From ef942fc4483059aa0526e913f9be41982df7bb79 Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期二, 29 四月 2025 10:37:02 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 176 +++++++++++++++++++++++++++++++---------------------------
1 files changed, 94 insertions(+), 82 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index fdb376a..2c0f5bc 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -39,6 +39,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
/**
@@ -182,10 +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
@@ -276,98 +286,100 @@
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(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 {
- throw new CoolException("鏈煡鍛戒护");
- }
-
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- return R.ok();
- }
+ 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");
}
- return R.error();
+ 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")
public R shuttleUpdate(@RequestParam Integer shuttleNo,
@RequestParam Integer workNo,
- @RequestParam String pakMk,
- @RequestParam Integer token) {
+ @RequestParam String pakMk) {
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);
+ shuttleThread.setSyncTaskNo(workNo);
}
if (pakMk != null) {
shuttleThread.setPakMk(pakMk.equals("Y"));
--
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