From 449e4e9df08162b1e7e04ac0d4e05a1387298171 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 08 七月 2025 16:48:16 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 49 +++++++++++++++++++++++++++----------------------
1 files changed, 27 insertions(+), 22 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 983162a..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;
@@ -51,8 +54,6 @@
public class ShuttleController {
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
@@ -70,18 +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;
}
@@ -104,7 +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";
@@ -119,13 +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;
}
@@ -152,7 +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��
}
@@ -329,17 +338,13 @@
//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);
+ } 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
@@ -351,7 +356,7 @@
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());
+ 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�
--
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