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.zy.asrs.domain.vo.PlcErrorTableVo;
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import com.zy.asrs.domain.vo.SiteTableVo;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasSte;
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import com.zy.asrs.entity.WrkCharge;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasSteService;
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import com.zy.asrs.service.WrkChargeService;
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import com.zy.common.model.enums.WrkChargeType;
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import com.zy.common.service.CommonService;
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import com.zy.core.DevpThread;
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import com.zy.core.News;
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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.SlaveType;
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import com.zy.core.enums.SteChargeType;
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import com.zy.core.enums.SteStatusType;
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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.model.protocol.SteProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.core.thread.SteThread;
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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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import java.util.*;
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/**
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* 输送设备接口
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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("/site")
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public class SiteController {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private WrkChargeService wrkChargeService;
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@Autowired
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private BasSteService basSteService;
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@Autowired
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private CommonService commonService;
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@GetMapping("/io/mode/info/site")
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@ManagerAuth(memo = "充电模式")
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public R ioMode(){
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List<Map<String, Object>> res = new ArrayList<>();
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for (DevpSlave devp : slaveProperties.getDevp()) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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Map<String, Object> map1 = new HashMap<>();
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map1.put("floor", 1);
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map1.put("modeVal", !devpThread.charge0);
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map1.put("modeDesc", !devpThread.charge0?"充电中":"关闭");
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res.add(map1);
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Map<String, Object> map2 = new HashMap<>();
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map2.put("floor", 2);
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map2.put("modeVal", devpThread.charge1);
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map2.put("modeDesc", devpThread.charge1?"充电中":"关闭");
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res.add(map2);
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}
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return R.ok().add(res);
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}
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@PostMapping("/io/mode/action/site")
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@ManagerAuth(memo = "充电控制")
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public R ioModeAction(@RequestParam("floor") Integer floor, @RequestParam("charge") Boolean charge){
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if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) {
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return R.error("目前存在小车充电任务，请稍后再试");
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}
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if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
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return R.error("目前存在小车复位任务，请稍后再试");
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}
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if (charge) {
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return R.ok();
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}
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SteChargeType steCharge = SteChargeType.get(floor);
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assert steCharge != null;
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Integer steNo = basSteService.hasCarOfLocNo(steCharge.locNo);
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if (Cools.isEmpty(steNo)) {
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return R.error(steNo + "号小车不在" + floor + "号充电桩，请检查小车定位");
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}
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SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
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SteProtocol steProtocol = steThread.getSteProtocol();
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BasSte basSte = basSteService.selectById(steNo);
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if (steProtocol.getMode() == 0) {
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return R.error(steNo + "号小车离线，无法操作");
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}
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if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
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return R.error(steNo + "号小车不是空闲，无法操作");
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}
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WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
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if (wrkCharge == null) {
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// 开始穿梭车复位任务
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wrkCharge = new WrkCharge();
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wrkCharge.setSteNo(steNo);
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wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
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wrkCharge.setWrkSts(41L); // 41.小车准备复位
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wrkCharge.setCrnNo(2); // 固定2号堆垛机
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wrkCharge.setIoPri((double) 10);
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wrkCharge.setSourceLocNo(steCharge.locNo);
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wrkCharge.setLocNo(basSte.getIdleLoc());
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wrkCharge.setMemo("reset");
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wrkCharge.setAppeTime(new Date());
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if (!wrkChargeService.insert(wrkCharge)) {
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News.error("保存{}号穿梭车复位任务失败!!!", steNo);
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}
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}
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return R.ok(steNo + "号小车准备离开" + floor + "号充电桩");
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}
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@PostMapping("/table/site")
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@ManagerAuth(memo = "站点信息表")
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public R siteTable(){
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List<SiteTableVo> list = new ArrayList<>();
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// 内存数据
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Map<Integer, StaProtocol> station = new HashMap<>();
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for (DevpSlave devp : slaveProperties.getDevp()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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station.putAll(devpThread.getStation());
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}
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// 持久数据
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List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>().orderBy("dev_no"));
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for (BasDevp devp : basDevps) {
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SiteTableVo vo = new SiteTableVo();
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vo.setDevNo(devp.getDevNo()); // 站点编号
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list.add(vo);
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StaProtocol staProtocol = station.get(devp.getDevNo());
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if (null == staProtocol) { continue; }
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vo.setWorkNo(staProtocol.getWorkNo()); // 工作号
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vo.setAutoing(staProtocol.isAutoing()?"Y":"N"); // 自动
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vo.setLoading(staProtocol.isLoading()?"Y":"N"); // 有物
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vo.setInEnable(staProtocol.isInEnable()?"Y":"N"); // 可入
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vo.setOutEnable(staProtocol.isOutEnable()?"Y":"N"); // 可出
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vo.setLiftArrival(staProtocol.isLiftArrival()?"Y":"N"); // 提升机到位信号
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vo.setShuttleTakeEnable(staProtocol.isShuttleTakeEnable()?"Y":"N"); // 穿梭车可取信号
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vo.setPakMk(staProtocol.isPakMk()?"Y":"N"); // 入库标记
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vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N"); // 空板信号
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vo.setStaNo(staProtocol.getStaNo()); // 目标站
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}
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return R.ok().add(list);
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}
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@PostMapping("/table/plc/errors")
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@ManagerAuth(memo = "输送设备plc异常信息表")
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public R plcErrorTable(){
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List<PlcErrorTableVo> list = new ArrayList<>();
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for (DevpSlave devp : slaveProperties.getDevp()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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Map<Integer, StaProtocol> station = devpThread.getStation();
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for(Map.Entry<Integer, StaProtocol> entry : station.entrySet()) {
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StaProtocol staProtocol = entry.getValue();
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// if (staProtocol) {
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// PlcErrorTableVo vo = new PlcErrorTableVo();
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// vo.setNo(entry.getKey()); // 序号
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//
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// vo.setPlcDesc(""); // todo:luxiaotao plc错误描述
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// vo.setError(""); // todo:luxiaotao 异常信息
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// list.add(vo);
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// }
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}
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}
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list.sort((o1, o2) -> {
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if (o1.getNo().compareTo(o2.getNo()) > 0){
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return 1;
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}else if (o1.getNo().compareTo(o2.getNo()) < 0){
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return 0;
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}else{
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return -1;
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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("/output/site")
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@ManagerAuth(memo = "站点设备报文日志输出")
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public R siteOutput(){
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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.DEVP.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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/************************** 详情操作 ******************************/
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/****************************************************************/
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@GetMapping("/detl/{siteId}")
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public R siteDetl(@PathVariable("siteId") Integer siteId){
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SiteTableVo vo = new SiteTableVo();
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for (DevpSlave devp : slaveProperties.getDevp()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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Map<Integer, StaProtocol> station = devpThread.getStation();
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for (Map.Entry<Integer, StaProtocol> entry : station.entrySet()) {
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if (siteId.equals(entry.getKey())) {
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StaProtocol staProtocol = entry.getValue();
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vo.setDevNo(entry.getKey()); // 站点编号
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vo.setWorkNo(staProtocol.getWorkNo()); // 工作号
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vo.setAutoing(staProtocol.isAutoing()?"Y":"N"); // 自动
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vo.setLoading(staProtocol.isLoading()?"Y":"N"); // 有物
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vo.setInEnable(staProtocol.isInEnable()?"Y":"N"); // 可入
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vo.setOutEnable(staProtocol.isOutEnable()?"Y":"N"); // 可出
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vo.setPakMk(staProtocol.isPakMk()?"Y":"N"); // 需求1
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vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N"); // 空板信号
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vo.setStaNo(staProtocol.getStaNo()); // 目标站
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return R.ok().add(vo);
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}
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}
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}
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return R.error("plc已掉线");
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}
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@PostMapping("/detl/update")
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@ManagerAuth(memo = "修改站点数据")
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public R siteDetlUpdate(@RequestParam Integer siteId,
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@RequestParam Short workNo,
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@RequestParam Short staNo,
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@RequestParam String pakMk){
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for (DevpSlave devp : slaveProperties.getDevp()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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Map<Integer, StaProtocol> station = devpThread.getStation();
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for (Map.Entry<Integer, StaProtocol> entry : station.entrySet()) {
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if (siteId.equals(entry.getKey())) {
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StaProtocol staProtocol = entry.getValue();
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staProtocol = staProtocol.clone();
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if (workNo != null) {
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staProtocol.setWorkNo(workNo);
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}
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if (staNo != null) {
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staProtocol.setStaNo(staNo);
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}
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if (pakMk != null) {
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staProtocol.setPakMk(pakMk.equals("Y"));
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}
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (result) {
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return R.ok();
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} else {
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return R.error("下发命令失败");
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}
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}
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}
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}
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return R.error("plc已掉线");
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}
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}
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