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"));

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