//package com.zy.asrs.controller;
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//
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//import com.alibaba.fastjson.JSON;
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//import com.alibaba.fastjson.JSONObject;
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//import com.core.annotations.ManagerAuth;
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//import com.core.common.BaseRes;
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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.param.LiftOperatorParam;
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//import com.zy.asrs.domain.vo.*;
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//import com.zy.asrs.entity.BasLift;
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//import com.zy.asrs.service.BasLiftService;
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//import com.zy.common.service.CommonService;
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//import com.zy.common.utils.RedisUtil;
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//import com.zy.core.action.ForkLiftAction;
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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.ForkLiftProtocolStatusType;
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//import com.zy.core.enums.ForkLiftTaskModeType;
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//import com.zy.core.enums.RedisKeyType;
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//import com.zy.core.enums.SlaveType;
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//import com.zy.core.model.ForkLiftSlave;
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//import com.zy.core.model.command.*;
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//import com.zy.core.model.protocol.ForkLiftProtocol;
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//import com.zy.core.model.protocol.ForkLiftStaProtocol;
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//import com.zy.core.properties.SlaveProperties;
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//import com.zy.core.thread.ForkLiftThread;
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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.*;
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//
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//import java.util.ArrayList;
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//import java.util.List;
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//
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///**
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// * 货叉提升机接口
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// */
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//@Slf4j
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//@RestController
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//@RequestMapping("/forkLift")
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//public class ForkLiftController {
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//
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// @Autowired
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// private CommonService commonService;
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// @Autowired
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// private SlaveProperties slaveProperties;
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// @Autowired
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// private BasLiftService basLiftService;
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// @Autowired
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// private RedisUtil redisUtil;
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// @Autowired
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// private ForkLiftAction forkLiftAction;
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//
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// @PostMapping("/table/lift/state")
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// @ManagerAuth(memo = "提升机信息表")
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// public R liftStateTable(){
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// ArrayList<JSONObject> list = new ArrayList<>();
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// for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
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// // 表格行
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// JSONObject baseObj = new JSONObject();
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// baseObj.put("shuttleNo", slave.getId());
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// list.add(baseObj);
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// // 获取提升机信息
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
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// if (forkLiftThread == null) {
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// continue;
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// continue;
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// }
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// JSONObject data = JSON.parseObject(JSON.toJSONString(forkLiftProtocol));
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// List<ForkLiftStaProtocol> forkLiftStaProtocols = forkLiftThread.getForkLiftStaProtocols();
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// data.put("forkLiftStaProtocols", forkLiftStaProtocols);
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// baseObj.putAll(data);
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// }
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// return R.ok().add(list);
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// }
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//
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// @PostMapping("/table/lift/msg")
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// @ManagerAuth(memo = "提升机数据表")
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// public R liftMsgTable(){
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// List<LiftMsgTableVo> list = new ArrayList<>();
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// for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
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// // 表格行
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// LiftMsgTableVo vo = new LiftMsgTableVo();
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// vo.setLiftNo(slave.getId()); // 提升机号
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// list.add(vo);
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// // 获取提升机信息
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
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// if (forkLiftThread == null) {
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// continue;
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// continue;
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// }
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//
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// vo.setWorkNo(forkLiftProtocol.getTaskNo());//任务号
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// vo.setPakMk(forkLiftProtocol.getPakMk()?"Y" : "N"); // 作业标记
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// vo.setForkLiftStaProtocols(forkLiftThread.getForkLiftStaProtocols());
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// }
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// return R.ok().add(list);
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// }
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//
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// @PostMapping("/output/lift")
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// @ManagerAuth
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// public R liftOutput(){
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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.LIFT.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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// @GetMapping("/detl/{liftNo}")
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// public R liftDetl(@PathVariable("liftNo") Integer liftNo){
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// LiftDataVo vo = new LiftDataVo();
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// for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
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// if (liftNo.equals(liftSlave.getId())) {
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// vo.setLiftNo(liftSlave.getId());
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// BasLift basLift = basLiftService.selectById(liftSlave.getId());
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// if (!Cools.isEmpty(basLift)) {
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// vo.setWorkNo(basLift.getWrkNo());
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// vo.setPakMk(basLift.getPakMk());
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// }
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// break;
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// }
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// }
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// return R.ok().add(vo);
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// }
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//
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// @GetMapping("/sensor/detl/{liftNo}")
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// public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
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// LiftSensorDataVo vo = new LiftSensorDataVo();
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// for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
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// if (liftNo.equals(liftSlave.getId())) {
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// vo.setLiftNo(liftSlave.getId());
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// // 获取提升机信息
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId());
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// if (forkLiftThread == null) {
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// return R.error("设备不在线");
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// return R.error("设备不在线");
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// }
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//
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// break;
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// }
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// }
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// return R.ok().add(vo);
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// }
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//
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// @PostMapping("/detl/update")
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// @ManagerAuth(memo = "修改数据")
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// public R liftUpdate(@RequestParam Integer liftNo,
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// @RequestParam Short workNo) {
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
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// if (forkLiftThread == null) {
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// return R.error("plc已掉线");
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// return R.error("plc已掉线");
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// }
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// if (workNo != null) {
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// forkLiftThread.setSyncTaskNo(workNo.intValue());
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// }
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// return R.ok();
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// }
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//
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// @RequestMapping(value = "/command/query")
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// public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
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// Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// if (o == null) {
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// return R.error();
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// }
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// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
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// return R.ok().add(redisCommand);
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// }
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//
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// //回退命令
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// @RequestMapping(value = "/command/rollback")
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// public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
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// , @RequestParam("commandStep") Integer commandStep) {
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// Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// if (o == null) {
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// return R.error();
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// }
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// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
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// redisCommand.setCommandStep(commandStep);
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// redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
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// return R.ok();
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// }
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//
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// //命令完成状态切换
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// @RequestMapping(value = "/command/completeSwitch")
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// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
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// , @RequestParam("commandStep") Integer commandStep
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// , @RequestParam("complete") Integer complete) {
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// Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// if (o == null) {
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// return R.error();
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// }
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// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
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// LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
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// List<ForkLiftCommand> commands = assignCommand.getCommands();
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// ForkLiftCommand command = commands.get(commandStep);
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// command.setComplete(complete != 0);
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// redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
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// return R.ok();
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// }
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//
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// //重启任务(命令)
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// @RequestMapping(value = "/command/restart")
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// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
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// Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// if (o == null) {
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// return R.error();
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// }
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// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
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// Short liftNo = redisCommand.getLiftNo();
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo.intValue());
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// if (forkLiftThread == null) {
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// return R.error();
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// return R.error();
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// }
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// if (!forkLiftThread.isIdle()) {
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// return R.error();
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// }
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// //提升机处于空闲状态，进行任务的恢复
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// forkLiftThread.setSyncTaskNo(redisCommand.getWrkNo().intValue());//将提升机线程分配任务号
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// return R.ok();
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// }
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//
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// //删除任务(命令)
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// @RequestMapping(value = "/command/del")
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// public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
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// Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// if (o == null) {
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// return R.error();
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// }
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// redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
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// return R.ok();
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// }
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//
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// /****************************************************************/
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// /************************** 手动操作 ******************************/
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// /****************************************************************/
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//
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// @ManagerAuth(memo = "手动操作")
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// @PostMapping("/operator/lift")
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// public R liftOperator(LiftOperatorParam param){
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// if (Cools.isEmpty(param.getLiftNo())) {
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// return R.parse(BaseRes.PARAM);
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// }
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//
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// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, param.getLiftNo());
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// if (forkLiftThread == null) {
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// throw new CoolException("提升机不在线");
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// }
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// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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// if (forkLiftProtocol == null) {
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// throw new CoolException("提升机不在线");
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// }
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//
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// if (param.getLiftTaskMode() == 1) {
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// //小车换层
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// int workNo = commonService.getWorkNo(99);//获取任务号
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//
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// Integer startSta = param.getSourceStaNo();
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// Integer targetSta = param.getStaNo();
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//
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// //获取提升机命令
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// List<ForkLiftCommand> liftCommand = forkLiftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
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// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
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// commands.addAll(liftCommand);
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//
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// //提交到线程去工作
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// LiftAssignCommand assignCommand = new LiftAssignCommand();
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// assignCommand.setCommands(commands);
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// assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
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// assignCommand.setTaskNo((short) workNo);
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// assignCommand.setAuto(false);//手动模式
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// assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
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//
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// forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
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// return R.ok();
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// } else if (param.getLiftTaskMode() == 2) {
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// //移动托盘
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// int workNo = commonService.getWorkNo(99);//获取任务号
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//
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// Integer startSta = param.getSourceStaNo();
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// Integer targetSta = param.getStaNo();
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//
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// //获取提升机命令
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// List<ForkLiftCommand> liftCommand = forkLiftThread.getPickAndPutCommand(workNo, startSta, targetSta);
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// ArrayList<ForkLiftCommand> commands = new ArrayList<>();
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// commands.addAll(liftCommand);
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//
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// //提交到线程去工作
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// LiftAssignCommand assignCommand = new LiftAssignCommand();
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// assignCommand.setCommands(commands);
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// assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
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// assignCommand.setTaskNo((short) workNo);
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// assignCommand.setAuto(false);//手动模式
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// assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
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//
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// forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
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// return R.ok();
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// } else if (param.getLiftTaskMode() == 3) {
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// //任务确认
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// forkLiftThread.reset();
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// return R.ok();
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// } else if (param.getLiftTaskMode() == 0) {
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// //提升机复位
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// forkLiftThread.setSyncTaskNo(0);
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// forkLiftThread.setProtocolStatus(ForkLiftProtocolStatusType.IDLE);
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// return R.ok();
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// } else {
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// throw new CoolException("未知命令");
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// }
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// }
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//
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//}
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