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.CrnCommandTakeParam;
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import com.zy.asrs.domain.vo.CrnStateTableVo;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.BasCrnpErr;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCrnpErrService;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.WrkMastService;
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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.CrnModeType;
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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.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.thread.CrnThread;
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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.RequestMapping;
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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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/**
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* 堆垛机接口
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*/
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@Slf4j
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@RestController
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@RequestMapping("/crn")
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public class CrnController {
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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 BasCrnpService basCrnpService;
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@PostMapping("/table/crn/state")
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@ManagerAuth(memo = "堆垛机信息表")
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public R crnStateTable() {
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List<CrnStateTableVo> list = new ArrayList<>();
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List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
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for (BasCrnp basCrnp : crnps) {
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// 表格行
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CrnStateTableVo vo = new CrnStateTableVo();
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vo.setCrnNo(basCrnp.getCrnNo()); // 堆垛机号
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list.add(vo);
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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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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vo.setWorkNo(crnProtocol.getTaskNo()); // 任务号
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vo.setMode(crnProtocol.getModeType().desc); // 模式状态
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vo.setStatus(crnProtocol.getStatusType().desc); // 状态
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vo.setLoading(crnProtocol.getLoaded() == 1 ? "有物" : "无物"); // 有物
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vo.setBay(crnProtocol.getBay()); // 列
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vo.setLev(crnProtocol.getLevel()); // 层
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vo.setForkOffset(crnProtocol.getForkPosType().desc); // 货叉位置
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vo.setLiftPos(crnProtocol.getLiftPosType().desc);
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vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
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vo.setXspeed(crnProtocol.getXSpeed()); // 走行速度（m/min)
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vo.setYspeed(crnProtocol.getYSpeed()); // 升降速度（m/min)
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vo.setZspeed(crnProtocol.getZSpeed()); // 叉牙速度（m/min)
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vo.setXdistance(crnProtocol.getXDistance()); // 走行距离(Km)
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vo.setYdistance(crnProtocol.getYDistance()); // 升降距离(Km)
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vo.setXduration(crnProtocol.getXDuration()); // 走行时长(H)
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vo.setYduration(crnProtocol.getYDuration()); // 升降时长(H)
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if (crnProtocol.getModeType().equals(CrnModeType.AUTO)) {
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vo.setDeviceStatus("AUTO");
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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())); // 源站
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vo.setStaNo(String.valueOf(wrkMast.getStaNo())); // 目标站
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vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 源库位
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vo.setLocNo(wrkMast.getLocNo()); // 目标库位
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vo.setDeviceStatus("WORKING");
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}
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}
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vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
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if (crnProtocol.getAlarm() > 0) {
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BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
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vo.setAlarm(crnError == null ? "未知异常" : crnError.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 = "堆垛机报文日志输出")
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public R crnOutput() {
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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.CRN.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/take")
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public R crnCommandTake(@RequestBody CrnCommandTakeParam 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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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 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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CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
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MessageQueue.offer(SlaveType.Crn, crnNo, 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 crnCommandMove(@RequestBody CrnCommandTakeParam 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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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 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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CrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
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MessageQueue.offer(SlaveType.Crn, crnNo, 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 crnCommandTaskComplete(@RequestBody CrnCommandTakeParam 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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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 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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CrnCommand command = crnThread.getResetCommand(crnNo);
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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return R.ok();
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}
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}
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