package com.zy.asrs.controller;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.annotations.ManagerAuth;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.enums.RgvStatusType;
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import com.zy.asrs.domain.param.EnergyGatheringRingParam;
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import com.zy.asrs.domain.param.RgvOperatorParam;
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import com.zy.asrs.domain.param.RgvWrkMastParam;
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import com.zy.asrs.domain.param.RingThroughParam;
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import com.zy.asrs.domain.vo.*;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.BasRgvErrMapper;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.service.impl.MainServiceImpl;
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import com.zy.asrs.utils.NumUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.RgvThread;
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import com.zy.core.thread.SiemensDevpThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import javax.rmi.CORBA.Util;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* RGV接口
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* Created by vincent on 2020-06-01
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*/
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@Slf4j
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@RestController
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@RequestMapping("/rgv")
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public class RgvController {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasRgvErrMapper basRgvErrMapper;
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@Autowired
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private BasRgvService basRgvService;
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@Autowired
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private MainServiceImpl mainService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@PostMapping("/table/rgv/state")
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@ManagerAuth(memo = "RGV信息表")
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public R rgvStateTable(){
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List<RgvStateTableVo> list = new ArrayList<>();
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List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
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for (BasRgv basRgv : rgvs) {
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// 表格行
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RgvStateTableVo vo = new RgvStateTableVo();
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vo.setRgvNo(basRgv.getRgvNo()); // RGV号
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list.add(vo);
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// 获取RGV信息
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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vo.setStatusType(rgvProtocol.modeType.desc); // 模式状态
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vo.setStatus(rgvProtocol.getStatusType().desc); // 状态
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vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1任务号
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vo.setStatus1(rgvProtocol.getStatusType1().desc); // 工位1状态
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vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物"); // 工位1有物
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vo.setRgvPos(rgvProtocol.getRgvPos());
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vo.setWalkPos(rgvProtocol.getWalkPos()==1?"不在定位":"在定位");
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vo.setWorkNo2(rgvProtocol.getTaskNo2()); // 工位2任务号
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vo.setStatus2(rgvProtocol.getStatusType2().desc); // 工位2状态
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vo.setLoading2(rgvProtocol.getLoaded2()==0?"无物":"有物"); // 工位2有物
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vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
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if (rgvProtocol.getAlarm() > 0) {
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BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
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vo.setAlarm(rgvErr==null?"未知异常":rgvErr.getErrName());
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}
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}
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return R.ok().add(list);
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}
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@PostMapping("/table/rgv/msg")
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@ManagerAuth(memo = "RGV数据表")
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public R rgvMsgTable(){
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List<RgvMsgTableVo> list = new ArrayList<>();
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List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
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for (BasRgv basRgv : rgvs) {
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// 表格行
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RgvMsgTableVo vo = new RgvMsgTableVo();
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vo.setRgvNo(basRgv.getRgvNo()); // RGV号
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list.add(vo);
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// 获取RGV信息
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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vo.setWorkNo(rgvProtocol.getTaskNo1()); // 任务号
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if (rgvProtocol.getTaskNo1()>0) {
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WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
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if (wrkMast != null) {
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vo.setStatus(RgvStatusType.process(wrkMast.getIoType()).getDesc()); // 模式状态
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vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 源站
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vo.setStaNo(wrkMast.getStaNo$()); // 目标站
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vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 源库位
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vo.setLocNo(wrkMast.getLocNo()); // 目标库位
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}
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} else {
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vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 模式状态
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}
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vo.setXspeed(rgvProtocol.getXSpeed()); // 走行速度（m/min)
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vo.setXdistance(rgvProtocol.getXDistance()); // 走行距离(Km)
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vo.setXduration(rgvProtocol.getXDuration()); // 走行时长(H)
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}
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return R.ok().add(list);
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}
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@PostMapping("/output/site")
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@ManagerAuth(memo = "RGV报文日志输出")
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public R rgvOutput(){
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StringBuilder str = new StringBuilder();
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String s;
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int i = 0;
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while((s = OutputQueue.RGV.poll()) != null && i <=10) {
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str.append("\n").append(s);
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i++;
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}
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return R.ok().add(str.toString());
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}
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/****************************************************************/
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/************************** 手动操作 ******************************/
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/****************************************************************/
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@ManagerAuth(memo = "取放货")
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@PostMapping("/operator/put")
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public R rgvFetchPut(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1((short) 0); // 任务完成确认位
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command.setTaskNo1((short) 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
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command.setDestinationStaNo1(param.getStaNo1()); // 目标站
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command.setAckFinish2((short) 0); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "取货")
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@PostMapping("/operator/take")
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public R rgvFetch(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1((short) 0); // 任务完成确认位
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command.setTaskNo1((short) 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.FETCH); // 任务模式: 取货
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command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
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command.setDestinationStaNo1(param.getStaNo1()); // 目标站
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command.setAckFinish2((short) 0); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "放货")
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@PostMapping("/operator/stockMove")
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public R rgvPut(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1((short) 0); // 任务完成确认位
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command.setTaskNo1((short) 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.PUT); // 任务模式: 放货
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command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
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command.setDestinationStaNo1(param.getStaNo1()); // 目标站
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command.setAckFinish2((short) 0); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "任务完成")
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@PostMapping("/operator/taskComplete")
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public R rgvTaskComplete(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1((short) 1); // 任务完成确认位
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command.setTaskNo1((short) 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short) 0); // 源站
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command.setDestinationStaNo1((short) 0); // 目标站
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command.setAckFinish2((short) 1); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo2((short) 0); // 源站
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command.setDestinationStaNo2((short) 0); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "清除命令")
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@PostMapping("/operator/clearCommand")
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public R rgvClearCommand(RgvOperatorParam param){
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if (param.getRgvNo() == null) {
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throw new CoolException("请选择RGV号");
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}
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1((short) 0); // 任务完成确认位
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command.setTaskNo1((short) 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short) 0); // 源站
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command.setDestinationStaNo1((short) 0); // 目标站
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command.setAckFinish2((short) 0); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo2((short) 0); // 源站
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command.setDestinationStaNo2((short) 0); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "手动复位")
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@PostMapping("/operator/handleReset")
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public R handleReset(RgvOperatorParam param) throws Exception {
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if (param.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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// 获取RGV缓存
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取RGV信息
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if (param.getRgvNo().equals(rgv.getId())) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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RgvCommand Command = new RgvCommand();
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Command.setRgvNo(rgv.getId()); // RGV编号
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Command.setTaskMode1(RgvTaskModeType.NONE);
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Command.setAckFinish1((short) 0); // 任务完成确认位
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Command.setAckFinish2((short) 0); // 任务完成确认位
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Command.setCommand((short) 0); // 任务完成确认位
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// 延时发送
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Thread.sleep(1000L);
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, Command))) {
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return R.ok();
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} else {
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throw new CoolException("命令下发失败");
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}
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}
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}
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return R.error();
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}
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private boolean rgvControl(RgvCommand command){
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if (command.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取RGV信息
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if (command.getRgvNo().equals(rgv.getId())) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
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return true;
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} else {
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throw new CoolException("命令下发失败");
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}
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}
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}
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return false;
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}
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@PostMapping("/ring/through/rgv/position/data")
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// @ManagerAuth(memo = "环穿位置信息")
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public R ringThroughRgv(){
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List<RingThroughParam> result = new ArrayList<>();
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// for (int i = 1;i<2;i++) {
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// // 获取RGV信息
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setIndex(rgv.getId());
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// ringThroughParam.setIndex(i);
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// double[] doubles = Utils.RingThroughXY2(1737000.0, NumUtils.GetRandomIntInRange(183));
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double[] doubles = Utils.RingThroughXYRgv(1737000.0, 1737000.0-rgvProtocol.RgvPos.doubleValue());
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// double[] doubles = Utils.RingThroughXY2(183.0, 100*i );
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ringThroughParam.setValueX(doubles[0]-2.94);
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ringThroughParam.setValueY(doubles[1]-2.94);
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ringThroughParam.setModeColor(rgvProtocol.modeType.color);
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ringThroughParam.setStatusColor(rgvProtocol.statusType.color);
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/dev/position/data")
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// @ManagerAuth(memo = "站点信息")
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public R ringThroughDev(){
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List<RingThroughParam> result = new ArrayList<>();
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
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for (BasDevpPosition basDevpPosition : basDevpPositions){
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setIndex(basDevpPosition.getDevNo());
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double[] doubles = Utils.RingThroughXYSta(1737000.0, 1737000.0-basDevpPosition.getPlcPosition());
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ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
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ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/track/position/data")
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// @ManagerAuth(memo = "轨道PLC状态信息")
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public R wnergyGatheringRingParamTrack(){
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List<EnergyGatheringRingParam> result = new ArrayList<>();
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try{
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for (DevpSlave devp : slaveProperties.getDevp()) {
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if (devp.getId()!=1){
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break;
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}
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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if (devpThread.isResult()){
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if (true){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
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result.add(energyGatheringRingParam);
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} else {
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
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result.add(energyGatheringRingParam);
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}
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}
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}
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if (result.isEmpty()){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
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result.add(energyGatheringRingParam);
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}
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} catch (Exception e){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
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result.add(energyGatheringRingParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/task/wrk/mast/position/data")
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// @ManagerAuth(memo = "站点信息")
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public R ringThroughTaskWrkMast(){
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List<RgvWrkMastParam> result = new ArrayList<>();
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
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for (WrkMast wrkMast : wrkMasts){
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RgvWrkMastParam rgvWrkMastParam = new RgvWrkMastParam(wrkMast);
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if (Cools.isEmpty(rgvWrkMastParam.getRgvNo())){
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rgvWrkMastParam.setRgvSts("未绑定");
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} else {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvWrkMastParam.getRgvNo());
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if (rgvThread == null) {
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rgvWrkMastParam.setRgvSts("未知");
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} else {
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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rgvWrkMastParam.setRgvSts("未知");
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} else {
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rgvWrkMastParam.setRgvSts(rgvProtocol.statusType.desc);
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}
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}
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}
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result.add(rgvWrkMastParam);
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}
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return R.ok().add(result);
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}
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}
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