From f531a7a3ee28d76316ea8803a5be48168c520823 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 20 九月 2023 09:46:18 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/controller/ShuttleController.java |   49 ++++++++++++++++++++++++++++++++++++++++++++-----
 1 files changed, 44 insertions(+), 5 deletions(-)

diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 896319a..1ddba1b 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -1,6 +1,7 @@
 package com.zy.asrs.controller;
 
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.mapper.EntityWrapper;
 import com.core.annotations.ManagerAuth;
 import com.core.common.BaseRes;
@@ -20,6 +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;
@@ -61,11 +63,13 @@
     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〃")
     public R shuttleStateTable(){
-        ArrayList<NyShuttleProtocol> list = new ArrayList<>();
+        ArrayList<JSONObject> list = new ArrayList<>();
         List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
         for (BasShuttle basShuttle : shuttles) {
             // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
@@ -74,10 +78,25 @@
                 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;
             }
-            list.add(shuttleProtocol);
+
+            shuttleData.put("moveAdvancePath", null);//绌挎杞﹂璁¤矾寰�
+            if (shuttleProtocol.getTaskNo() != 0) {
+                //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
+                Object object = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
+                if (object != null) {
+                    ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
+                    shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//绌挎杞﹂璁¤矾寰�
+                }
+            }
+
+            list.add(shuttleData);
         }
         return R.ok().add(list);
     }
@@ -309,7 +328,23 @@
                     //澶嶄綅
                     shuttleProtocol.setTaskNo(0);//宸ヤ綔鍙锋竻绌�
                     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
+                    return R.ok();
+                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
+                    //灏忚溅绠″埗
+                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
+                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+                    commands.add(suspendCommand);
+                    assignCommand.setCommands(commands);
+                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
+                    //灏忚溅鍙栨秷绠″埗
+                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
+                    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");
@@ -328,8 +363,9 @@
     @PostMapping("/detl/update")
     @ManagerAuth(memo = "淇敼鏁版嵁")
     public R shuttleUpdate(@RequestParam Integer shuttleNo,
-                        @RequestParam Integer workNo,
-                        @RequestParam String pakMk){
+                           @RequestParam Integer workNo,
+                           @RequestParam String pakMk,
+                           @RequestParam Integer token) {
         NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
         if (shuttleThread == null) {
             return R.error("plc宸叉帀绾�");
@@ -344,6 +380,9 @@
         if (pakMk != null) {
             shuttleProtocol.setPakMk(pakMk.equals("Y"));
         }
+        if (token != null) {
+            shuttleProtocol.setToken(token);
+        }
         return R.ok();
     }
 

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