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.param.RgvCommandMoveParam;
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import com.zy.asrs.domain.param.RgvCommandTaskCompleteParam;
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import com.zy.asrs.domain.param.RgvCommandTransportParam;
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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.service.BasRgvService;
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import com.zy.asrs.service.BasRgvErrService;
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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.RgvStatusType;
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import com.zy.core.enums.SlaveType;
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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.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.*;
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import java.util.*;
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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 BasRgvService basRgvService;
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@Autowired
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private BasRgvErrService basRgvErrService;
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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());
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list.add(vo);
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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.getStatus();
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if (rgvProtocol == null) {
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continue;
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}
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vo.setTaskNo(rgvProtocol.getTaskNo());
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RgvModeType modeType = RgvModeType.get(rgvProtocol.getMode());
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vo.setMode(modeType == null ? "" : modeType.desc);
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RgvStatusType statusType = RgvStatusType.get(rgvProtocol.getStatus() == null ? null : rgvProtocol.getStatus());
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vo.setStatus(statusType == null ? "" : statusType.desc);
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vo.setLoading(rgvProtocol.getLoaded() != null && rgvProtocol.getLoaded() == 1 ? "有物" : "无物");
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vo.setTrackSiteNo(String.valueOf(rgvProtocol.getRgvPos()));
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String deviceStatus = "";
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if (modeType == RgvModeType.AUTO) {
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deviceStatus = "AUTO";
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}
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if (rgvProtocol.getTaskNo() != null && rgvProtocol.getTaskNo() > 0) {
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deviceStatus = "WORKING";
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}
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if(rgvProtocol.getAlarm() > 0) {
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deviceStatus = "ERROR";
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}
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vo.setDeviceStatus(deviceStatus);
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vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
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if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
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BasRgvErr err = basRgvErrService.selectById(rgvProtocol.getAlarm());
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vo.setAlarm(err == null ? "未知异常" : err.getErrName());
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vo.setDeviceStatus("ERROR");
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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 = "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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@PostMapping("/command/transport")
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public R rgvCommandTransport(@RequestBody RgvCommandTransportParam param) {
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if (Cools.isEmpty(param) || param.getRgvNo() == null || param.getTargetPos() == null) {
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return R.error("缺少参数");
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}
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Integer rgvNo = param.getRgvNo();
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Integer sourcePos = param.getSourcePos();
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Integer targetPos = param.getTargetPos();
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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if (rgvThread == null) {
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return R.error("线程不存在");
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}
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RgvCommand command = rgvThread.getTransportCommand(9999, rgvNo, sourcePos, targetPos);
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MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/command/move")
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public R rgvCommandMove(@RequestBody RgvCommandMoveParam param) {
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if (Cools.isEmpty(param) || param.getRgvNo() == null || param.getTargetPos() == null) {
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return R.error("缺少参数");
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}
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Integer rgvNo = param.getRgvNo();
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Integer targetPos = param.getTargetPos();
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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if (rgvThread == null) {
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return R.error("线程不存在");
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}
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RgvCommand command = rgvThread.getMoveCommand(9999, rgvNo, targetPos);
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MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/command/taskComplete")
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public R rgvCommandTaskComplete(@RequestBody RgvCommandTaskCompleteParam param) {
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if (Cools.isEmpty(param) || param.getRgvNo() == null) {
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return R.error("缺少参数");
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}
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Integer rgvNo = param.getRgvNo();
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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if (rgvThread == null) {
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return R.error("线程不存在");
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}
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RgvCommand command = rgvThread.getResetCommand(rgvNo);
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MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(2, command));
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return R.ok();
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}
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}
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