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.common.R;
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import com.zy.asrs.domain.param.ToInStaParam;
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import com.zy.asrs.domain.param.ToOutStaParam;
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import com.zy.asrs.entity.RcsReporterTask;
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import com.zy.asrs.entity.RcsReturn;
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import com.zy.asrs.service.RcsService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.News;
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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.protocol.StaProtocol;
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import com.zy.core.thread.SiemensDevpThread;
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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.beans.factory.annotation.Value;
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import org.springframework.web.bind.annotation.*;
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import java.util.HashMap;
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@Slf4j
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@RestController
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public class OpenController {
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@Autowired
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private RcsService rcsService;
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@Value("${zyHikUrl}")
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private String zyHikUrl;
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@RequestMapping("/open/toOutSta")
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public R toOutSta(@RequestBody ToOutStaParam param) {
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log.info("toOutSta:{}",param);
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Integer sourceStaNo = param.getSourceStaNo();
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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if(siemensDevpThread == null) {
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return R.error("线程不存在");
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}
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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if(staProtocol == null) {
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return R.error("站点不存在");
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}
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if (staProtocol.getWorkNo().intValue() != param.getWrkNo()) {
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return R.error("工作号不一致");
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}
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if (!staProtocol.isLoading()) {
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return R.error("站点无物");
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}
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staProtocol.setWorkNo(param.getWrkNo().shortValue());
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staProtocol.setStaNo(param.getStaNo().shortValue());
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staProtocol.setPalletSize((short) 1);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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log.info("发生成功:{}",result);
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return R.ok().add(result);
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}
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// 反馈任务执行结果
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@PostMapping("/api/robot/reporter/task")
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public RcsReturn reporterTask(@RequestBody RcsReporterTask param){
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return rcsService.reporterTask(param);
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}
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@RequestMapping("/open/toInSta")
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public R toInSta(@RequestBody ToInStaParam param) {
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log.info("toInSta:{}",param);
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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if(siemensDevpThread == null) {
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return R.error("线程不存在");
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}
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StaProtocol staProtocol = siemensDevpThread.getStation().get(param.getStaNo()).clone();
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if(staProtocol == null) {
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return R.error("站点不存在");
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}
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if (!staProtocol.isLoading()) {
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return R.error("站点无物");
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}
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Short s = 301;
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if (param.getStaNo() == 304 || param.getStaNo() == 305 || param.getStaNo() == 306) {
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s = 304;
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}
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staProtocol.setWorkNo(param.getWrkNo().shortValue());
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staProtocol.setStaNo(s);
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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log.info("发生成功:{}",result);
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return R.ok().add(result);
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}
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@RequestMapping("/open/capture")
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public void startPic(@RequestParam String ip,@RequestParam String filename) {
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try {
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HashMap<String, Object> data = new HashMap<>();
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data.put("ip", ip);
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data.put("filename", filename);
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String response = new HttpHandler.Builder()
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.setUri(zyHikUrl)
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.setPath("/capture")
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.setJson(JSON.toJSONString(data))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getBoolean("success")) {
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News.error("请求接口成功！！！url：{}；request：{}；response：{}", zyHikUrl + "/startPic", JSON.toJSONString(data), response);
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} else {
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News.error("请求接口失败！！！url：{}；request：{}；response：{}", zyHikUrl + "/startPic", JSON.toJSONString(data), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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@GetMapping("/api/robot/reporter/task1")
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public void reporterTask1(){
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Integer sourceStaNo = 307;
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SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
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boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
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// log.info("AGV放货完成，给站点写9991工作号,下发任务:{},站点:{},agv任务号:{}", result, task.getStaNo(), task.getTaskNo());
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}
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}
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