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 | 22 ++++++++++++++++------
1 files changed, 16 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 6e033b9..39a37da 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -29,14 +29,13 @@
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.*;
@@ -312,11 +311,11 @@
if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
//绉诲姩鍒扮洰鏍囧簱浣�
- Integer mapType = NavigationMapType.NORMAL.id;
+ List<NavigationMapType> mapTypes = NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK);
if (shuttleProtocol.getHasLift()) {
- mapType = NavigationMapType.DFX.id;
+ mapTypes = NavigationMapType.getMapTypes(NavigationMapType.DFX, NavigationMapType.PATH_LOCK);
}
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, assignCommand, shuttleThread);
+ 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");
}
@@ -348,6 +347,9 @@
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
@@ -356,7 +358,7 @@
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.LOC_MOVE.id), param.getDistLocNo(), param.getShuttleNo());
+ 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�
@@ -366,6 +368,14 @@
//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");
}
--
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