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.EnergyGatheringRingParam;
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import com.zy.asrs.domain.param.RgvCircularShuttleParam;
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import com.zy.asrs.domain.param.RgvWrkMastParam;
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import com.zy.asrs.domain.param.RingThroughParam;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.BasRgvErrMapper;
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import com.zy.asrs.service.*;
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import com.zy.asrs.service.impl.MainServiceImpl;
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import com.zy.asrs.utils.Utils;
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import com.zy.core.cache.*;
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import com.zy.core.enums.RgvModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.RgvTaskProtocol;
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import com.zy.core.model.protocol.TaskProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.RgvThread;
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import com.zy.core.thread.SiemensDevpThread;
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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.*;
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import java.util.concurrent.ConcurrentHashMap;
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/**
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* 输送设备接口
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* Created by vincent on 2020-06-01
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*/
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@RestController
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@RequestMapping("/rgv")
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public class RgvController {
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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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 BasRgvErrMapper basRgvErrMapper;
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@Autowired
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private BasRgvOptService basRgvOptService;
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@Autowired
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private BasRgvService basRgvService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private MainServiceImpl mainService;
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@Value("${constant-parameters.trackEntireLength}")
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private Long trackEntireLength;
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@GetMapping("/status/all")
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// @ManagerAuth(memo = "全部信息")
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public R allStatus(){
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List<Map<String, Object>> res = new ArrayList<>();
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ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
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for (RgvProtocol rgvProtocol : allRgvStatus.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvProtocol.getRgvNo());
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map2.put("taskNo", rgvProtocol.getTaskNo());
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map2.put("mode", rgvProtocol.getModeType().desc);
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map2.put("status", rgvProtocol.getStatusType().desc);
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map2.put("rgvPos", rgvProtocol.getRgvPos());
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map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
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map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
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map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
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res.add(map2);
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}
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return R.ok().add(res);
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}
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@PostMapping("/task/cache/all")
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// @ManagerAuth(memo = "全部信息")
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public R allTaskCache(@RequestParam(defaultValue = "0") Integer rgvNo){
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List<Map<String, Object>> res = new ArrayList<>();
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try{
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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Map<String, Object> map2 = new HashMap<>();
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map2.put("rgvNo", rgvNo);
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map2.put("taskNo", taskProtocol.getTaskNo());
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map2.put("targetPosition", taskProtocol.getTargetPosition());
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map2.put("isRunning", taskProtocol.getIsRunning());
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map2.put("taskStatus", taskProtocol.getTaskStatus());
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map2.put("direction", taskProtocol.isDirection());
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res.add(map2);
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}
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} catch (Exception e){
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// return R.error("异常"+e.getMessage());
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}
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return R.ok().add(res);
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}
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@PostMapping("/run/del")//Take Put Walk
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// @ManagerAuth(memo = "清空任务")
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public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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for (TaskProtocol taskProtocol : allTaskProtocol.values()){
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taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
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}
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} catch (Exception e) {
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return R.error("任务删除失败"+e.getMessage());
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}
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return R.ok("任务清空成功");
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}
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@PostMapping("/run/del2")//Take Put Walk
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// @ManagerAuth(memo = "清除作业启动中")
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public R rgvRunDel2(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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try {
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rgvThread.setWrkSign();
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} catch (Exception e) {
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return R.error("清除作业启动中失败"+e.getMessage());
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}
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return R.ok("任务清空成功");
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}
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@PostMapping("/run/walk")//Take Put Walk
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// @ManagerAuth(memo = "小车行走")
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public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
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return R.error("目标站点请填写");
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}
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if (rgvPosDestination == null || rgvPosDestination == 0){
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("目标站点不存在");
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}
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rgvPosDestination = basDevpPosition.getPlcPosition();
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issued = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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//执行
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issued.setTaskNo(Long.valueOf(taskNo));
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issued.setTaskStatus(1);
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issued.setTaskNoDirection(issued.gettaskNoDirection$(issued.getTaskNo(), issued.getTaskStatus()));
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issued.setTargetPosition(rgvPosDestination);
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issued.setIsRunning(1);
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issued.setDirection(true);
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taskProtocolCache.updateTaskProtocol(issued);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/put")//Take Put Walk
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// @ManagerAuth(memo = "小车放货")
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public R rgvPutWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("目标站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("目标站点不存在");
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}
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
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issuedPut.setTargetPositionStaNoEnd(basDevpPosition.getDevNo$());
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issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/take")//Take Put Walk
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// @ManagerAuth(memo = "小车取货")
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public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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if (Cools.isEmpty(basDevpPosition)){
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return R.error("取货站点不存在");
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}
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTargetPositionStaNo(basDevpPosition.getDevNo());
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issuedTake.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPosition.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/TakeAndPut")//Take Put Walk
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// @ManagerAuth(memo = "小车取货")
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public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
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@RequestParam(defaultValue = "9999") Integer taskNo,
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@RequestParam(defaultValue = "0") Integer rgvStaNoTake,
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@RequestParam(defaultValue = "0") Integer rgvStaNoPut,
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@RequestParam(defaultValue = "0") Long rgvPosDestination
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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if (rgvStaNoTake == null || rgvStaNoTake == 0){
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return R.error("取货站点请填写");
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}
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if (rgvStaNoPut == null || rgvStaNoPut == 0){
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return R.error("放货站点请填写");
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}
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
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TaskProtocol issuedTake = new TaskProtocol();
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TaskProtocol issuedPut = new TaskProtocol();
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try {
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ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
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if (allTaskProtocol.size() > 0) {
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return R.error("存在执行中任务，请先处理！！！");
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}
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BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
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if (Cools.isEmpty(basDevpPositionTake)){
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return R.error("取货站点不存在");
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}
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//执行
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issuedTake.setTaskNo(Long.valueOf(taskNo));
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issuedTake.setTaskStatus(2);
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issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
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issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
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issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
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issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
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issuedTake.setIsRunning(1);
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issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);
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BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
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if (Cools.isEmpty(basDevpPositionPut)){
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return R.error("目标站点不存在");
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}
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//执行
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issuedPut.setTaskNo(Long.valueOf(taskNo));
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issuedPut.setTaskStatus(3);
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issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
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issuedPut.setTargetPositionStaNoEnd(basDevpPositionPut.getDevNo$());
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issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
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issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
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issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
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issuedPut.setIsRunning(1);
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issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);
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taskProtocolCache.updateTaskProtocol(issuedTake);
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taskProtocolCache.updateTaskProtocol(issuedPut);
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/run/delRgvTask")//Take Put Walk
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// @ManagerAuth(memo = "小车取货")
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public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
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) {
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if (rgvNo==null || rgvNo==0){
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return R.error("请选择小车");
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}
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try {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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rgvThread.setDelRgvTask();
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} catch (Exception e) {
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return R.error("任务生成失败"+e.getMessage());
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}
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return R.ok("任务生成成功");
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}
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@PostMapping("/ring/through/rgv/position/data")
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// @ManagerAuth(memo = "环穿位置信息")
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public R ringThroughRgv(){
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List<RingThroughParam> result = new ArrayList<>();
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// for (int i = 1;i<2;i++) {
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// // 获取RGV信息
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgv.getId());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(rgv.getId());
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if (rgvTaskProtocol == null) {
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continue;
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}
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setIndex(rgv.getId());
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// ringThroughParam.setIndex(i);
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// double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
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// double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
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double v = rgvProtocol.RgvPos.doubleValue() ;
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if (rgv.getId()>2){
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v = rgvProtocol.RgvPos.doubleValue() + 1000000.0;
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}
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double[] doubles = Utils.getRgvPosNew(trackEntireLength, v);
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ringThroughParam.setValueX(doubles[0]);
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ringThroughParam.setValueY(doubles[1]);
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ringThroughParam.setModeColor(rgvProtocol.modeType.color);
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ringThroughParam.setStatusColor(rgvProtocol.statusType.color);
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if (rgvProtocol.getModeType() == RgvModeType.AUTO){
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ringThroughParam.setAnimation(2);
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}
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/dev/position/data")
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// @ManagerAuth(memo = "站点信息")
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// 站点位置信息
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public R ringThroughDev(){
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List<RingThroughParam> result = new ArrayList<>();
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
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for (BasDevpPosition basDevpPosition : basDevpPositions){
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// if (basDevpPosition.getDevRegion() == 0){
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// continue;
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// }
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RingThroughParam ringThroughParam = new RingThroughParam();
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ringThroughParam.setModeColor("#FFFFFF");
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ringThroughParam.setStatusColor("#FFFFFF");
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try{
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BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no",basDevpPosition.getDevNo()));
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if (basDevp.getAutoing().equals("Y")){
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if (basDevp.getLoading().equals("Y")){
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ringThroughParam.setModeColor("#ab1839");
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ringThroughParam.setStatusColor("#ab1839");
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}
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if (basDevp.getLoading().equals("N")){
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ringThroughParam.setModeColor("#27AE60");
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ringThroughParam.setStatusColor("#27AE60");
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}
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} else {
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ringThroughParam.setModeColor("#C0392B");
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ringThroughParam.setStatusColor("#C0392B");
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}
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} catch (Exception e){
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System.out.println(e.getMessage());
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ringThroughParam.setModeColor("#000000");
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ringThroughParam.setStatusColor("#000000");
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}
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ringThroughParam.setIndex(basDevpPosition.getDevNo());
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// double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
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// ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
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// ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
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double v = basDevpPosition.getPlcPosition() ;
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if (basDevpPosition.getDevNo()>200){
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v = basDevpPosition.getPlcPosition() + 1000000.0;
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}
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double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),trackEntireLength, v);
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ringThroughParam.setValueX(doubles[0]);
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ringThroughParam.setValueY(doubles[1]);
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result.add(ringThroughParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/track/position/data")
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// @ManagerAuth(memo = "轨道PLC状态信息")
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public R wnergyGatheringRingParamTrack(){
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List<EnergyGatheringRingParam> result = new ArrayList<>();
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try{
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for (DevpSlave devp : slaveProperties.getDevp()) {
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if (devp.getId()!=1){
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break;
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}
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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if (devpThread.isResult()){
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if (true){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
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result.add(energyGatheringRingParam);
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} else {
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
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result.add(energyGatheringRingParam);
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}
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}
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}
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if (result.isEmpty()){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
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result.add(energyGatheringRingParam);
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}
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} catch (Exception e){
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EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
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energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
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energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
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result.add(energyGatheringRingParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/task/wrk/mast/position/data")
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// @ManagerAuth(memo = "作业信息")
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public R ringThroughTaskWrkMast(){
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List<RgvWrkMastParam> result = new ArrayList<>();
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
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for (WrkMast wrkMast : wrkMasts){
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RgvWrkMastParam rgvWrkMastParam = new RgvWrkMastParam(wrkMast);
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if (Cools.isEmpty(rgvWrkMastParam.getRgvNo())){
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rgvWrkMastParam.setRgvSts("未绑定");
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} else {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvWrkMastParam.getRgvNo());
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if (rgvThread == null) {
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rgvWrkMastParam.setRgvSts("未知");
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} else {
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RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvWrkMastParam.getRgvNo());
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RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(rgvWrkMastParam.getRgvNo());
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if (rgvTaskProtocol == null) {
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rgvWrkMastParam.setRgvSts("未知");
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} else {
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rgvWrkMastParam.setRgvSts(rgvProtocol.statusType.desc);
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}
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}
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}
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result.add(rgvWrkMastParam);
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}
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return R.ok().add(result);
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}
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@PostMapping("/ring/through/task/wrk/mast/position/data/v1")
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// @ManagerAuth(memo = "作业信息")
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public R ringThroughTaskWrkMastV1(){
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List<BasRgvOpt> result = new ArrayList<>();
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for (int i = 1 ; i<11; i ++){
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BasRgvOpt basRgvOpt = basRgvOptService.selectOne(new EntityWrapper<BasRgvOpt>().eq("rgv_no", i).orderBy("id", false));
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if (basRgvOpt!=null){
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result.add(basRgvOpt);
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}
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}
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return R.ok().add(result);
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}
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@PostMapping("/task/rgv/circular/shuttle/mast/position/data")
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// @ManagerAuth(memo = "作业信息")
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public R rgvCircularShuttle(){
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List<RgvCircularShuttleParam> result = new ArrayList<>();
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// List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<>());
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// for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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// RgvCircularShuttleParam rgvCircularShuttleParam = new RgvCircularShuttleParam(basCircularShuttle);
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// if (!Cools.isEmpty(rgvCircularShuttleParam.getRgvNo())){
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// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvCircularShuttleParam.getRgvNo());
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// if (rgvThread != null) {
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// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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// if (rgvProtocol != null) {
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// rgvCircularShuttleParam.setPosition(rgvProtocol.getRgvPos());
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// if (rgvCircularShuttleParam.getStatus()==0){
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// rgvCircularShuttleParam.setStatus$(rgvProtocol.statusType.desc);
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// }
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// if (rgvProtocol.getAlarmList().isEmpty()){
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// rgvCircularShuttleParam.setError(0);
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// rgvCircularShuttleParam.setError$("-");
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// } else {
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// StringBuilder alarmList = new StringBuilder();
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// for (Integer alarm : rgvProtocol.getAlarmList()){
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// BasRgvErr rgvErr = basRgvErrMapper.selectById(alarm);
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// alarmList.append((rgvErr==null || rgvErr.getErrName()==null)? "未知异常:"+alarm:rgvErr.getErrName());
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// if (alarm.equals(rgvProtocol.getAlarmList().get(rgvProtocol.getAlarmList().size() - 1))){
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// break;
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// }
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// alarmList.append("---");
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// }
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// rgvCircularShuttleParam.setError$(alarmList.toString());
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// }
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// }
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// }
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// }
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// result.add(rgvCircularShuttleParam);
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// }
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return R.ok().add(result);
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}
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@PostMapping("/task/rgv/circular/shuttle/mast/position/data/v1")
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// @ManagerAuth(memo = "作业信息")
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public R rgvCircularShuttleV1(){
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// List<BasRgvErrLog> result = new ArrayList<>();
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// for (int i = 1 ; i<11; i ++){
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// BasRgvErrLog basRgvErrLog = basRgvErrLogService.selectOne(new EntityWrapper<BasRgvErrLog>().eq("rgv_no", i).orderBy("id", false));
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// if (basRgvErrLog!=null){
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// result.add(basRgvErrLog);
|
// }
|
// }
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return R.ok();
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}
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|
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@PostMapping("/disable/rgv/status")
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// @ManagerAuth(memo = "修改RGV状态")
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public R rgvDisableStatus(@RequestParam Integer rgvNo,
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@RequestParam Integer status){
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// log.info("/disable/rgv/status===》修改RGV状态！！！rgvNo:{},status:{},data:{}",rgvNo,status,new Date());
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// BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
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// if (basCircularShuttle == null){
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// return R.error().add("未找到此RGV，异常！！！");
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// }
|
// basCircularShuttle.setStatus(status);
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// basCircularShuttleService.updateById(basCircularShuttle);
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return R.ok();
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}
|
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@PostMapping("/disable/task/delete")
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// @ManagerAuth(memo = "删除任务")
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public R taskDisabledelete(@RequestParam Long wrkNo){
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// log.info("/disable/task/delete===》删除任务！！！wrkNo:{},data:{}",wrkNo,new Date());
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
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if (Cools.isEmpty(wrkMast)){
|
return R.error().add("未找到此任务，异常！！！");
|
}
|
wrkMastService.deleteById(wrkMast);
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return R.ok();
|
}
|
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@PostMapping("/disable/task/delete1")
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// @ManagerAuth(memo = "初始化任务")
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public R taskDisabledelete1(@RequestParam Long wrkNo){
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Date now = new Date();
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// log.info("/disable/task/delete1===》初始化任务！！！wrkNo:{},data:{}",wrkNo,new Date());
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
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if (Cools.isEmpty(wrkMast)){
|
return R.error().add("未找到此任务，异常！！！");
|
}
|
wrkMast.setWrkSts(1L);
|
// wrkMast.setRgvNo(0);
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wrkMast.setAppeTime(now);
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wrkMast.setLogErrTime(now);
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if (wrkMastService.updateById(wrkMast)){
|
return R.ok();
|
}
|
return R.error("初始化失败！！！");
|
}
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}
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