService commonService;
@Autowired
private BasLiftService basLiftService;
@Autowired
- private CommonService commonService;
- @Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private LiftAction liftAction;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
@PostMapping("/table/lift/state")
@ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
public R liftStateTable(){
- List<LiftStateTableVo> list = new ArrayList<>();
- for (LiftSlave slave : slaveProperties.getLift()) {
+ ArrayList<JSONObject> list = new ArrayList<>();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
// 琛ㄦ牸琛�
- LiftStateTableVo vo = new LiftStateTableVo();
- vo.setLiftNo(slave.getId()); //鎻愬崌鏈哄彿
- list.add(vo);
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("liftNo", device.getDeviceNo());
+ list.add(baseObj);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
if (liftThread == null) {
- vo.setProtocolStatus(LiftProtocolStatusType.OFFLINE.id);//绂荤嚎
continue;
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null || liftProtocol.getLiftNo()==null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
continue;
}
- vo.setTaskNo(liftProtocol.getTaskNo()); // 浠诲姟鍙�
- vo.setProtocolStatus(liftProtocol.getProtocolStatusType().id);
- vo.setLiftLock(liftProtocol.getLiftLock());
- vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback());
- vo.setReady(liftProtocol.getReady());
- vo.setRunning(liftProtocol.getRunning());
- vo.setMode(liftProtocol.getMode());
- vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- vo.setReverseFeedback(liftProtocol.getReverseFeedback());
- vo.setMotorOverload(liftProtocol.getMotorOverload());
- vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
- vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
- vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
- vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
- vo.setNotReady(liftProtocol.getNotReady());
- vo.setServoError1(liftProtocol.getServoError1());
- vo.setServoError2(liftProtocol.getServoError2());
- vo.setServoError3(liftProtocol.getServoError3());
- vo.setServoError4(liftProtocol.getServoError4());
- vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed());
- vo.setPakMk(liftProtocol.getPakMk());
+ JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol));
+ List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
+ data.put("liftStaProtocols", liftStaProtocols);
+ baseObj.putAll(data);
}
return R.ok().add(list);
}
@@ -99,31 +86,26 @@
@ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃")
public R liftMsgTable(){
List<LiftMsgTableVo> list = new ArrayList<>();
- for (LiftSlave slave : slaveProperties.getLift()) {
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
// 琛ㄦ牸琛�
LiftMsgTableVo vo = new LiftMsgTableVo();
- vo.setLiftNo(slave.getId()); // 鎻愬崌鏈哄彿
+ vo.setLiftNo(device.getDeviceNo()); // 鎻愬崌鏈哄彿
list.add(vo);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
if (liftThread == null) {
continue;
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ LiftProtocol liftProtocol = liftThread.getStatus();
if (liftProtocol == null) {
continue;
}
- vo.setWorkNo(liftProtocol.getTaskNo().intValue());//浠诲姟鍙�
+ vo.setWorkNo(liftProtocol.getTaskNo());//浠诲姟鍙�
vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
- vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- vo.setReverseFeedback(liftProtocol.getReverseFeedback());
- vo.setMotorOverload(liftProtocol.getMotorOverload());
- vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
- vo.setShuttleNo(liftProtocol.getShuttleNo().intValue());
+ vo.setLiftStaProtocols(liftThread.getLiftStaProtocols());
}
return R.ok().add(list);
}
@@ -144,10 +126,12 @@
@GetMapping("/detl/{liftNo}")
public R liftDetl(@PathVariable("liftNo") Integer liftNo){
LiftDataVo vo = new LiftDataVo();
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- if (liftNo.equals(liftSlave.getId())) {
- vo.setLiftNo(liftSlave.getId());
- BasLift basLift = basLiftService.selectById(liftSlave.getId());
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ if (liftNo.equals(device.getDeviceNo())) {
+ vo.setLiftNo(device.getDeviceNo());
+ BasLift basLift = basLiftService.selectById(device.getDeviceNo());
if (!Cools.isEmpty(basLift)) {
vo.setWorkNo(basLift.getWrkNo());
vo.setPakMk(basLift.getPakMk());
@@ -161,15 +145,17 @@
@GetMapping("/sensor/detl/{liftNo}")
public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
LiftSensorDataVo vo = new LiftSensorDataVo();
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- if (liftNo.equals(liftSlave.getId())) {
- vo.setLiftNo(liftSlave.getId());
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ if (liftNo.equals(device.getDeviceNo())) {
+ vo.setLiftNo(device.getDeviceNo());
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
if (liftThread == null) {
return R.error("璁惧涓嶅湪绾�");
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ LiftProtocol liftProtocol = liftThread.getStatus();
if (liftProtocol == null) {
return R.error("璁惧涓嶅湪绾�");
}
@@ -178,6 +164,102 @@
}
}
return R.ok().add(vo);
+ }
+
+ @PostMapping("/detl/update")
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R liftUpdate(@RequestParam Integer liftNo,
+ @RequestParam Integer workNo) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ liftThread.setSyncTaskNo(workNo);
+ }
+ return R.ok();
+ }
+
+ @RequestMapping(value = "/command/query")
+ public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ return R.ok().add(redisCommand);
+ }
+
+ //鍥為��鍛戒护
+ @RequestMapping(value = "/command/rollback")
+ public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ redisCommand.setCommandStep(commandStep);
+ redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<LiftCommand> commands = assignCommand.getCommands();
+ LiftCommand command = commands.get(commandStep);
+ command.setComplete(complete != 0);
+ redisUtil.set(RedisKeyType.LIFT_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 liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ Integer liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return R.error();
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return R.error();
+ }
+ if (!liftThread.isIdle()) {
+ return R.error();
+ }
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftThread.setSyncTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ 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.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ redisUtil.del(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ return R.ok();
}
/****************************************************************/
@@ -191,133 +273,89 @@
return R.parse(BaseRes.PARAM);
}
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- if (param.getLiftNo().equals(liftSlave.getId())) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- if (liftThread == null) {
- throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
- }
-
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 鎻愬崌鏈虹紪鍙�
- assignCommand.setTaskNo((short) commonService.getWorkNo(3));//鑾峰彇浠诲姟鍙�
- assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
- assignCommand.setAuto(false);//鎵嬪姩妯″紡
- assignCommand.setLev(param.getLev());//绉诲姩妤煎眰
-
- if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
- return R.ok();
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
- }
- }
- return R.error();
- }
-
- @PostMapping("/detl/update")
- @ManagerAuth(memo = "淇敼鏁版嵁")
- public R liftUpdate(@RequestParam Integer liftNo,
- @RequestParam Short workNo,
- @RequestParam String pakMk){
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo());
if (liftThread == null) {
- return R.error("plc宸叉帀绾�");
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ LiftProtocol liftProtocol = liftThread.getStatus();
if (liftProtocol == null) {
- return R.error("plc宸叉帀绾�");
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
}
- if (workNo != null) {
- liftProtocol.setTaskNo(workNo);
- }
- if (pakMk != null) {
- liftProtocol.setPakMk(pakMk.equals("Y"));
- }
- return R.ok();
- }
- @RequestMapping(value = "/command/query")
- public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return R.error();
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- return R.ok().add(redisCommand);
- }
+ if (param.getLiftTaskMode().equals(LiftTaskModeType.SHUTTLE_SWITCH.id)) {
+ //灏忚溅鎹㈠眰
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
- //鍥為��鍛戒护
- @RequestMapping(value = "/command/rollback")
- public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
- , @RequestParam("commandStep") Integer commandStep) {
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return R.error();
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- redisCommand.setCommandStep(commandStep);
- redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
- return R.ok();
- }
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
- //鍛戒护瀹屾垚鐘舵�佸垏鎹�
- @RequestMapping(value = "/command/completeSwitch")
- public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
- , @RequestParam("commandStep") Integer commandStep
- , @RequestParam("complete") Integer complete) {
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return R.error();
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
- List<LiftCommand> commands = assignCommand.getCommands();
- LiftCommand command = commands.get(commandStep);
- command.setComplete(complete != 0);
- redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
- return R.ok();
- }
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
- //閲嶅惎浠诲姟(鍛戒护)
- @RequestMapping(value = "/command/restart")
- public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return R.error();
- }
- LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
- Short liftNo = redisCommand.getLiftNo();
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
- if (liftThread == null) {
- return R.error();
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- return R.error();
- }
- if (!liftProtocol.isIdle()) {
- return R.error();
- }
- //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
- return R.ok();
- }
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);
- //鍒犻櫎浠诲姟(鍛戒护)
- @RequestMapping(value = "/command/del")
- public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
- if (o == null) {
- return R.error();
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.PICK_PUT.id)) {
+ //绉诲姩鎵樼洏
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.MOVE.id)) {
+ //绉诲姩
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.RESET.id)) {
+ //鎻愬崌鏈哄浣�
+ liftThread.setSyncTaskNo(0);
+ liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
}
- redisUtil.del("lift_wrk_no_" + wrkNo);
- return R.ok();
}
}
--
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