From 996e076ab3201464086505e08caafa0088eeec34 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 22 四月 2025 10:12:39 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ForkLiftController.java | 118 ++++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 104 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ForkLiftController.java b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
index f9e1d89..844e50a 100644
--- a/src/main/java/com/zy/asrs/controller/ForkLiftController.java
+++ b/src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -1,21 +1,29 @@
package com.zy.asrs.controller;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
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.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
+import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
+import com.zy.core.action.ForkLiftAction;
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.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -26,41 +34,46 @@
import java.util.List;
/**
- * 鎻愬崌鏈烘帴鍙�
+ * 璐у弶鎻愬崌鏈烘帴鍙�
*/
@Slf4j
@RestController
-@RequestMapping("/lift")
+@RequestMapping("/forkLift")
public class ForkLiftController {
+ @Autowired
+ private CommonService commonService;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
private BasLiftService basLiftService;
@Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private ForkLiftAction forkLiftAction;
@PostMapping("/table/lift/state")
@ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
public R liftStateTable(){
- List<LiftStateTableVo> list = new ArrayList<>();
+ ArrayList<JSONObject> list = new ArrayList<>();
for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
// 琛ㄦ牸琛�
- LiftStateTableVo vo = new LiftStateTableVo();
- vo.setLiftNo(slave.getId()); //鎻愬崌鏈哄彿
- list.add(vo);
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("shuttleNo", slave.getId());
+ list.add(baseObj);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
if (forkLiftThread == null) {
- vo.setProtocolStatus(ForkLiftProtocolStatusType.NONE.id);//绂荤嚎
continue;
}
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null || forkLiftProtocol.getLiftNo()==null) {
+ if (forkLiftProtocol == null) {
continue;
}
- vo.setTaskNo(forkLiftProtocol.getTaskNo().shortValue()); // 浠诲姟鍙�
- vo.setProtocolStatus(forkLiftProtocol.getProtocolStatusType().id);
+ JSONObject data = JSON.parseObject(JSON.toJSONString(forkLiftProtocol));
+ List<ForkLiftStaProtocol> forkLiftStaProtocols = forkLiftThread.getForkLiftStaProtocols();
+ data.put("forkLiftStaProtocols", forkLiftStaProtocols);
+ baseObj.putAll(data);
}
return R.ok().add(list);
}
@@ -84,8 +97,9 @@
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);
}
@@ -145,9 +159,7 @@
@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�");
@@ -240,4 +252,82 @@
return R.ok();
}
+ /****************************************************************/
+ /************************** 鎵嬪姩鎿嶄綔 ******************************/
+ /****************************************************************/
+
+ @ManagerAuth(memo = "鎵嬪姩鎿嶄綔")
+ @PostMapping("/operator/lift")
+ public R liftOperator(LiftOperatorParam param){
+ if (Cools.isEmpty(param.getLiftNo())) {
+ return R.parse(BaseRes.PARAM);
+ }
+
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, param.getLiftNo());
+ if (forkLiftThread == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
+ }
+ ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+ if (forkLiftProtocol == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
+ }
+
+ if (param.getLiftTaskMode() == 1) {
+ //灏忚溅鎹㈠眰
+ int workNo = commonService.getWorkNo(99);//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.getShuttleSwitchCommand(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.SHUTTLE_SWITCH.id.shortValue());
+
+ forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
+ 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�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<ForkLiftCommand> liftCommand = forkLiftThread.getPickAndPutCommand(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.PICK_PUT.id.shortValue());
+
+ forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 3) {
+ //浠诲姟纭
+ forkLiftThread.reset();
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 0) {
+ //鎻愬崌鏈哄浣�
+ forkLiftThread.setSyncTaskNo(0);
+ forkLiftThread.setProtocolStatus(ForkLiftProtocolStatusType.IDLE);
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
+ }
+ }
+
}
--
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