From f25949443a6e59eda90b47ab4c423668bcb690a6 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 03 七月 2023 11:21:03 +0800
Subject: [PATCH] 中段码根据规则进行更新 行走少于五个库位，不传中断码 行走少于十个库位，中断码给倒数第二个 行走大于十个库位，中断码给倒数第三个
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 107 ++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 76 insertions(+), 31 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 58cfaed..f7df68a 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -9,9 +9,13 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -19,7 +23,6 @@
import com.zy.core.model.ShuttleSlave;
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.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
@@ -45,6 +48,8 @@
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private LocMastService locMastService;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
@@ -59,6 +64,8 @@
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
if (shuttleThread == null) {
+ vo.setStatus(ShuttleProtocolStatusType.OFFLINE.id);//璁惧绂荤嚎
+ vo.setBusyStatus(ShuttleProtocolStatusType.OFFLINE.desc);
continue;
}
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
@@ -67,16 +74,41 @@
}
vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //鍥涘悜绌挎杞︾姸鎬�
- vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//褰撳墠浠诲姟鐘舵��
+ vo.setStatus(shuttleProtocol.getProtocolStatusType().id);//褰撳墠浠诲姟鐘舵��
vo.setCurrentCode(shuttleProtocol.getCurrentCode());//褰撳墠浜岀淮鐮�
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ if (currentLocMast == null) {
+ vo.setLocNo("");//鑾峰彇褰撳墠搴撲綅鍙�
+ vo.setLocNoX(0);
+ vo.setLocNoY(0);
+ vo.setLocNoLev(0);//褰撳墠搴撲綅灞傞珮
+ }else {
+ vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
+ int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
+ vo.setLocNoX(locNoXY[0]);
+ vo.setLocNoY(locNoXY[1]);
+ vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+ }
vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
- vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//閿欒缂栧彿
+ vo.setErrorCode(shuttleProtocol.getErrorCodeType());//閿欒缂栧彿
}
vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc杈撳嚭鐘舵�両O
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
+ vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
+ vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
+ vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
+ vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
+ }
if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
- vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//閿欒淇℃伅鐮�
+ vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//閿欒淇℃伅鐮�
}
vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC杈撳叆鐘舵��
vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
@@ -111,6 +143,9 @@
if (shuttleProtocol == null) {
continue;
}
+ if (shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//浠诲姟鍙�
if (shuttleProtocol.getTaskNo() > 0) {
@@ -132,6 +167,10 @@
vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
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��
}
return R.ok().add(list);
}
@@ -201,35 +240,41 @@
}
@PostMapping("/detl/update")
- @ManagerAuth
- public R steUpdate(ShuttleDataVo vo){
- BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
- if (basShuttle == null) {
- return R.error();
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R liftUpdate(@RequestParam Integer shuttleNo,
+ @RequestParam Short workNo,
+ @RequestParam String pakMk){
+ for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ if (shuttleThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ shuttleProtocol.setTaskNo(workNo);
+ }
+ if (pakMk != null) {
+ shuttleProtocol.setPakMk(pakMk.equals("Y"));
+ }
}
- // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- throw new CoolException(vo.getShuttleNo() + "鍙峰洓鍚戠┛姊溅涓嶅湪绾匡紝鏃犳硶淇濆瓨");
- }
-// if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
-// if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
-// throw new CoolException("鏈嶅姟鍣ㄩ敊璇�");
-// }
-// }
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- 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");
- }
+ return R.error("plc宸叉帀绾�");
+ }
- basShuttle.setPakMk(vo.getPakMk());
- basShuttle.setWrkNo(vo.getWorkNo());
- basShuttle.setUpdateTime(new Date());
+ @PostMapping("/runSpeed/{shuttleNo}")
+ @ManagerAuth
+ public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
+
+ BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
+ if (basShuttle == null) {
+ return R.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ }
+ basShuttle.setRunSpeed(runSpeed);
+ basShuttle.setChargeLine(chargeLine);
if (!basShuttleService.updateById(basShuttle)) {
- throw new CoolException("淇敼澶辫触");
+ return R.error();
}
return R.ok();
}
@@ -247,7 +292,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2) {
+ if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
return R.parse(BaseRes.PARAM);
}
--
Gitblit v1.9.1