From bc0413809efd5440be383dc9f4ceeb828bdd9d35 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 04 十一月 2023 15:45:53 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/controller/ShuttleController.java |   40 ++++++++++++++++++++++++++++------------
 1 files changed, 28 insertions(+), 12 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index dcf22ca..d2f0e51 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -7,6 +7,7 @@
 import com.core.common.BaseRes;
 import com.core.common.Cools;
 import com.core.common.R;
+import com.core.common.SpringUtils;
 import com.core.exception.CoolException;
 import com.zy.asrs.domain.param.ShuttleOperatorParam;
 import com.zy.asrs.domain.vo.*;
@@ -71,10 +72,13 @@
     @ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
     public R shuttleStateTable(){
         ArrayList<JSONObject> 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�
+            JSONObject baseObj = new JSONObject();
+            baseObj.put("shuttleNo", slave.getId());
+            list.add(baseObj);
             // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
-            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
+            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
             if (shuttleThread == null) {
                 continue;
             }
@@ -82,7 +86,7 @@
             JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
             if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                 if (shuttleData != null) {
-                    list.add(shuttleData);
+                    baseObj.putAll(shuttleData);
                 }
                 continue;
             }
@@ -97,7 +101,13 @@
                 }
             }
 
-            list.add(shuttleData);
+            Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
+            String lowerPower = "N";
+            if (chargeLine != null && shuttleProtocol.getPowerPercent() != null) {
+                lowerPower = shuttleProtocol.getPowerPercent() <= chargeLine ? "Y" : "N";
+            }
+            shuttleData.put("lowerPower", lowerPower);//鏄惁浣庣數閲�
+            baseObj.putAll(shuttleData);
         }
         return R.ok().add(list);
     }
@@ -106,14 +116,13 @@
     @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;
             }
@@ -147,8 +156,11 @@
             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�
-//            vo.setRunSpeed(basShuttle.getRunSpeed());//鍥涘悜绌挎杞﹁繍琛岄�熷害(璁剧疆)
-            vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+
+            BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
+            if (basShuttle != null) {
+                vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
+            }
         }
         return R.ok().add(list);
     }
@@ -300,7 +312,11 @@
                     assignCommand.setNodes(result.getNodes());
                 } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
                     //绉诲姩鍒扮洰鏍囧簱浣�
-                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), NavigationMapType.NORMAL.id);
+                    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");
                     }

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