From 68242c8f3acc051368eeb1246b2fb6327a783bfc Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期二, 04 十一月 2025 09:05:39 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/RgvController.java | 139 +++++++++++++++++++++++++++-------------------
1 files changed, 81 insertions(+), 58 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 085fc48..98f3848 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -11,8 +11,10 @@
import com.zy.asrs.domain.vo.RgvStateTableVo;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErr;
+import com.zy.asrs.entity.BasRgvMap;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasRgvErrMapper;
+import com.zy.asrs.mapper.BasRgvMapMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
@@ -22,6 +24,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.RgvTaskStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
@@ -61,7 +64,8 @@
private MainServiceImpl mainService;
@Autowired
private LocMastService locMastService;
-
+ @Autowired
+ private BasRgvMapMapper basRgvMapMapper;
@ManagerAuth(memo = "瑙ｉ攣灏忚溅")
@PostMapping("/lock")
public R lock(CrnOperatorParam param){
@@ -87,18 +91,27 @@
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) continue;
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
vo.setStatusType(rgvProtocol.modeType.desc); // 妯″紡鐘舵��
-// vo.setStatus(rgvProtocol.getMode().desc); // 鐘舵��
+ vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 鐘舵��
vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 宸ヤ綅1浠诲姟鍙�
vo.setStatus1(rgvProtocol.getStatusType1().desc); // 宸ヤ綅1鐘舵��
vo.setLoading1(rgvProtocol.getLoaded1() ? "鏈夌墿" : "鏃犵墿"); // 宸ヤ綅1鏈夌墿
- vo.setRgvPos(rgvProtocol.getRgvPos());
- vo.setRgvPos1(rgvProtocol.getRgvPosI());
+ vo.setRgvPos(basRgvMap != null?basRgvMap.getNowRoute():0);
+ vo.setRgvPos1(rgvProtocol.getRgvPosI2());
vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "鍦ㄥ畾浣�" : "涓嶅湪瀹氫綅");
vo.setPakMk(rgvThread.isPakMk() ? "鏃犻攣" : "閿佸畾");
+// vo.setPakIn(rgvThread.isPakIn() ? "鍙叆" : "涓嶅彲鍏�");
+// vo.setPakOut(rgvThread.isPakOut() ? "鍙嚭" : "涓嶅彲鍑�");
+// vo.setPakRgv(rgvThread.isPakRgv() ? "鏃犻攣" : "閿佸畾");
+ vo.setPaking(rgvThread.isPaking()? "鏃犻攣" : "閿佸畾");
+// vo.setPakAll(rgvThread.isPakAll() ? "鏃犻攣" : "閿佸畾");
+// vo.setPakToCrn(rgvThread.isPakToCrn() ? "鏃犻攣" : "閿佸畾");
+
+
vo.setWorkNo2(rgvProtocol.getTaskNo2()); // 宸ヤ綅2浠诲姟鍙�
- vo.setStatus2(rgvProtocol.getStatusType2().desc); // 宸ヤ綅2鐘舵��
+// vo.setStatus2(rgvProtocol.getStatusType2().desc); // 宸ヤ綅2鐘舵��
vo.setLoading2(rgvProtocol.getLoaded2() ? "鏈夌墿" : "鏃犵墿"); // 宸ヤ綅2鏈夌墿
// --- 閬嶅巻 errX 瀛楁鐢熸垚 warnCode 鍜� alarm ---
@@ -152,22 +165,11 @@
continue;
}
- vo.setWorkNo(rgvProtocol.getTaskNo1()); // 浠诲姟鍙�
- if (rgvProtocol.getTaskNo1()>0) {
- WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
- if (wrkMast != null) {
- vo.setStatus(RgvStatusType.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
- }
- } else {
- vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 妯″紡鐘舵��
- }
- vo.setXspeed(rgvProtocol.getXSpeed()); // 璧拌閫熷害锛坢/min)
- vo.setXdistance(rgvProtocol.getXDistance()); // 璧拌璺濈(Km)
- vo.setXduration(rgvProtocol.getXDuration()); // 璧拌鏃堕暱(H)
+ vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 宸ヤ綅1宸ヤ綔鍙�
+ vo.setWorkNo2(rgvProtocol.getTaskNo2()); //宸ヤ綅2 宸ヤ綔鍙�
+ vo.setStaNo(String.valueOf(rgvProtocol.getRgvPosDestination())); //灏忚溅鐩爣绔�
+ vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 妯″紡鐘舵��
+
}
return R.ok().add(list);
}
@@ -195,15 +197,15 @@
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo1(0); // 宸ヤ綔鍙�
+ command.setTaskNo(0); // 宸ヤ綔鍙�
command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 浠诲姟妯″紡: 鍙栨斁璐�
command.setSourceStaNo1(param.getSourceStaNo1()); // 婧愮珯
- command.setDestinationStaNo1(param.getStaNo1()); // 鐩爣绔�
+// command.setDestinationStaNo1(param.getStaNo1()); // 鐩爣绔�
command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
command.setTaskNo2(0); // 宸ヤ綔鍙�
command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 浠诲姟妯″紡: 鍙栨斁璐�
command.setSourceStaNo2(param.getSourceStaNo2()); // 婧愮珯
- command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
+// command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
command.setCommand(true);
return rgvControl(command)? R.ok(): R.error();
@@ -214,16 +216,17 @@
public R rgvFetch(RgvOperatorParam param){
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
- command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.FETCH); // 浠诲姟妯″紡: 鍙栬揣
- command.setSourceStaNo1(param.getSourceStaNo1()); // 婧愮珯
- command.setDestinationStaNo1(param.getStaNo1()); // 鐩爣绔�
- command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo2( 0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.FETCH); // 浠诲姟妯″紡: 鍙栨斁璐�
- command.setSourceStaNo2(param.getSourceStaNo2()); // 婧愮珯
- command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
+ command.setWrkTaskPri(param.getWorkSta()); //鎵ц宸ヤ綅
+ command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 宸ヤ綔鍙�
+ command.setTaskStatus(RgvTaskStatusType.FETCH); // 浠诲姟妯″紡: 鍙栬揣
+ command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 鐩爣绔�
+// command.setTaskMode2(RgvTaskModeType.FETCH); // 浠诲姟妯″紡: 鍙栨斁璐�
+// command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
+// command.setSourceStaNo1(param.getSourceStaNo1()); // 婧愮珯
+// command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskNo2( 0); // 宸ヤ綔鍙�
+// command.setSourceStaNo2(param.getSourceStaNo2()); // 婧愮珯
+// command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
command.setCommand(true);
return rgvControl(command)? R.ok(): R.error();
@@ -234,16 +237,17 @@
public R rgvPut(RgvOperatorParam param){
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
- command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo1(0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.PUT); // 浠诲姟妯″紡: 鏀捐揣
- command.setSourceStaNo1(param.getSourceStaNo1()); // 婧愮珯
- command.setDestinationStaNo1(param.getStaNo1()); // 鐩爣绔�
- command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo2( 0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 浠诲姟妯″紡: 鍙栨斁璐�
- command.setSourceStaNo2(param.getSourceStaNo2()); // 婧愮珯
- command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
+ command.setWrkTaskPri(param.getWorkSta()); //鎵ц宸ヤ綅
+ command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 宸ヤ綔鍙�
+ command.setTaskStatus(RgvTaskStatusType.PUT); // 浠诲姟妯″紡: 鍙栬揣
+ command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 鐩爣绔�
+// command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
+// command.setSourceStaNo1(param.getSourceStaNo1()); // 婧愮珯
+// command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskNo2( 0); // 宸ヤ綔鍙�
+// command.setTaskMode2(RgvTaskModeType.FETCH); // 浠诲姟妯″紡: 鍙栨斁璐�
+// command.setSourceStaNo2(param.getSourceStaNo2()); // 婧愮珯
+// command.setDestinationStaNo2(param.getStaNo2()); // 鐩爣绔�
command.setCommand(true);
return rgvControl(command)? R.ok(): R.error();
@@ -257,7 +261,7 @@
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo1(0); // 宸ヤ綔鍙�
+// command.setTaskNo1(0); // 宸ヤ綔鍙�
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short) 0); // 婧愮珯
command.setDestinationStaNo1((short) 0); // 鐩爣绔�
@@ -279,19 +283,12 @@
}
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo1( 0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo1((short) 0); // 婧愮珯
- command.setDestinationStaNo1((short) 0); // 鐩爣绔�
- command.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo2(0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short) 0); // 婧愮珯
- command.setDestinationStaNo2((short) 0); // 鐩爣绔�
- command.setCommand(true);
+ command.setWrkTaskPri(0); //鎵ц宸ヤ綅
+ command.setTaskNo(Math.toIntExact(0)); // 宸ヤ綔鍙�
+ command.setTaskStatus((short)0); // 浠诲姟妯″紡: 鍙栬揣
+ command.setTargetPosition(0); // 鐩爣绔�
- return rgvControl(command)? R.ok(): R.error();
+ return rgvClear(command)? R.ok(): R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@@ -346,7 +343,7 @@
if (rgvProtocol == null) {
throw new CoolException("RGV涓嶅湪绾�");
}
- if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, command))) {
+ if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
return true;
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -356,4 +353,30 @@
return false;
}
+ private boolean rgvClear(RgvCommand command){
+ if (command.getRgvNo() == null) {
+ throw new CoolException("璇烽�夋嫨RGV");
+ }
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ if (command.getRgvNo().equals(rgv.getId())) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ if (rgvThread == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(3, command))) {
+ return true;
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ return false;
+
+ }
+
}
\ No newline at end of file
--
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