From ba77f258c619b296e51cadc0958bff23965dfc6d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 14 一月 2025 16:10:02 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 259 +++++++++++++++++++++++++--------------------------
1 files changed, 129 insertions(+), 130 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 30d15d4..30721f7 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -3,7 +3,11 @@
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;
@@ -11,8 +15,13 @@
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;
@@ -30,6 +39,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
/**
@@ -54,6 +64,12 @@
private RedisUtil redisUtil;
@Autowired
private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
@@ -167,10 +183,19 @@
public R shuttleCommandQuery(@RequestParam("wrkNo") Integer 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
@@ -242,133 +267,107 @@
/************************** 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(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 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 {
+ 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")
@@ -381,7 +380,7 @@
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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