package com.zy.asrs.controller;
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import com.alibaba.fastjson.JSON;
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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.core.exception.CoolException;
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import com.zy.asrs.domain.enums.CrnStatusType;
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import com.zy.asrs.domain.param.CrnDemoParam;
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import com.zy.asrs.domain.param.CrnOperatorParam;
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import com.zy.asrs.domain.vo.CommandLogVo;
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import com.zy.asrs.domain.vo.CrnMsgTableVo;
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import com.zy.asrs.domain.vo.CrnStateTableVo;
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import com.zy.asrs.entity.BasCrnError;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.BasCrnErrorMapper;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.service.impl.MainServiceImpl;
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import com.zy.asrs.utils.VersionUtils;
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import com.zy.core.CrnThread;
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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.CrnTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.CrnSlave;
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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.properties.SlaveProperties;
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import com.zy.core.properties.SystemProperties;
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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.GetMapping;
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import org.springframework.web.bind.annotation.PostMapping;
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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.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* 堆垛机接口
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* Created by vincent on 2020-06-01
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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 SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private MainServiceImpl mainService;
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@Autowired
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private LocMastService locMastService;
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@ManagerAuth(memo = "进行中的命令")
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@PostMapping("/command/ongoing")
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public R ongoingCommand(){
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List<CommandLogVo> list = new ArrayList<>();
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for (CrnSlave crn : slaveProperties.getCrn()) {
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CommandLogVo vo = new CommandLogVo();
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vo.setCrnNo(crn.getId()); // 堆垛机号
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vo.setStatus(0); // 状态
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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, crn.getId());
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if (crnThread == null) {
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) {
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continue;
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}
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vo.setStatus(1); // 状态
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Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
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if (task != null) {
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vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
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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("/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.getCrnProtocol();
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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.setStatusType(crnProtocol.modeType.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.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
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if (crnProtocol.getAlarm() > 0) {
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BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
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vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
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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("/table/crn/msg")
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@ManagerAuth(memo = "堆垛机数据表")
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public R crnMsgTable(){
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List<CrnMsgTableVo> 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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CrnMsgTableVo vo = new CrnMsgTableVo();
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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.getCrnProtocol();
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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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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.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 模式状态
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vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 源站
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vo.setStaNo(wrkMast.getStaNo$()); // 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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}
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} else {
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vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 模式状态
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}
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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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}
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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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@GetMapping("/demo/status")
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public R demoStatus(){
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List<Map<String, Object>> res = new ArrayList<>();
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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Map<String, Object> map = new HashMap<>();
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map.put("crnNo", crnSlave.getId());
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map.put("demo", crnSlave.getDemo());
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res.add(map);
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}
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return R.ok().add(res);
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}
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@PostMapping("/demo/switch")
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@ManagerAuth(memo = "堆垛机演示")
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public R crnDemo(CrnDemoParam param) throws InterruptedException {
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if (Cools.isEmpty(param.getCrnId())){
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return R.error();
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}
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if (Cools.isEmpty(param.getPassword())){
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return R.error("请输入口令");
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}
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if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
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return R.error("口令错误");
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}
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Thread.sleep(200L);
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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if (crnSlave.getId().equals(param.getCrnId())) {
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crnSlave.setDemo(param.getOpt());
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}
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}
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// mainService.crnDemoOfLocMove(param.getCrnId());
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return R.ok();
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}
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/****************************************************************/
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/************************** 手动操作 ******************************/
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/****************************************************************/
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@ManagerAuth(memo = "入库")
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@PostMapping("/operator/put")
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public R crnPut(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "出库")
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@PostMapping("/operator/take")
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public R crnTake(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "库位转移")
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@PostMapping("/operator/stockMove")
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public R crnStockMove(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
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.eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
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LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
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.eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
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VersionUtils.locMoveCheckLocType(sourceLoc, loc);
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "移车")
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@PostMapping("/operator/steMove")
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public R crnSteMove(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式
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command.setSourcePosX(param.getSourceRow()); // 源库位排
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command.setSourcePosY(param.getSourceBay()); // 源库位列
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command.setSourcePosZ(param.getSourceLev()); // 源库位层
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command.setDestinationPosX(param.getRow()); // 目标库位排
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command.setDestinationPosY(param.getBay()); // 目标库位列
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command.setDestinationPosZ(param.getLev()); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "站到站")
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@PostMapping("/operator/siteMove")
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public R crnSiteMove(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
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command.setSourcePosX(param.getSourceStaNo()); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 1); // 源库位层
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command.setDestinationPosX(param.getStaNo()); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 1); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "回原点")
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@PostMapping("/operator/bacOrigin")
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public R crnBacOrigin(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 0); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "反原点")
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@PostMapping("/operator/reverseOrigin")
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public R reverseOrigin(CrnOperatorParam param){
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 34); // 目标库位列
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command.setDestinationPosZ((short) 5); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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// @ManagerAuth(memo = "坐标移动")
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// @PostMapping("/operator/coorMove")
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// public R crnCoorMove(CrnOperatorParam param){
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// CrnCommand command = new CrnCommand();
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// command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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// command.setTaskNo((short) 0); // 工作号
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// command.setAckFinish((short) 0); // 任务完成确认位
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// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
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// command.setSourcePosX(param.getSourceRow()); // 源库位排
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// command.setSourcePosY(param.getSourceBay()); // 源库位列
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// command.setSourcePosZ(param.getSourceLev()); // 源库位层
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// command.setDestinationPosX(param.getRow()); // 目标库位排
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// command.setDestinationPosY(param.getBay()); // 目标库位列
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// command.setDestinationPosZ(param.getLev()); // 目标库位层
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// staNoProcess(param, command);
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// return crnControl(command)?R.ok():R.error();
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// }
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@ManagerAuth(memo = "任务完成")
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@PostMapping("/operator/taskComplete")
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public R crnTaskComplete(CrnOperatorParam param){
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, param.getCrnNo());
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if (crnThread == null) {
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return R.error();
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}
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) {
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return R.error();
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}
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//堆垛机状态不是等待WCS确认时，不能下发确认位
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if (!crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.WAITING)){
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return R.error("堆垛机不是等待WCS确认状态");
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}
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CrnCommand command = new CrnCommand();
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command.setCrnNo(param.getCrnNo()); // 堆垛机编号
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command.setTaskNo((short) 0); // 工作号
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command.setAckFinish((short) 1); // 任务完成确认位
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command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
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command.setSourcePosX((short) 0); // 源库位排
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command.setSourcePosY((short) 0); // 源库位列
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command.setSourcePosZ((short) 0); // 源库位层
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command.setDestinationPosX((short) 0); // 目标库位排
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command.setDestinationPosY((short) 0); // 目标库位列
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command.setDestinationPosZ((short) 0); // 目标库位层
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return crnControl(command)?R.ok():R.error();
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}
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// @ManagerAuth(memo = "暂停")
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// @PostMapping("/operator/pause")
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// public R crnPause(CrnOperatorParam param){
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// return R.ok("暂停成功");
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// }
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//
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// @ManagerAuth(memo = "启动")
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// @PostMapping("/operator/boot")
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// public R crnBoot(CrnOperatorParam param){
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// return R.ok("启动成功");
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// }
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@ManagerAuth(memo = "清除命令")
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@PostMapping("/operator/clearCommand")
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public R crnClearCommand(CrnOperatorParam param){
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if (param.getCrnNo() == null) {
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throw new CoolException("请选择堆垛机");
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}
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MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
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return R.ok("清除命令成功");
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}
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@ManagerAuth(memo = "手动复位")
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@PostMapping("/operator/handleReset")
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public R handleReset(CrnOperatorParam param) throws Exception {
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if (param.getCrnNo() == null) {
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throw new CoolException("请选择堆垛机");
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}
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// 获取堆垛机缓存
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for (CrnSlave crn : slaveProperties.getCrn()) {
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// 获取堆垛机信息
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if (param.getCrnNo().equals(crn.getId())) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
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if (crnThread == null) {
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throw new CoolException("堆垛机不在线");
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}
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) {
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throw new CoolException("堆垛机不在线");
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}
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
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crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setCommand((short) 0); // 任务完成确认位
|
// 延时发送
|
Thread.sleep(1000L);
|
if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
|
return R.ok();
|
} else {
|
throw new CoolException("命令下发失败");
|
}
|
|
|
}
|
}
|
|
return R.error();
|
}
|
|
private boolean crnControl(CrnCommand command){
|
if (command.getCrnNo() == null) {
|
throw new CoolException("请选择堆垛机");
|
}
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
if (command.getCrnNo().equals(crn.getId())) {
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
if (crnThread == null) {
|
throw new CoolException("堆垛机不在线");
|
}
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
throw new CoolException("堆垛机不在线");
|
}
|
// 空闲判断
|
// if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
|
if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
|
return true;
|
} else {
|
throw new CoolException("命令下发失败");
|
}
|
// } else {
|
// throw new CoolException("堆垛机不在空闲状态");
|
// }
|
}
|
}
|
return false;
|
}
|
|
private void staNoProcess(CrnOperatorParam param, CrnCommand command){
|
if (param.getSourceStaNo()!=null) {
|
if (param.getSourceStaNo() == 5) {
|
command.setSourcePosX((short) 2); // 源库位排
|
command.setSourcePosY((short) 0); // 源库位列
|
command.setSourcePosZ((short) 1); // 源库位层
|
} else if (param.getSourceStaNo() == 6) {
|
command.setSourcePosX((short) 1); // 源库位排
|
command.setSourcePosY((short) 0); // 源库位列
|
command.setSourcePosZ((short) 1); // 源库位层
|
}
|
}
|
if (param.getStaNo()!=null) {
|
if (param.getStaNo() == 5) {
|
command.setDestinationPosX((short) 2); // 目标库位排
|
command.setDestinationPosY((short) 0); // 目标库位列
|
command.setDestinationPosZ((short) 1); // 目标库位层
|
} else if (param.getStaNo() == 6) {
|
command.setDestinationPosX((short) 1); // 目标库位排
|
command.setDestinationPosY((short) 0); // 目标库位列
|
command.setDestinationPosZ((short) 1); // 目标库位层
|
}
|
}
|
}
|
|
|
}
|
