package com.zy.asrs.controller;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.core.annotations.ManagerAuth;
|
import com.core.common.BaseRes;
|
import com.core.common.Cools;
|
import com.core.common.R;
|
import com.core.exception.CoolException;
|
import com.zy.asrs.domain.param.LiftOperatorParam;
|
import com.zy.asrs.domain.vo.LiftDataVo;
|
import com.zy.asrs.domain.vo.LiftMsgTableVo;
|
import com.zy.asrs.domain.vo.LiftSensorDataVo;
|
import com.zy.asrs.entity.BasLift;
|
import com.zy.asrs.service.BasLiftService;
|
import com.zy.common.service.CommonService;
|
import com.zy.common.utils.RedisUtil;
|
import com.zy.core.action.LiftAction;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.*;
|
import com.zy.core.model.LiftSlave;
|
import com.zy.core.model.command.LiftAssignCommand;
|
import com.zy.core.model.command.LiftCommand;
|
import com.zy.core.model.protocol.LiftProtocol;
|
import com.zy.core.model.protocol.LiftStaProtocol;
|
import com.zy.core.properties.SlaveProperties;
|
import com.zy.core.thread.LiftThread;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.web.bind.annotation.*;
|
|
import java.util.ArrayList;
|
import java.util.List;
|
|
/**
|
* 提升机接口
|
*/
|
@Slf4j
|
@RestController
|
@RequestMapping("/lift")
|
public class LiftController {
|
|
@Autowired
|
private SlaveProperties slaveProperties;
|
@Autowired
|
private BasLiftService basLiftService;
|
@Autowired
|
private CommonService commonService;
|
@Autowired
|
private RedisUtil redisUtil;
|
@Autowired
|
private LiftAction liftAction;
|
|
@PostMapping("/table/lift/state")
|
@ManagerAuth(memo = "提升机信息表")
|
public R liftStateTable(){
|
ArrayList<JSONObject> list = new ArrayList<>();
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
// 表格行
|
JSONObject baseObj = new JSONObject();
|
baseObj.put("shuttleNo", slave.getId());
|
list.add(baseObj);
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol));
|
List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
|
data.put("liftStaProtocols", liftStaProtocols);
|
baseObj.putAll(data);
|
}
|
return R.ok().add(list);
|
}
|
|
@PostMapping("/table/lift/msg")
|
@ManagerAuth(memo = "提升机数据表")
|
public R liftMsgTable(){
|
List<LiftMsgTableVo> list = new ArrayList<>();
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
// 表格行
|
LiftMsgTableVo vo = new LiftMsgTableVo();
|
vo.setLiftNo(slave.getId()); // 提升机号
|
list.add(vo);
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
vo.setWorkNo(liftProtocol.getTaskNo());//任务号
|
vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 作业标记
|
vo.setLiftStaProtocols(liftThread.getLiftStaProtocols());
|
vo.setCompleteTaskNo(Integer.parseInt(liftProtocol.getCompleteTaskNo()));
|
vo.setLev(liftProtocol.getLev());
|
}
|
return R.ok().add(list);
|
}
|
|
@PostMapping("/output/lift")
|
@ManagerAuth
|
public R liftOutput(){
|
StringBuilder str = new StringBuilder();
|
String s;
|
int i = 0;
|
while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
|
str.append("\n").append(s);
|
i++;
|
}
|
return R.ok().add(str.toString());
|
}
|
|
@GetMapping("/detl/{liftNo}")
|
public R liftDetl(@PathVariable("liftNo") Integer liftNo){
|
LiftDataVo vo = new LiftDataVo();
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
if (liftNo.equals(liftSlave.getId())) {
|
vo.setLiftNo(liftSlave.getId());
|
BasLift basLift = basLiftService.selectById(liftSlave.getId());
|
if (!Cools.isEmpty(basLift)) {
|
vo.setWorkNo(basLift.getWrkNo());
|
vo.setPakMk(basLift.getPakMk());
|
}
|
break;
|
}
|
}
|
return R.ok().add(vo);
|
}
|
|
@GetMapping("/sensor/detl/{liftNo}")
|
public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
|
LiftSensorDataVo vo = new LiftSensorDataVo();
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
if (liftNo.equals(liftSlave.getId())) {
|
vo.setLiftNo(liftSlave.getId());
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
return R.error("设备不在线");
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
return R.error("设备不在线");
|
}
|
|
break;
|
}
|
}
|
return R.ok().add(vo);
|
}
|
|
/****************************************************************/
|
/************************** 手动操作 ******************************/
|
/****************************************************************/
|
|
@ManagerAuth(memo = "手动操作")
|
@PostMapping("/operator/lift")
|
public R liftOperator(LiftOperatorParam param){
|
if (Cools.isEmpty(param.getLiftNo())) {
|
return R.parse(BaseRes.PARAM);
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo());
|
if (liftThread == null) {
|
throw new CoolException("提升机不在线");
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
throw new CoolException("提升机不在线");
|
}
|
|
if (param.getLiftTaskMode() == 1) {
|
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 5) {
|
//托盘入
|
int workNo = commonService.getWorkNo(8);//获取任务号
|
|
Integer startSta = param.getSourceStaNo();
|
Integer targetSta = param.getStaNo();
|
|
//获取提升机命令
|
List<LiftCommand> liftCommand = liftThread.getPalletInCommand(workNo, startSta, targetSta);
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo((short) workNo);
|
assignCommand.setAuto(false);//手动模式
|
assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());
|
|
liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 6) {
|
//托盘入
|
int workNo = commonService.getWorkNo(8);//获取任务号
|
|
Integer startSta = param.getSourceStaNo();
|
Integer targetSta = param.getStaNo();
|
|
//获取提升机命令
|
List<LiftCommand> liftCommand = liftThread.getPalletOutCommand(workNo, startSta, targetSta);
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo((short) workNo);
|
assignCommand.setAuto(false);//手动模式
|
assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());
|
|
liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 7) {
|
//移动
|
int workNo = commonService.getWorkNo(8);//获取任务号
|
|
Integer startSta = param.getSourceStaNo();
|
Integer targetSta = param.getStaNo();
|
|
//获取提升机命令
|
List<LiftCommand> liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo((short) workNo);
|
assignCommand.setAuto(false);//手动模式
|
assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
|
|
liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 8) {
|
//移动
|
int workNo = commonService.getWorkNo(8);//获取任务号
|
|
Integer startSta = param.getSourceStaNo();
|
Integer targetSta = param.getStaNo();
|
|
//获取提升机命令
|
List<LiftCommand> liftCommand = liftThread.getMoveWithShuttleCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo((short) workNo);
|
assignCommand.setAuto(false);//手动模式
|
assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
|
|
liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 3) {
|
//等待确认
|
liftThread.setProtocolStatus(LiftProtocolStatusType.WAITING);
|
return R.ok();
|
} else if (param.getLiftTaskMode() == 0) {
|
//提升机复位
|
liftThread.setSyncTaskNo(0);
|
liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
return R.ok();
|
} else {
|
throw new CoolException("未知命令");
|
}
|
}
|
|
// @PostMapping("/detl/update")
|
// @ManagerAuth(memo = "修改数据")
|
// public R liftUpdate(@RequestParam Integer liftNo,
|
// @RequestParam Short workNo,
|
// @RequestParam String pakMk,
|
// @RequestParam Integer token) {
|
// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
|
// if (liftThread == null) {
|
// return R.error("plc已掉线");
|
// }
|
// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
// if (liftProtocol == null) {
|
// return R.error("plc已掉线");
|
// }
|
// if (workNo != null) {
|
// liftProtocol.setTaskNo(workNo);
|
// }
|
// if (pakMk != null) {
|
// liftProtocol.setPakMk(pakMk.equals("Y"));
|
// }
|
// if (token != null) {
|
// liftProtocol.setToken(token);
|
// }
|
// return R.ok();
|
// }
|
//
|
// @RequestMapping(value = "/command/query")
|
// public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
|
// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
|
// if (o == null) {
|
// return R.error();
|
// }
|
// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
|
// return R.ok().add(redisCommand);
|
// }
|
//
|
// //回退命令
|
// @RequestMapping(value = "/command/rollback")
|
// public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
|
// , @RequestParam("commandStep") Integer commandStep) {
|
// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
|
// if (o == null) {
|
// return R.error();
|
// }
|
// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
|
// redisCommand.setCommandStep(commandStep);
|
// redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
|
// return R.ok();
|
// }
|
//
|
// //命令完成状态切换
|
// @RequestMapping(value = "/command/completeSwitch")
|
// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
|
// , @RequestParam("commandStep") Integer commandStep
|
// , @RequestParam("complete") Integer complete) {
|
// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
|
// if (o == null) {
|
// return R.error();
|
// }
|
// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
|
// LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
|
// List<NyLiftCommand> commands = assignCommand.getCommands();
|
// NyLiftCommand command = commands.get(commandStep);
|
// command.setComplete(complete != 0);
|
// redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
|
// return R.ok();
|
// }
|
//
|
// //重启任务(命令)
|
// @RequestMapping(value = "/command/restart")
|
// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
|
// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
|
// if (o == null) {
|
// return R.error();
|
// }
|
// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
|
// Short liftNo = redisCommand.getLiftNo();
|
// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
|
// if (liftThread == null) {
|
// return R.error();
|
// }
|
// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
// if (liftProtocol == null) {
|
// return R.error();
|
// }
|
// if (!liftProtocol.isIdle()) {
|
// return R.error();
|
// }
|
// //提升机处于空闲状态，进行任务的恢复
|
// liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
|
// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
|
// return R.ok();
|
// }
|
//
|
// //删除任务(命令)
|
// @RequestMapping(value = "/command/del")
|
// public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
|
// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
|
// if (o == null) {
|
// return R.error();
|
// }
|
// redisUtil.del(RedisKeyType.LIFT.key + wrkNo);
|
// return R.ok();
|
// }
|
|
}
|
