From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期一, 07 七月 2025 16:41:51 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/controller/ShuttleController.java | 199 +++++++++++++++++++++++++++---------------------- 1 files changed, 108 insertions(+), 91 deletions(-) diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java index 7c9c950..6e033b9 100644 --- a/src/main/java/com/zy/asrs/controller/ShuttleController.java +++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java @@ -2,6 +2,7 @@ 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; import com.core.common.Cools; @@ -10,8 +11,10 @@ import com.zy.asrs.domain.param.ShuttleOperatorParam; import com.zy.asrs.domain.vo.*; import com.zy.asrs.entity.BasShuttle; +import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasShuttleService; +import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.service.WrkMastService; import com.zy.asrs.utils.Utils; @@ -39,6 +42,7 @@ import org.springframework.web.bind.annotation.*; import java.util.ArrayList; +import java.util.HashMap; import java.util.List; /** @@ -49,8 +53,6 @@ @RequestMapping("/shuttle") public class ShuttleController { - @Autowired - private SlaveProperties slaveProperties; @Autowired private BasShuttleService basShuttleService; @Autowired @@ -69,18 +71,23 @@ private ShuttleAction shuttleAction; @Autowired private NavigateMapUtils navigateMapUtils; + @Autowired + private DeviceConfigService deviceConfigService; @PostMapping("/table/shuttle/state") @ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃") public R shuttleStateTable(){ ArrayList<JSONObject> list = new ArrayList<>(); - for (ShuttleSlave slave : slaveProperties.getShuttle()) { + + List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() + .eq("device_type", String.valueOf(SlaveType.Shuttle))); + for (DeviceConfig deviceConfig : shuttleList) { // 琛ㄦ牸琛� JSONObject baseObj = new JSONObject(); - baseObj.put("shuttleNo", slave.getId()); + baseObj.put("shuttleNo", deviceConfig.getDeviceNo()); list.add(baseObj); // 鑾峰彇鍥涘悜绌挎杞︿俊鎭� - ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); + ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -103,7 +110,7 @@ } } - Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine(); + Integer chargeLine = basShuttleService.selectById(deviceConfig.getDeviceNo()).getChargeLine(); String lowerPower = "N"; if (chargeLine != null && shuttleProtocol.getBatteryPower() != null) { lowerPower = Integer.parseInt(shuttleProtocol.getBatteryPower()) <= chargeLine ? "Y" : "N"; @@ -118,13 +125,16 @@ @ManagerAuth(memo = "鍥涘悜绌挎杞︽暟鎹〃") public R steMsgTable(){ List<ShuttleMsgTableVo> list = new ArrayList<>(); - for (ShuttleSlave slave : slaveProperties.getShuttle()) { + + List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() + .eq("device_type", String.valueOf(SlaveType.Shuttle))); + for (DeviceConfig deviceConfig : shuttleList) { // 琛ㄦ牸琛� ShuttleMsgTableVo vo = new ShuttleMsgTableVo(); - vo.setShuttleNo(slave.getId()); // 鍥涘悜绌挎杞﹀彿 + vo.setShuttleNo(deviceConfig.getDeviceNo()); // 鍥涘悜绌挎杞﹀彿 list.add(vo); // 鑾峰彇绌挎杞︿俊鎭� - ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); + ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo()); if (shuttleThread == null) { continue; } @@ -151,7 +161,7 @@ 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� - BasShuttle basShuttle = basShuttleService.selectById(slave.getId()); + BasShuttle basShuttle = basShuttleService.selectById(deviceConfig.getDeviceNo()); if (basShuttle != null) { vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝�� } @@ -185,7 +195,16 @@ 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 +295,96 @@ 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(WrkIoType.MANUAL.id));//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_ON) { + //鍏呯數寮� + List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true); + assignCommand.setCommands(commands); + } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE_OFF) { + //鍏呯數鍏� + List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false); + 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(WrkIoType.LOC_MOVE.id), 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")); -- Gitblit v1.9.1