From 8c7b4949dfcf875cc537304d34a7f6960cbb0c10 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:57:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 319 +++++++++++++++++++++++++++-------------------------
1 files changed, 166 insertions(+), 153 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 4e03ad6..39a37da 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -2,34 +2,46 @@
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;
import com.core.common.R;
+import com.core.exception.CoolException;
+import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
+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.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;
+import com.zy.core.thread.TrafficControlThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
/**
@@ -40,8 +52,6 @@
@RequestMapping("/shuttle")
public class ShuttleController {
- @Autowired
- private SlaveProperties slaveProperties;
@Autowired
private BasShuttleService basShuttleService;
@Autowired
@@ -54,18 +64,29 @@
private RedisUtil redisUtil;
@Autowired
private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
public R shuttleStateTable(){
ArrayList<JSONObject> list = new ArrayList<>();
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig deviceConfig : shuttleList) {
// 琛ㄦ牸琛�
JSONObject baseObj = new JSONObject();
- baseObj.put("shuttleNo", slave.getId());
+ baseObj.put("shuttleNo", deviceConfig.getDeviceNo());
list.add(baseObj);
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo());
if (shuttleThread == null) {
continue;
}
@@ -81,14 +102,14 @@
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.key + shuttleProtocol.getTaskNo());
+ 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�
}
}
- Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
+ Integer chargeLine = basShuttleService.selectById(deviceConfig.getDeviceNo()).getChargeLine();
String lowerPower = "N";
if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
@@ -103,13 +124,16 @@
@ManagerAuth(memo = "鍥涘悜绌挎杞︽暟鎹〃")
public R steMsgTable(){
List<ShuttleMsgTableVo> list = new ArrayList<>();
- for (ShuttleSlave slave : slaveProperties.getShuttle()) {
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig deviceConfig : shuttleList) {
// 琛ㄦ牸琛�
ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
- vo.setShuttleNo(slave.getId()); // 鍥涘悜绌挎杞﹀彿
+ vo.setShuttleNo(deviceConfig.getDeviceNo()); // 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, slave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo());
if (shuttleThread == null) {
continue;
}
@@ -136,7 +160,7 @@
vo.setLocNo(shuttleProtocol.getLocNo());//鍥涘悜绌挎杞﹀綋鍓嶅簱浣嶅彿
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());
+ BasShuttle basShuttle = basShuttleService.selectById(deviceConfig.getDeviceNo());
if (basShuttle != null) {
vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
}
@@ -165,25 +189,34 @@
@RequestMapping(value = "/command/query")
public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
- return R.error();
+ return R.error("鎸囦护涓嶅瓨鍦�");
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- return R.ok().add(redisCommand);
+ 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);
}
//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.key + 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);
redisCommand.setCommandStep(commandStep);
- redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
return R.ok();
}
@@ -192,7 +225,7 @@
public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
, @RequestParam("commandStep") Integer commandStep
, @RequestParam("complete") Integer complete) {
- Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -201,14 +234,14 @@
List<ShuttleCommand> commands = assignCommand.getCommands();
ShuttleCommand command = commands.get(commandStep);
command.setComplete(complete != 0);
- redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
+ 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.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
@@ -230,11 +263,11 @@
//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.key + wrkNo);
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
if (o == null) {
return R.error();
}
- redisUtil.del(RedisKeyType.SHUTTLE.key + wrkNo);
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
return R.ok();
}
@@ -242,146 +275,126 @@
/************************** 鎵嬪姩鎿嶄綔 ******************************/
/****************************************************************/
-// @ManagerAuth(memo = "鎵嬪姩鎿嶄綔")
-// @PostMapping("/operator/shuttle")
-// public R shuttleOperator(ShuttleOperatorParam param){
-// if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
-// return R.parse(BaseRes.PARAM);
-// }
-//
-// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-//
-// if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
-// if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
-// return R.parse(BaseRes.PARAM);
-// }
-// assignCommand.setSourceLocNo(param.getSourceLocNo());
-// 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.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(shuttleSlave.getId()); // 鍥涘悜绌挎杞︾紪鍙�
-// assignCommand.setTaskMode(shuttleTaskModeType.id);
-// assignCommand.setTaskNo(commonService.getWorkNo(3));//鑾峰彇浠诲姟鍙�
-// assignCommand.setAuto(false);//鎵嬪姩妯″紡
-//
-// if (shuttleTaskModeType == ShuttleTaskModeType.TRANSPORT) {
-// //鎼繍璐х墿浠诲姟
-// NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(shuttleSlave.getId(), assignCommand.getTaskNo(), shuttleProtocol.getCurrentLocNo(), param.getSourceLocNo(), param.getDistLocNo());
-// if (result == null) {
-// throw new CoolException("璺緞璁＄畻澶辫触");
-// }
-//
-// assignCommand.setCommands(result.getCommands());
-// assignCommand.setNodes(result.getNodes());
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
-// //绉诲姩鍒扮洰鏍囧簱浣�
-// Integer mapType = NavigationMapType.NORMAL.id;
-// if (shuttleProtocol.getLiftPosition() == 2) {
-// mapType = NavigationMapType.DFX.id;
-// }
-// NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
-// if (result == null) {
-// throw new CoolException("璺緞璁＄畻澶辫触");
-// }
-//
-// assignCommand.setCommands(result.getCommands());
-// assignCommand.setNodes(result.getNodes());
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_LIFT) {
-// //鎵樼洏椤跺崌
-// NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
-// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
-// commands.add(command);
-// assignCommand.setCommands(commands);
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.PALLET_DOWN) {
-// //鎵樼洏涓嬮檷
-// NyShuttleHttpCommand command = NyHttpUtils.getPalletLiftCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
-// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
-// commands.add(command);
-// assignCommand.setCommands(commands);
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
-// //鍏呯數寮�鍏�
-// boolean charge = false;
-// if (shuttleProtocol.getChargState() == 1) {
-// //宸插厖鐢碉紝鍏抽棴鍏呯數
-// charge = false;
-// }else {
-// //寮�鍚厖鐢�
-// charge = true;
-// }
-// NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
-// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
-// commands.add(command);
-// assignCommand.setCommands(commands);
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
-// //澶嶄綅
-// shuttleProtocol.setTaskNo(0);//宸ヤ綔鍙锋竻绌�
-// shuttleProtocol.setToken(0);//浠ょ墝娓呯┖
-// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//浠诲姟鐘舵��-绌洪棽
-// shuttleProtocol.setPakMk(false);//浣滀笟鏍囪澶嶄綅
-//
-// shuttleProtocol.setMoveLoc(false);
-// shuttleProtocol.setMoveType(0);
-// shuttleProtocol.setXStart(0);
-// shuttleProtocol.setXTarget(0);
-// shuttleProtocol.setXCurrent(0);
-// shuttleProtocol.setYStart(0);
-// shuttleProtocol.setYTarget(0);
-// shuttleProtocol.setYCurrent(0);
-// return R.ok();
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
-// //灏忚溅绠″埗
-// NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
-// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
-// commands.add(suspendCommand);
-// assignCommand.setCommands(commands);
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
-// //灏忚溅鍙栨秷绠″埗
-// NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
-// ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
-// commands.add(suspendCommand);
-// assignCommand.setCommands(commands);
-// } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
-// //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 {
-// throw new CoolException("鏈煡鍛戒护");
-// }
-//
-// 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");
-// }
-// }
-// }
-// return R.error();
-// }
+ @ManagerAuth(memo = "鎵嬪姩鎿嶄綔")
+ @PostMapping("/operator/shuttle")
+ public R shuttleOperator(ShuttleOperatorParam param){
+ if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
+ return R.parse(BaseRes.PARAM);
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ 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);
+ }
+ assignCommand.setSourceLocNo(param.getSourceLocNo());
+ assignCommand.setLocNo(param.getDistLocNo());
+ }
+
+ 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");
+ }
+ 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(WrkIoType.MANUAL.id));//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�
+ List<NavigationMapType> mapTypes = NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK);
+ if (shuttleProtocol.getHasLift()) {
+ mapTypes = NavigationMapType.getMapTypes(NavigationMapType.DFX, NavigationMapType.PATH_LOCK);
+ }
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapTypes, 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_ON) {
+ //鍏呯數寮�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE_OFF) {
+ //鍏呯數鍏�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
+ assignCommand.setCommands(commands);
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
+ //澶嶄綅
+ TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
+ trafficControlThread.forceCancelTrafficControl(shuttleProtocol.getShuttleNo());
+
+ 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(WrkIoType.SHUTTLE_MOVE.id), 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 if (shuttleTaskModeType == ShuttleTaskModeType.CLEAR_PATH) {
+ //娓呴櫎璺緞
+ shuttleAction.clearPath(shuttleProtocol.getShuttleNo());
+ return R.ok();
+ } else if (shuttleTaskModeType == ShuttleTaskModeType.RESTART_CALC_PATH) {
+ //閲嶆柊璁＄畻璺緞
+ shuttleThread.restartCalcPath();
+ 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,
- @RequestParam Integer token) {
+ @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.setTaskNo(workNo);
+ shuttleThread.setSyncTaskNo(workNo);
}
if (pakMk != null) {
shuttleThread.setPakMk(pakMk.equals("Y"));
--
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