package com.zy.asrs.controller;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.baomidou.mybatisplus.mapper.EntityWrapper;
|
import com.core.annotations.ManagerAuth;
|
import com.core.common.Cools;
|
import com.core.common.R;
|
import com.zy.asrs.domain.param.SystemSwitchParam;
|
import com.zy.asrs.entity.BasMap;
|
import com.zy.asrs.entity.DeviceConfig;
|
import com.zy.asrs.entity.LocMast;
|
import com.zy.asrs.service.BasMapService;
|
import com.zy.asrs.service.DeviceConfigService;
|
import com.zy.asrs.service.LocMastService;
|
import com.zy.asrs.utils.Utils;
|
import com.zy.common.model.MapNode;
|
import com.zy.common.model.NavigateNode;
|
import com.zy.common.model.enums.NavigationMapType;
|
import com.zy.common.utils.NavigateMapData;
|
import com.zy.common.utils.RedisUtil;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.RedisKeyType;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.model.command.ShuttleRedisCommand;
|
import com.zy.core.model.protocol.ShuttleProtocol;
|
import com.zy.core.properties.SystemProperties;
|
import com.zy.core.thread.ShuttleThread;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.web.bind.annotation.*;
|
|
import javax.servlet.http.HttpServletRequest;
|
import java.util.*;
|
|
/**
|
* 主控图接口
|
* Created by vincent on 2020-06-01
|
*/
|
@Slf4j
|
@RestController
|
@RequestMapping("/console")
|
public class ConsoleController {
|
|
@Autowired
|
private BasMapService basMapService;
|
@Autowired
|
private RedisUtil redisUtil;
|
@Autowired
|
private NavigateMapData navigateMapData;
|
@Autowired
|
private LocMastService locMastService;
|
@Autowired
|
private DeviceConfigService deviceConfigService;
|
|
@PostMapping("/system/running/status")
|
@ManagerAuth(memo = "系统运行状态")
|
public R systemRunningStatus(){
|
return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
|
}
|
|
@PostMapping("/system/switch")
|
@ManagerAuth(memo = "系统运行开关操作")
|
public R systemSwitch(SystemSwitchParam param) throws InterruptedException {
|
if (Cools.isEmpty(param.getOperatorType())){
|
return R.error();
|
}
|
if (param.getOperatorType() == 0) {
|
if (Cools.isEmpty(param.getPassword())){
|
return R.error("请输入口令");
|
}
|
if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
|
return R.error("口令错误");
|
}
|
}
|
Thread.sleep(200L);
|
SystemProperties.WCS_RUNNING_STATUS.set(param.getOperatorType()==1?Boolean.TRUE:Boolean.FALSE);
|
return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
|
}
|
|
/**
|
* 获取地图楼层数据
|
*/
|
@GetMapping("/map/lev/list")
|
@ManagerAuth
|
public R getMapLevList() {
|
List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
|
ArrayList<Integer> levList = new ArrayList<>();
|
for (BasMap basMap : basMaps) {
|
levList.add(basMap.getLev());
|
}
|
return R.ok().add(levList);
|
}
|
|
/**
|
* 获取地图数据
|
*/
|
@GetMapping("/map/{lev}/auth")
|
@ManagerAuth
|
public R getMapFromRedis(@PathVariable Integer lev) {
|
Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
|
if (data == null) {
|
return R.error();
|
}
|
|
List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
|
List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE, NavigationMapType.PATH_LOCK), arrayList, lev, null, null);//过滤地图数据
|
return R.ok().add(lists);
|
}
|
|
/**
|
* 获取库位地图数据
|
*/
|
@GetMapping("/locMap/{lev}/auth")
|
@ManagerAuth
|
public R getLocMap(@PathVariable Integer lev) {
|
Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
|
if (data == null) {
|
return R.error();
|
}
|
|
List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
|
List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE), arrayList, lev, null, null);//过滤地图数据
|
|
//获取当前楼层库位数据
|
List<LocMast> locMasts = locMastService.selectLocByLev(lev);
|
for (LocMast locMast : locMasts) {
|
Integer row = locMast.getRow1();
|
Integer bay = locMast.getBay1();
|
|
List<MapNode> list = lists.get(row);
|
MapNode mapNode = list.get(bay);
|
|
mapNode.setLocSts(locMast.getLocSts());
|
mapNode.setLocNo(locMast.getLocNo());
|
|
//更新list
|
list.set(bay, mapNode);
|
lists.set(row, list);
|
}
|
return R.ok().add(lists);
|
}
|
|
/**
|
* 重置redis中的地图，将占用的库位全部解除
|
*/
|
@GetMapping("/map/resetMap/auth")
|
@ManagerAuth
|
public R resetMapToRedis() {
|
List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
|
for (BasMap basMap : basMaps) {
|
Integer lev = basMap.getLev();
|
redisUtil.del(RedisKeyType.MAP.key + lev);
|
}
|
return R.ok();
|
}
|
|
/**
|
* 重置redis中的地图，将占用的库位全部解除
|
*/
|
@GetMapping("/map/resetMap/{lev}")
|
@ManagerAuth(memo = "重置Redis地图")
|
public R resetMapToRedisByLev(@PathVariable Integer lev, HttpServletRequest request) {
|
redisUtil.del(RedisKeyType.MAP.key + lev);
|
return R.ok();
|
}
|
|
/**
|
* 获取预计路径
|
*/
|
@GetMapping("/getMoveAdvancePath/{lev}/auth")
|
@ManagerAuth
|
public R getMoveAdvancePath(@PathVariable Integer lev) {
|
HashMap<String, Object> pathMap = new HashMap<>();
|
|
List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
|
.eq("device_type", String.valueOf(SlaveType.Shuttle)));
|
for (DeviceConfig deviceConfig : shuttleList) {
|
// 获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getCurrentLocNo() == null) {
|
continue;
|
}
|
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != lev) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() == 0) {
|
|
}
|
|
//存在任务，获取指令
|
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
|
if (object != null) {
|
ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
|
List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
|
|
for (NavigateNode node : nodes) {
|
String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
|
|
List<Integer> shuttleNoList = new ArrayList<>();
|
Object tmp = pathMap.get(locNo);
|
if(tmp != null) {
|
shuttleNoList = (List<Integer>) tmp;
|
}
|
|
if (!shuttleNoList.contains(shuttleProtocol.getShuttleNo())) {
|
shuttleNoList.add(shuttleProtocol.getShuttleNo());
|
}
|
|
pathMap.put(locNo, shuttleNoList);
|
}
|
}
|
}
|
|
List<HashMap<String, Object>> pathList = new ArrayList<>();
|
for (Map.Entry<String, Object> entry : pathMap.entrySet()) {
|
String locNo = entry.getKey();
|
Object shuttleNoList = entry.getValue();
|
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("locNo", locNo);
|
map.put("x", Utils.getRow(locNo));
|
map.put("y", Utils.getBay(locNo));
|
map.put("z", Utils.getLev(locNo));
|
map.put("shuttleNoList", shuttleNoList);
|
pathList.add(map);
|
}
|
return R.ok().add(pathList);
|
}
|
|
/**
|
* 获取锁定路径
|
*/
|
@GetMapping("/getLockPath/{lev}/auth")
|
@ManagerAuth
|
public R getLockPath(@PathVariable Integer lev) {
|
HashMap<String, Object> lockMap = new HashMap<>();
|
Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
|
if (o != null) {
|
lockMap = (HashMap<String, Object>) o;
|
}
|
|
List<HashMap<String, Object>> lockList = new ArrayList<>();
|
for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
|
String locNo = entry.getKey();
|
Object shuttleNo = entry.getValue();
|
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("locNo", locNo);
|
map.put("x", Utils.getRow(locNo));
|
map.put("y", Utils.getBay(locNo));
|
map.put("z", Utils.getLev(locNo));
|
map.put("shuttleNo", shuttleNo);
|
lockList.add(map);
|
}
|
return R.ok().add(lockList);
|
}
|
|
}
|
