From f18464143b3be9b0247f8625b7e61115402de328 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 29 九月 2023 16:16:26 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/controller/ShuttleController.java |   70 +++++++++++++++++++++++++++++++++-
 1 files changed, 67 insertions(+), 3 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index dcc006d..2135798 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -21,6 +21,7 @@
 import com.zy.common.utils.NyHttpUtils;
 import com.zy.common.utils.NyShuttleOperaUtils;
 import com.zy.common.utils.RedisUtil;
+import com.zy.common.utils.ShuttleDispatchUtils;
 import com.zy.core.cache.MessageQueue;
 import com.zy.core.cache.OutputQueue;
 import com.zy.core.cache.SlaveConnection;
@@ -62,6 +63,8 @@
     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〃")
@@ -75,10 +78,13 @@
                 continue;
             }
             NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+            JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
             if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
+                if (shuttleData != null) {
+                    list.add(shuttleData);
+                }
                 continue;
             }
-            JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
 
             shuttleData.put("moveAdvancePath", null);//绌挎杞﹂璁¤矾寰�
             if (shuttleProtocol.getTaskNo() != 0) {
@@ -314,15 +320,33 @@
                     assignCommand.setCommands(commands);
                 } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
                     //鍏呯數寮�鍏�
-                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
+                    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(true);//浣滀笟鏍囪澶嶄綅
+                    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
@@ -336,6 +360,10 @@
                     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");
                 }
@@ -391,4 +419,40 @@
         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) {
+        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+        if (shuttleThread == null) {
+            return R.error();
+        }
+
+        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+        if (shuttleProtocol == null) {
+            return R.error();
+        }
+
+        if (!shuttleProtocol.isIdle()) {
+            return R.error("灏忚溅蹇欑涓�");
+        }
+
+        shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
+        shuttleProtocol.setMoveType(moveType);
+        shuttleProtocol.setXStart(xStart);
+        shuttleProtocol.setXTarget(xTarget);
+        shuttleProtocol.setXCurrent(xStart);
+        shuttleProtocol.setYStart(yStart);
+        shuttleProtocol.setYTarget(yTarget);
+        shuttleProtocol.setYCurrent(yStart);
+        return R.ok();
+    }
+
 }

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