package com.zy.asrs.controller;
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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.*;
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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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import java.util.ArrayList;
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import java.util.List;
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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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@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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@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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@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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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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@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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@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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@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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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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@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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@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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//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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//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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//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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//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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/************************** 手动操作 ******************************/
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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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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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if (param.getLiftTaskMode() == 1) {
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//小车换层
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int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号
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Integer startSta = param.getSourceStaNo();
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Integer targetSta = param.getStaNo();
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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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//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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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(WrkIoType.MANUAL.id);//获取任务号
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Integer startSta = param.getSourceStaNo();
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Integer targetSta = param.getStaNo();
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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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//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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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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//移动
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int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号
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Integer startSta = param.getSourceStaNo();
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Integer targetSta = param.getStaNo();
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//获取提升机命令
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List<ForkLiftCommand> liftCommand = forkLiftThread.getMoveCommand(workNo, startSta, targetSta);
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ArrayList<ForkLiftCommand> commands = new ArrayList<>();
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commands.addAll(liftCommand);
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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.MOVE.id.shortValue());
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forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
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return R.ok();
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} else if (param.getLiftTaskMode() == 4) {
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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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