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.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.CrnOperatorParam;
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import com.zy.asrs.domain.param.RgvOperatorParam;
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import com.zy.asrs.domain.vo.RgvMsgTableVo;
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import com.zy.asrs.domain.vo.RgvStateTableVo;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvErr;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.BasRgvErrMapper;
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import com.zy.asrs.service.BasRgvService;
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import com.zy.asrs.service.LocMastService;
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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.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.RgvTaskStatusType;
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import com.zy.core.enums.SlaveType;
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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 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 java.lang.reflect.Field;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Objects;
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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 LocMastService locMastService;
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@ManagerAuth(memo = "解锁小车")
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@PostMapping("/lock")
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public R lock(CrnOperatorParam param){
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo());
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rgvThread.setPakMk(true);
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return R.ok();
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}
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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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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) continue;
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) continue;
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vo.setStatusType(rgvProtocol.modeType.desc); // 模式状态
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vo.setStatus(String.valueOf(rgvProtocol.getMode())); // 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() ? "有物" : "无物"); // 工位1有物
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vo.setRgvPos(rgvProtocol.getRgvPos());
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vo.setRgvPos1(rgvProtocol.getRgvPosI2());
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vo.setWalkPos(Objects.equals(rgvProtocol.getWalkPos(), 1) ? "在定位" : "不在定位");
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vo.setPakMk(rgvThread.isPakMk() ? "无锁" : "锁定");
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// vo.setPakIn(rgvThread.isPakIn() ? "可入" : "不可入");
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// vo.setPakOut(rgvThread.isPakOut() ? "可出" : "不可出");
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// vo.setPakRgv(rgvThread.isPakRgv() ? "无锁" : "锁定");
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vo.setPaking(rgvThread.isPaking()? "无锁" : "锁定");
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// vo.setPakAll(rgvThread.isPakAll() ? "无锁" : "锁定");
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// vo.setPakToCrn(rgvThread.isPakToCrn() ? "无锁" : "锁定");
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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() ? "有物" : "无物"); // 工位2有物
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// --- 遍历 errX 字段生成 warnCode 和 alarm ---
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List<String> alarms = new ArrayList<>();
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List<String> warnCodes = new ArrayList<>();
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Field[] fields = rgvProtocol.getClass().getDeclaredFields();
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for (Field field : fields) {
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if (field.getName().startsWith("err") && field.getType().equals(Boolean.class)) {
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field.setAccessible(true);
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try {
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Boolean value = (Boolean) field.get(rgvProtocol);
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if (Boolean.TRUE.equals(value)) {
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String numPart = field.getName().substring(3);
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int errId = Integer.parseInt(numPart);
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warnCodes.add(String.valueOf(errId));
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BasRgvErr rgvErr = basRgvErrMapper.selectById(errId);
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alarms.add(rgvErr == null ? "未知异常(" + errId + ")" : rgvErr.getErrName());
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}
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} catch (IllegalAccessException e) {
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e.printStackTrace();
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}
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}
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}
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vo.setWarnCode(String.join(",", warnCodes));
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vo.setAlarm(alarms.isEmpty() ? "" : String.join("，", alarms));
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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.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1工作号
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vo.setWorkNo2(rgvProtocol.getTaskNo2()); //工位2 工作号
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vo.setStaNo(String.valueOf(rgvProtocol.getRgvPosDestination())); //小车目标站
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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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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(false); // 任务完成确认位
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command.setTaskNo(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(false); // 任务完成确认位
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command.setTaskNo2(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(true);
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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.setWrkTaskPri(param.getWorkSta()); //执行工位
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command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号
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command.setTaskStatus(RgvTaskStatusType.FETCH); // 任务模式: 取货
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command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站
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// command.setTaskMode2(RgvTaskModeType.FETCH); // 任务模式: 取放货
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// command.setAckFinish1(false); // 任务完成确认位
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// command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
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// command.setAckFinish2(false); // 任务完成确认位
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// command.setTaskNo2( 0); // 工作号
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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(true);
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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.setWrkTaskPri(param.getWorkSta()); //执行工位
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command.setTaskNo(Math.toIntExact(param.getWorkNo())); // 工作号
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command.setTaskStatus(RgvTaskStatusType.PUT); // 任务模式: 取货
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command.setTargetPosition(Integer.valueOf(param.getStaNo())); // 目标站
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// command.setAckFinish1(false); // 任务完成确认位
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// command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
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// command.setAckFinish2(false); // 任务完成确认位
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// command.setTaskNo2( 0); // 工作号
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// command.setTaskMode2(RgvTaskModeType.FETCH); // 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(true);
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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(true); // 任务完成确认位
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// command.setTaskNo1(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(true); // 任务完成确认位
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command.setTaskNo2( 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(true);
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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.setWrkTaskPri(0); //执行工位
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command.setTaskNo(Math.toIntExact(0)); // 工作号
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command.setTaskStatus((short)0); // 任务模式: 取货
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command.setTargetPosition(0); // 目标站
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return rgvClear(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(true); // 任务完成确认位
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Command.setAckFinish2(true); // 任务完成确认位
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Command.setCommand(true); // 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(4, 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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private boolean rgvClear(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(3, 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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}
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