From a6419abb1e5dc63f8957da5eb45c82d49b86cbc9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 07 一月 2025 16:38:47 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 495 ++++++++++++++++++++++++++++++++++++------------------
1 files changed, 328 insertions(+), 167 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 536185a..30d15d4 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -1,25 +1,27 @@
package com.zy.asrs.controller;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+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.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.core.cache.MessageQueue;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.RedisUtil;
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.Task;
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;
@@ -28,9 +30,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
-import java.util.Date;
import java.util.List;
-import java.util.Random;
/**
* 鍥涘悜绌挎杞︽帴鍙�
@@ -46,38 +46,55 @@
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private LocMastService locMastService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private ShuttleDispatchUtils shuttleDispatchUtils;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
- public R steStateTable(){
- List<ShuttleStateTableVo> list = new ArrayList<>();
- List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
- for (BasShuttle basShuttle : shuttles) {
+ public R shuttleStateTable(){
+ ArrayList<JSONObject> list = new ArrayList<>();
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
// 琛ㄦ牸琛�
- ShuttleStateTableVo vo = new ShuttleStateTableVo();
- vo.setShuttleNo(basShuttle.getShuttleNo()); //鍥涘悜绌挎杞﹀彿
- list.add(vo);
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("shuttleNo", slave.getId());
+ list.add(baseObj);
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
+ if (shuttleData != null) {
+ baseObj.putAll(shuttleData);
+ }
continue;
}
- vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
- if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
- vo.setStatus(shuttleProtocol.getBusyStatusType().desc); // 鐘舵��
+
+ 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_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�
+ }
}
- vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
- vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
- if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
- vo.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode()));
+
+ Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
+ String lowerPower = "N";
+ if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) {
+ lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N";
}
- if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
- vo.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode()));
- }
+ shuttleData.put("lowerPower", lowerPower);//鏄惁浣庣數閲�
+ baseObj.putAll(shuttleData);
}
return R.ok().add(list);
}
@@ -86,35 +103,43 @@
@ManagerAuth(memo = "鍥涘悜绌挎杞︽暟鎹〃")
public R steMsgTable(){
List<ShuttleMsgTableVo> list = new ArrayList<>();
- List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
- for (BasShuttle basShuttle : shuttles) {
+ for (ShuttleSlave slave : slaveProperties.getShuttle()) {
// 琛ㄦ牸琛�
ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
- vo.setShuttleNo(basShuttle.getShuttleNo()); // 鍥涘悜绌挎杞﹀彿
+ vo.setShuttleNo(slave.getId()); // 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, basShuttle.getShuttleNo());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
+ if (shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
- vo.setWorkNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
+ vo.setWorkNo(shuttleProtocol.getTaskNo());//浠诲姟鍙�
if (shuttleProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
- //vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
- vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
- vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
- vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
- vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ vo.setSourceLocNo(wrkMast.getSourceLocNo());//婧愬簱浣�
+ vo.setDistLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
}
}
- vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); // 閫熷害
- vo.setPakMk(shuttleProtocol.getPakMk().toString()); // 浣滀笟鏍囪
+ if (shuttleProtocol.getProtocolStatusType() != null) {
+ vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//鐘舵��
+ }
+ vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
+ 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());
+ if (basShuttle != null) {
+ vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+ }
}
return R.ok().add(list);
}
@@ -138,105 +163,78 @@
return R.ok().add(str.toString());
}
- @GetMapping("/detl/{shuttleNo}")
- public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
- ShuttleDataVo vo = new ShuttleDataVo();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- if (shuttleNo.equals(shuttleSlave.getId())) {
- vo.setShuttleNo(shuttleSlave.getId());
- BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
- if (!Cools.isEmpty(basShuttle)) {
- vo.setRow(basShuttle.getRow());
- vo.setBay(basShuttle.getBay());
- vo.setLev(basShuttle.getLev());
- vo.setWorkNo(basShuttle.getWrkNo());
- vo.setPakMk(basShuttle.getPakMk());
- }
- break;
- }
- }
- return R.ok().add(vo);
- }
-
- @GetMapping("/sensor/detl/{shuttleNo}")
- public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
- ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- if (shuttleNo.equals(shuttleSlave.getId())) {
- vo.setShuttleNo(shuttleSlave.getId());
- // 鑾峰彇绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
- if (shuttleThread == null) {
- return R.error("璁惧涓嶅湪绾�");
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return R.error("璁惧涓嶅湪绾�");
- }
-
- // 绌挎杞﹀紓甯� -----------
-
- // 绌挎杞︽彁绀轰俊鎭� ----------------------
-
- // 浠诲姟淇℃伅 ----------------
- vo.setPakInTask(shuttleProtocol.isPakInTask());
- vo.setPakOutTask(shuttleProtocol.isPakOutTask());
- vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
- vo.setGoHpTask(shuttleProtocol.isGoHpTask());
- vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
- vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
- vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
- vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
- vo.setPakInFinish(shuttleProtocol.isPakInFinish());
- vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
- vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
- vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
- vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
- vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
- vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());
-
- // 鐘舵�佷俊鎭� -------------
-
- break;
- }
- }
- return R.ok().add(vo);
- }
-
- @PostMapping("/detl/update")
- @ManagerAuth
- public R steUpdate(ShuttleDataVo vo){
- BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
- if (basShuttle == null) {
+ @RequestMapping(value = "/command/query")
+ public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
return R.error();
}
- // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- throw new CoolException(vo.getShuttleNo() + "鍙峰洓鍚戠┛姊溅涓嶅湪绾匡紝鏃犳硶淇濆瓨");
- }
-// if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
-// if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
-// throw new CoolException("鏈嶅姟鍣ㄩ敊璇�");
-// }
-// }
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
- if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
- basShuttle.setRow(vo.getRow());
- basShuttle.setBay(vo.getBay());
- basShuttle.setLev(vo.getLev());
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ return R.ok().add(redisCommand);
+ }
- basShuttle.setPakMk(vo.getPakMk());
- basShuttle.setWrkNo(vo.getWorkNo());
- basShuttle.setUpdateTime(new Date());
- if (!basShuttleService.updateById(basShuttle)) {
- throw new CoolException("淇敼澶辫触");
+ //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_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_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ Object o = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ ShuttleCommand command = commands.get(commandStep);
+ command.setComplete(complete != 0);
+ 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_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ Integer shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error();
+ }
+ if (!shuttleThread.isIdle()) {
+ return R.error();
+ }
+ //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ shuttleThread.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ return R.ok();
+ }
+
+ //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_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + wrkNo);
return R.ok();
}
@@ -244,40 +242,203 @@
/************************** 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);
+// @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();
+// }
+
+ @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) {
+ 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);
+ }
+ if (pakMk != null) {
+ shuttleThread.setPakMk(pakMk.equals("Y"));
+ }
+ return R.ok();
+ }
+
+ @PostMapping("/runSpeed/{shuttleNo}")
+ @ManagerAuth
+ public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
+ BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
+ if (basShuttle == null) {
+ return R.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ }
+ basShuttle.setRunSpeed(runSpeed);
+ basShuttle.setChargeLine(chargeLine);
+ if (!basShuttleService.updateById(basShuttle)) {
+ return R.error();
+ }
+ return R.ok();
+ }
+
+ /**
+ * 璺戝簱绋嬪簭
+ */
+ @PostMapping("/moveLoc")
+ @ManagerAuth
+ public R moveLoc(@RequestParam Integer shuttleNo,
+ @RequestParam Integer moveType,
+ @RequestParam Integer xStart,
+ @RequestParam Integer xTarget,
+ @RequestParam Integer yStart,
+ @RequestParam Integer yTarget) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error();
}
- 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.getShuttleProtocol();
- if (shuttleProtocol == null) {
- throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
- }
-
- ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- ShuttleAssignCommand command = new ShuttleAssignCommand();
- command.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
- command.setTaskMode(shuttleTaskModeType.id.shortValue());
- command.setSourceLocNo(param.getSourceLocNo());
- command.setDistLocNo(param.getDistLocNo());
- command.setTaskNo((short) 9999);
-
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
- return R.ok();
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
- }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return R.error();
}
- return R.error();
+
+ if (!shuttleThread.isIdle()) {
+ return R.error("灏忚溅蹇欑涓�");
+ }
+
+ ShuttleMoveLocParam param = new ShuttleMoveLocParam();
+ param.setShuttleNo(shuttleNo);
+ param.setMoveType(moveType);
+ param.setStartX(xStart);
+ param.setTargetX(xTarget);
+ param.setStartY(yStart);
+ param.setTargetY(yTarget);
+
+ shuttleThread.enableMoveLoc(param, true);
+ return R.ok();
}
}
--
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