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 | 199 +++++++++++++++++++++++++++----------------------
1 files changed, 108 insertions(+), 91 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index d2c475c..39a37da 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.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;
@@ -10,8 +11,10 @@
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;
@@ -26,14 +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.*;
@@ -50,8 +52,6 @@
@RequestMapping("/shuttle")
public class ShuttleController {
- @Autowired
- private SlaveProperties slaveProperties;
@Autowired
private BasShuttleService basShuttleService;
@Autowired
@@ -70,18 +70,23 @@
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;
}
@@ -104,7 +109,7 @@
}
}
- 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";
@@ -119,13 +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;
}
@@ -152,7 +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��
}
@@ -286,92 +294,101 @@
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(99));//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�
- Integer mapType = NavigationMapType.NORMAL.id;
- if (shuttleProtocol.getHasLift()) {
- mapType = NavigationMapType.DFX.id;
- }
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType, 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) {
- //鍏呯數寮�鍏�
- boolean charge = false;
- if (shuttleProtocol.getHasCharge()) {
- //宸插厖鐢碉紝鍏抽棴鍏呯數
- charge = false;
- }else {
- //寮�鍚厖鐢�
- charge = true;
- }
- List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, charge);
- assignCommand.setCommands(commands);
- } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
- //澶嶄綅
- 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(3), param.getDistLocNo(), param.getShuttleNo());
- return R.ok();
- } else {
- throw new CoolException("鏈煡鍛戒护");
- }
-
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- return R.ok();
- }
+ 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");
}
- return R.error();
+ 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�");
--
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