From eb5eb35a7ef56a01a4c788a8c2efef9fc7b823e7 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 27 三月 2023 14:04:54 +0800
Subject: [PATCH] 四向穿梭车线程完善
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 49 +++++++++++++++++++------------------------------
1 files changed, 19 insertions(+), 30 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index d1d94ea..fb88e02 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -6,13 +6,9 @@
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
-import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
-import com.zy.asrs.domain.param.SteModeParam;
-import com.zy.asrs.domain.param.SteOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasSte;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.WrkMastService;
@@ -21,16 +17,12 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.SteSlave;
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.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
-import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.ShuttleThread;
-import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -38,6 +30,7 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
+import java.util.Random;
/**
* 鍥涘悜绌挎杞︽帴鍙�
@@ -77,9 +70,6 @@
if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
vo.setStatus(shuttleProtocol.getBusyStatusType().desc); // 鐘舵��
}
- vo.setRow(shuttleProtocol.getRow());
- vo.setBay(shuttleProtocol.getBay());
- vo.setLev(shuttleProtocol.getLev());
vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
@@ -124,9 +114,15 @@
}
}
vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); // 閫熷害
- vo.setPakMk(shuttleProtocol.getPakMk()); // 浣滀笟鏍囪
+ vo.setPakMk(shuttleProtocol.getPakMk().toString()); // 浣滀笟鏍囪
}
return R.ok().add(list);
+ }
+
+ @PostMapping("/latest/data/shuttle")
+ @ManagerAuth(memo = "鍥涘悜绌挎杞﹀疄鏃舵暟鎹�")
+ public R shuttleLatestData(){
+ return R.ok();
}
@PostMapping("/output/shuttle")
@@ -226,7 +222,7 @@
// }
// }
ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setTaskNo(vo.getWorkNo());
+ 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");
@@ -265,23 +261,16 @@
if (shuttleProtocol == null) {
throw new CoolException("鍥涘悜绌挎杞︿笉鍦ㄧ嚎");
}
+
ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setShuttleNo(shuttleSlave.getId()); // 鍥涘悜绌挎杞︾紪鍙�
-// if (param.getShuttleTaskMode() == 16) {
-// steCommand.setComplete(true);
-// } else if (param.getSteTaskMode() == 99) {
-// steCommand.setControlMode((short) 1);
-// } else if (param.getSteTaskMode() == 100) {
-// steCommand.setControlMode((short) 0);
-// } else {
-// if (steTaskModeType == null) {
-// throw new CoolException("浠诲姟绫诲瀷閿欒");
-// }
-// steCommand.setTaskNo(param.getTaskNo()); // 宸ヤ綔鍙�
-// steCommand.setTaskMode(steTaskModeType);
-// }
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(2, shuttleCommand))) {
+ 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");
--
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