package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.plugins.Page;
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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.enums.CrnStatusType;
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import com.zy.asrs.domain.enums.StationStatusType;
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import com.zy.asrs.domain.param.SystemSwitchParam;
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import com.zy.asrs.domain.vo.CrnDetailVo;
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import com.zy.asrs.domain.vo.CrnLatestDataVo;
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import com.zy.asrs.domain.vo.StationLatestDataVo;
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import com.zy.asrs.domain.vo.RgvLatestDataVo;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.*;
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import com.zy.common.CodeRes;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.CrnModeType;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.RgvStatusType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.WrkIoType;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.properties.SystemProperties;
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import com.zy.core.thread.CrnThread;
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import com.zy.core.thread.StationThread;
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import com.zy.core.thread.RgvThread;
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import com.zy.core.model.protocol.RgvProtocol;
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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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* 主控图接口
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*/
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@Slf4j
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@RestController
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@RequestMapping("/console")
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public class ConsoleController {
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@Autowired
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private DeviceConfigService deviceConfigService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasCrnpErrService basCrnpErrService;
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@Autowired
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private WrkLastnoService wrkLastnoService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private LocMastService locMastService;
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@PostMapping("/system/running/status")
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@ManagerAuth(memo = "系统运行状态")
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public R systemRunningStatus() {
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return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
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}
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@PostMapping("/system/switch")
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@ManagerAuth(memo = "系统运行开关操作")
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public R systemSwitch(SystemSwitchParam param) throws InterruptedException {
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if (Cools.isEmpty(param.getOperatorType())) {
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return R.error();
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}
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if (param.getOperatorType() == 0) {
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if (Cools.isEmpty(param.getPassword())) {
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return R.error("请输入口令");
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}
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if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
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return R.error("口令错误");
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}
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}
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Thread.sleep(200L);
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SystemProperties.WCS_RUNNING_STATUS.set(param.getOperatorType() == 1 ? Boolean.TRUE : Boolean.FALSE);
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return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
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}
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@PostMapping("/latest/data/station")
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@ManagerAuth(memo = "站点实时数据")
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public R stationLatestData() {
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List<StationLatestDataVo> vos = new ArrayList<>();
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WrkLastno inTaskRange = wrkLastnoService.selectById(WrkIoType.IN.id);
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WrkLastno outTaskRange = wrkLastnoService.selectById(WrkIoType.OUT.id);
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List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Devp)));
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for (DeviceConfig deviceConfig : devpList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp,
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deviceConfig.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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List<StationProtocol> statusList = stationThread.getStatus();
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if (statusList == null || statusList.isEmpty()) {
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continue;
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}
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for (StationProtocol stationProtocol : statusList) {
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StationLatestDataVo vo = new StationLatestDataVo();
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vo.setStationId(stationProtocol.getStationId()); // 站点编号
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vo.setTaskNo(stationProtocol.getTaskNo()); // 任务号
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vo.setTargetStaNo(stationProtocol.getTargetStaNo()); // 目标站点
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vo.setAutoing(stationProtocol.isAutoing()); // 是否自动
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vo.setLoading(stationProtocol.isLoading()); // 是否有物
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vo.setInEnable(stationProtocol.isInEnable()); // 是否可入
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vo.setOutEnable(stationProtocol.isOutEnable()); // 是否可出
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vo.setEmptyMk(stationProtocol.isEmptyMk()); // 是否空板
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vo.setFullPlt(stationProtocol.isFullPlt()); // 是否满板
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vo.setPalletHeight(stationProtocol.getPalletHeight()); // 托盘高度
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vo.setError(stationProtocol.getError()); // 错误码
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vo.setBarcode(stationProtocol.getBarcode()); // 条码
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String stationStatus = StationStatusType.process(stationProtocol).toString().toLowerCase().replaceAll("_", "-");
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if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() > 0) {
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String taskClass = getStationTaskClass(stationProtocol.getTaskNo(), inTaskRange, outTaskRange);
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if (taskClass != null) {
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stationStatus = taskClass;
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}
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}
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vo.setStationStatus(stationStatus);
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vos.add(vo);
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}
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}
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return R.ok().add(vos);
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}
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private String getStationTaskClass(Integer taskNo, WrkLastno inTaskRange, WrkLastno outTaskRange) {
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if (taskNo == null || taskNo <= 0) {
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return null;
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}
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if (isInRange(taskNo, inTaskRange)) {
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return "machine-pakin";
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}
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if (isInRange(taskNo, outTaskRange)) {
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return "machine-pakout";
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}
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return null;
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}
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private boolean isInRange(Integer taskNo, WrkLastno taskRange) {
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if (taskRange == null || taskRange.getSNo() == null || taskRange.getENo() == null) {
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return false;
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}
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return taskNo >= taskRange.getSNo() && taskNo <= taskRange.getENo();
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}
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@PostMapping("/latest/data/crn")
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@ManagerAuth(memo = "堆垛机实时数据")
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public R crnLatestData() {
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List<CrnLatestDataVo> vos = new ArrayList<>();
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List<DeviceConfig> crnList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Crn)));
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for (DeviceConfig deviceConfig : crnList) {
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, deviceConfig.getDeviceNo());
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if (crnThread == null) {
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if (crnProtocol == null) {
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continue;
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}
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CrnLatestDataVo vo = new CrnLatestDataVo();
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vo.setCrnId(crnProtocol.getCrnNo()); // 堆垛机编号
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// 使用实际列值作为偏移参考，避免随机坐标导致界面漂移
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vo.setOffset(Double.valueOf(crnProtocol.getBay()));
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vo.setBay(crnProtocol.getBay()); // 当前列
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vo.setTaskNo(crnProtocol.getTaskNo());
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/**
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* 堆垛机状态判断
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*/
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if (crnProtocol.getAlarm() > 0) {
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vo.setCrnStatus(CrnStatusType.MACHINE_ERROR);
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} else {
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if (crnProtocol.getTaskNo() > 0) {
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WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
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if (wrkMast != null) {
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vo.setCrnStatus(CrnStatusType.process(wrkMast.getIoType()));
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} else {
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vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO
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: CrnStatusType.MACHINE_UN_AUTO);
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}
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} else {
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vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO
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: CrnStatusType.MACHINE_UN_AUTO);
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}
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}
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vos.add(vo);
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}
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return R.ok().add(vos);
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}
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@PostMapping("/latest/data/rgv")
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@ManagerAuth(memo = "RGV实时数据")
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public R rgvLatestData(){
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List<RgvLatestDataVo> vos = new ArrayList<>();
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List<DeviceConfig> rgvList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Rgv)));
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for (DeviceConfig deviceConfig : rgvList) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, deviceConfig.getDeviceNo());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getStatus();
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if (rgvProtocol == null) {
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continue;
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}
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RgvLatestDataVo vo = new RgvLatestDataVo();
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vo.setRgvNo(rgvProtocol.getRgvNo());
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vo.setTaskNo(rgvProtocol.getTaskNo());
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vo.setTrackSiteNo(String.valueOf(rgvProtocol.getRgvPos()));
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vo.setRgvStatus(RgvStatusType.get(rgvProtocol.getStatus()));
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vos.add(vo);
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}
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return R.ok().add(vos);
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}
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// @PostMapping("/latest/data/barcode")
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// @ManagerAuth(memo = "条码扫描仪实时数据")
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// public R barcodeLatestData(){
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// List<BarcodeDataVo> list = new ArrayList<>();
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// for (Slave barcode : slaveProperties.getBarcode()) {
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// BarcodeThread barcodeThread = (BarcodeThread)
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// SlaveConnection.get(SlaveType.Barcode, barcode.getId());
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// if (null == barcodeThread) {
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// continue;
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// }
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// BarcodeDataVo vo = new BarcodeDataVo();
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// vo.setBarcodeId(barcode.getId());
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// vo.setCodeValue(barcodeThread.getBarcode());
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// list.add(vo);
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// }
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// return R.ok().add(list);
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// }
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@PostMapping("/crn/detail")
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@ManagerAuth(memo = "堆垛机设备数据详情")
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public R crnDetail(@RequestParam Integer crnNo) {
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if (Cools.isEmpty(crnNo)) {
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return R.parse(CodeRes.EMPTY);
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}
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CrnDetailVo vo = new CrnDetailVo();
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DeviceConfig deviceConfig = deviceConfigService.selectOne(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Crn))
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.eq("device_no", crnNo));
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if (deviceConfig == null) {
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return R.error("设备不存在");
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}
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
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CrnProtocol crnProtocol = crnThread.getStatus();
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vo.setCrnNo(crnNo);
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vo.setWorkNo(crnProtocol.getTaskNo());
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vo.setCrnStatus(crnProtocol.getStatusType().desc);
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if (crnProtocol.getAlarm() > 0) {
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BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
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vo.setError(crnError == null ? "未知异常" : crnError.getErrName());
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}
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if (crnProtocol.getTaskNo() > 0) {
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WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
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if (wrkMast != null) {
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vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo()));
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vo.setStaNo(String.valueOf(wrkMast.getStaNo()));
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vo.setWrkSts(wrkMast.getWrkSts$()); // 工作状态
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vo.setIoType(wrkMast.getIoType$()); // 入出库类型
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vo.setSourceLocNo(wrkMast.getSourceLocNo$());
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vo.setLocNo(wrkMast.getLocNo$());
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vo.setCrnStatus(crnProtocol.getStatusType().desc);
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vo.setError(""); // todo
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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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* 获取地图楼层数据
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*/
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@GetMapping("/map/lev/list")
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@ManagerAuth
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public R getMapLevList() {
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List<Integer> levList = locMastService.getLevList();
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return R.ok().add(levList);
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}
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/**
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* 获取地图数据
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*/
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@GetMapping("/map/{lev}/auth")
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public R getLocMap(@PathVariable Integer lev) {
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Object object = redisUtil.get(RedisKeyType.LOC_MAP_BASE.key);
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if (object == null) {
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return R.error("地图未初始化");
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}
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List<List<HashMap<String, Object>>> mapNodeList = (List<List<HashMap<String, Object>>>) object;
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List<LocMast> locMastList = locMastService.selectLocByLev(lev);
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for (LocMast locMast : locMastList) {
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String[] locType = locMast.getLocType().split("-");
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HashMap<String, Object> mapNode = mapNodeList.get(Integer.parseInt(locType[0])).get(Integer.parseInt(locType[1]));
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mapNode.put("locSts", locMast.getLocSts());
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mapNode.put("locNo", locMast.getLocNo());
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}
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return R.ok().add(mapNodeList);
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}
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@RequestMapping(value = "/map/locList")
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public R mapLocList() {
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Object object = redisUtil.get(RedisKeyType.LOC_MAST_MAP_LIST.key);
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if (object != null) {
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JSONArray data = JSON.parseArray(object.toString());
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return R.ok().add(data);
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}
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EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
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wrapper.eq("lev1", 1);
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List<LocMast> locMasts = locMastService.selectList(wrapper);
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redisUtil.set(RedisKeyType.LOC_MAST_MAP_LIST.key, JSON.toJSONString(locMasts), 60 * 60 * 24);
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return R.ok().add(locMasts);
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}
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}
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