package com.zy.asrs.controller;
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import com.zy.asrs.domain.param.RobotReportActionStatusParam;
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import com.zy.asrs.domain.param.ReportExceptionParam;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.common.utils.RobotUtils;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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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.Task;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.GetMapping;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RestController;
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import java.util.HashMap;
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@RestController
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public class RobotController {
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private SlaveProperties slaveProperties;
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//机械手向WCS回报任务结果完成
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@PostMapping("/request/wcs/report_task_status")
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public HashMap<String,Object> reportActionStatus(@RequestBody RobotReportActionStatusParam param) {
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HashMap<String, Object> map = new HashMap<>();
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String taskId = param.getTask_id();
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Integer taskStatus = param.getTask_status();
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Integer pickNum = param.getPick_num();
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Integer targetNum = param.getTarget_num();
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String message = param.getMessage();
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Integer staNo = param.getFrom_ws();//目标站
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//给目标站写入出库站344
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(staNo);//机械手臂拣料站
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staProtocol = staProtocol.clone();
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staProtocol.setStaNo((short) 344);//空托盘出库站
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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//更新工作档 => 29.出库完成
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WrkMast wrkMast = wrkMastMapper.selectByWorkNo(Integer.valueOf(taskId));
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if (wrkMast != null && wrkMast.getWrkSts() == 25) {
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wrkMast.setWrkSts(29L);
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wrkMastMapper.updateById(wrkMast);
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}
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}
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System.out.println(param);
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map.put("error", 0);
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map.put("error_message", "success");
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return map;
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}
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//机械手向WCS回报异常
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@PostMapping("/request/wcs/report_exception")
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public HashMap<String,Object> reportException(@RequestBody ReportExceptionParam param) {
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HashMap<String, Object> map = new HashMap<>();
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String taskId = param.getTask_id();
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String errorCode = param.getError_code();
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String msg = param.getMsg();
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String tip = param.getTip();
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System.out.println(param);
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map.put("error", 0);
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map.put("error_message", "success");
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return map;
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}
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@GetMapping("/test")
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public void test() {
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boolean systemStatus = RobotUtils.getSystemStatus();
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}
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@GetMapping("/test2")
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public void test2() {
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RobotUtils.sendTask("9994", 4, "317");
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}
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}
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