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.DualCrnCommandParam;
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import com.zy.asrs.domain.vo.DualCrnStateTableVo;
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import com.zy.asrs.entity.BasDualCrnp;
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import com.zy.asrs.service.BasDualCrnpService;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.DualCrnCommand;
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import com.zy.core.model.protocol.DualCrnProtocol;
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import com.zy.core.thread.DualCrnThread;
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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.RequestBody;
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import org.springframework.web.bind.annotation.RestController;
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import java.util.ArrayList;
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import java.util.List;
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@Slf4j
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@RestController
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public class DualCrnController {
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@Autowired
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private BasDualCrnpService basDualCrnpService;
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@PostMapping("/dualcrn/table/crn/state")
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@ManagerAuth(memo = "双工位堆垛机信息表")
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public R dualCrnStateTable() {
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List<DualCrnStateTableVo> list = new ArrayList<>();
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List<BasDualCrnp> crnps = basDualCrnpService.selectList(new EntityWrapper<BasDualCrnp>().orderBy("crn_no"));
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for (BasDualCrnp basDualCrnp : crnps) {
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DualCrnStateTableVo vo = new DualCrnStateTableVo();
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vo.setCrnNo(basDualCrnp.getCrnNo());
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list.add(vo);
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
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if (crnThread == null) {
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continue;
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}
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DualCrnProtocol p = crnThread.getStatus();
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if (p == null) {
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continue;
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}
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vo.setTaskNo(p.getTaskNo());
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vo.setTaskNoTwo(p.getTaskNoTwo());
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vo.setMode(p.getModeType() == null ? "-" : p.getModeType().desc);
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vo.setStatus(p.getStatusType() == null ? "-" : p.getStatusType().desc);
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vo.setStatusTwo(p.getStatusTypeTwo() == null ? "-" : p.getStatusTypeTwo().desc);
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vo.setLoading(p.getLoaded() != null && p.getLoaded() == 1 ? "有物" : "无物");
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vo.setLoadingTwo(p.getLoadedTwo() != null && p.getLoadedTwo() == 1 ? "有物" : "无物");
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vo.setBay(p.getBay());
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vo.setBayTwo(p.getBayTwo());
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vo.setLev(p.getLevel());
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vo.setLevTwo(p.getLevelTwo());
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vo.setForkOffset(p.getForkPosType() == null ? "-" : p.getForkPosType().desc);
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vo.setForkOffsetTwo(p.getForkPosTypeTwo() == null ? "-" : p.getForkPosTypeTwo().desc);
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vo.setLiftPos(p.getLiftPosType() == null ? "-" : p.getLiftPosType().desc);
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vo.setLiftPosTwo(p.getLiftPosTypeTwo() == null ? "-" : p.getLiftPosTypeTwo().desc);
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vo.setWalkPos(p.getWalkPos() != null && p.getWalkPos() == 0 ? "在定位" : "不在定位");
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vo.setWalkPosTwo(p.getWalkPosTwo() != null && p.getWalkPosTwo() == 0 ? "在定位" : "不在定位");
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vo.setTaskReceive(p.getTaskReceive() != null && p.getTaskReceive() == 1 ? "接收" : "无任务");
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vo.setTaskReceiveTwo(p.getTaskReceiveTwo() != null && p.getTaskReceiveTwo() == 1 ? "接收" : "无任务");
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vo.setXspeed(p.getXSpeed());
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vo.setYspeed(p.getYSpeed());
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vo.setZspeed(p.getZSpeed());
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vo.setXdistance(p.getXDistance());
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vo.setYdistance(p.getYDistance());
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vo.setXduration(p.getXDuration());
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vo.setYduration(p.getYDuration());
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vo.setWarnCode(p.getAlarm() == null ? "-" : String.valueOf(p.getAlarm()));
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if (p.getAlarm() != null && p.getAlarm() > 0) {
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vo.setDeviceStatus("ERROR");
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} else if (p.getTaskNo() != null && p.getTaskNo() > 0 || p.getTaskNoTwo() != null && p.getTaskNoTwo() > 0) {
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vo.setDeviceStatus("WORKING");
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} else if (p.getModeType() != null && "AUTO".equals(p.getModeType().name())) {
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vo.setDeviceStatus("AUTO");
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} else {
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vo.setDeviceStatus("OFFLINE");
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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("/dualcrn/command/take")
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@ManagerAuth(memo = "双工位堆垛机取放货命令")
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public R dualCrnCommandTake(@RequestBody DualCrnCommandParam param) {
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if (Cools.isEmpty(param)) {
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return R.error("缺少参数");
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}
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Integer crnNo = param.getCrnNo();
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String sourceLocNo = param.getSourceLocNo();
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String targetLocNo = param.getTargetLocNo();
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Integer station = param.getStation();
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
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if (crnThread == null) {
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return R.error("线程不存在");
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}
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DualCrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo, station);
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/dualcrn/command/pick")
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@ManagerAuth(memo = "双工位堆垛机取货命令")
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public R dualCrnCommandPick(@RequestBody DualCrnCommandParam param) {
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if (Cools.isEmpty(param)) {
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return R.error("缺少参数");
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}
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Integer crnNo = param.getCrnNo();
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String targetLocNo = param.getTargetLocNo();
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Integer station = param.getStation();
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
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if (crnThread == null) {
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return R.error("线程不存在");
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}
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DualCrnCommand command = crnThread.getPickCommand(targetLocNo, 9999, crnNo, station);
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/dualcrn/command/put")
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@ManagerAuth(memo = "双工位堆垛机放货命令")
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public R dualCrnCommandPut(@RequestBody DualCrnCommandParam param) {
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if (Cools.isEmpty(param)) {
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return R.error("缺少参数");
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}
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Integer crnNo = param.getCrnNo();
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String targetLocNo = param.getTargetLocNo();
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Integer station = param.getStation();
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
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if (crnThread == null) {
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return R.error("线程不存在");
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}
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DualCrnCommand command = crnThread.getPutCommand(targetLocNo, 9999, crnNo, station);
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/dualcrn/command/move")
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@ManagerAuth(memo = "双工位堆垛机移动命令")
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public R dualCrnCommandMove(@RequestBody DualCrnCommandParam param) {
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if (Cools.isEmpty(param)) {
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return R.error("缺少参数");
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}
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Integer crnNo = param.getCrnNo();
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String targetLocNo = param.getTargetLocNo();
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Integer station = param.getStation();
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
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if (crnThread == null) {
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return R.error("线程不存在");
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}
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DualCrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
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if (station != null) {
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command.setStation(station.shortValue());
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}
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
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return R.ok();
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}
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@PostMapping("/dualcrn/command/taskComplete")
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@ManagerAuth(memo = "双工位堆垛机任务完成确认")
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public R dualCrnCommandTaskComplete(@RequestBody DualCrnCommandParam param) {
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if (Cools.isEmpty(param)) {
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return R.error("缺少参数");
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}
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Integer crnNo = param.getCrnNo();
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Integer station = param.getStation();
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DualCrnThread crnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, crnNo);
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if (crnThread == null) {
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return R.error("线程不存在");
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}
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DualCrnCommand command = crnThread.getResetCommand(crnNo, station);
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, command));
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return R.ok();
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}
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}
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