From 691f0d4c4836c75fefa1d3b7fba4a72153751dd4 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 09 七月 2025 13:38:37 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ForkLiftController.java | 91 +++++++++++++++++++++++++++++----------------
1 files changed, 58 insertions(+), 33 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ForkLiftController.java b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
index 95625b5..eb34bc6 100644
--- a/src/main/java/com/zy/asrs/controller/ForkLiftController.java
+++ b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -2,6 +2,7 @@
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;
import com.core.common.Cools;
@@ -10,25 +11,18 @@
import com.zy.asrs.domain.param.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
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.ForkLiftUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.action.ForkLiftAction;
-import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.ForkLiftProtocolStatusType;
-import com.zy.core.enums.ForkLiftTaskModeType;
-import com.zy.core.enums.RedisKeyType;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.ForkLiftSlave;
-import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
+import com.zy.core.enums.*;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
-import com.zy.core.model.protocol.LiftStaProtocol;
-import com.zy.core.properties.SlaveProperties;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.thread.ForkLiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -48,25 +42,27 @@
@Autowired
private CommonService commonService;
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private BasLiftService basLiftService;
@Autowired
private RedisUtil redisUtil;
@Autowired
private ForkLiftAction forkLiftAction;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
@PostMapping("/table/lift/state")
@ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
public R liftStateTable(){
ArrayList<JSONObject> list = new ArrayList<>();
- for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
// 琛ㄦ牸琛�
JSONObject baseObj = new JSONObject();
- baseObj.put("shuttleNo", slave.getId());
+ baseObj.put("shuttleNo", device.getDeviceNo());
list.add(baseObj);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
continue;
}
@@ -75,6 +71,8 @@
continue;
}
JSONObject data = JSON.parseObject(JSON.toJSONString(forkLiftProtocol));
+ List<ForkLiftStaProtocol> forkLiftStaProtocols = forkLiftThread.getForkLiftStaProtocols();
+ data.put("forkLiftStaProtocols", forkLiftStaProtocols);
baseObj.putAll(data);
}
return R.ok().add(list);
@@ -84,13 +82,15 @@
@ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃")
public R liftMsgTable(){
List<LiftMsgTableVo> list = new ArrayList<>();
- for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
// 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�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
continue;
}
@@ -99,8 +99,9 @@
continue;
}
- vo.setWorkNo(forkLiftProtocol.getTaskNo().intValue());//浠诲姟鍙�
+ vo.setWorkNo(forkLiftProtocol.getTaskNo());//浠诲姟鍙�
vo.setPakMk(forkLiftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
+ vo.setForkLiftStaProtocols(forkLiftThread.getForkLiftStaProtocols());
}
return R.ok().add(list);
}
@@ -121,10 +122,12 @@
@GetMapping("/detl/{liftNo}")
public R liftDetl(@PathVariable("liftNo") Integer liftNo){
LiftDataVo vo = new LiftDataVo();
- for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
- if (liftNo.equals(liftSlave.getId())) {
- vo.setLiftNo(liftSlave.getId());
- BasLift basLift = basLiftService.selectById(liftSlave.getId());
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
+ 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());
@@ -138,11 +141,13 @@
@GetMapping("/sensor/detl/{liftNo}")
public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
LiftSensorDataVo vo = new LiftSensorDataVo();
- for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
- if (liftNo.equals(liftSlave.getId())) {
- vo.setLiftNo(liftSlave.getId());
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
+ if (liftNo.equals(device.getDeviceNo())) {
+ vo.setLiftNo(device.getDeviceNo());
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId());
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
return R.error("璁惧涓嶅湪绾�");
}
@@ -160,9 +165,7 @@
@PostMapping("/detl/update")
@ManagerAuth(memo = "淇敼鏁版嵁")
public R liftUpdate(@RequestParam Integer liftNo,
- @RequestParam Short workNo,
- @RequestParam String pakMk,
- @RequestParam Integer token) {
+ @RequestParam Short workNo) {
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
if (forkLiftThread == null) {
return R.error("plc宸叉帀绾�");
@@ -277,7 +280,7 @@
if (param.getLiftTaskMode() == 1) {
//灏忚溅鎹㈠眰
- int workNo = commonService.getWorkNo(99);//鑾峰彇浠诲姟鍙�
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
Integer startSta = param.getSourceStaNo();
Integer targetSta = param.getStaNo();
@@ -299,7 +302,7 @@
return R.ok();
} else if (param.getLiftTaskMode() == 2) {
//绉诲姩鎵樼洏
- int workNo = commonService.getWorkNo(99);//鑾峰彇浠诲姟鍙�
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
Integer startSta = param.getSourceStaNo();
Integer targetSta = param.getStaNo();
@@ -320,6 +323,28 @@
forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
return R.ok();
} else if (param.getLiftTaskMode() == 3) {
+ //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�
+ List<ForkLiftCommand> liftCommand = forkLiftThread.getMoveCommand(workNo, startSta, targetSta);
+ ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());
+
+ forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 4) {
//浠诲姟纭
forkLiftThread.reset();
return R.ok();
--
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