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.BaseRes;
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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.param.ShuttleOperatorParam;
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import com.zy.asrs.domain.vo.*;
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import com.zy.asrs.entity.BasShuttle;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.ShuttleThread;
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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.*;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Random;
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/**
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* 四向穿梭车接口
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*/
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@Slf4j
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@RestController
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@RequestMapping("/shuttle")
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public class ShuttleController {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private WrkMastService wrkMastService;
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@PostMapping("/table/shuttle/state")
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@ManagerAuth(memo = "四向穿梭车信息表")
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public R steStateTable(){
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List<ShuttleStateTableVo> list = new ArrayList<>();
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List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
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for (BasShuttle basShuttle : shuttles) {
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// 表格行
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ShuttleStateTableVo vo = new ShuttleStateTableVo();
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vo.setShuttleNo(basShuttle.getShuttleNo()); //四向穿梭车号
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list.add(vo);
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// 获取四向穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
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continue;
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}
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vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 任务号
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vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
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vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//当前任务状态
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vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
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vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//电池电量
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vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "°");//电池温度
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if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
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vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//错误编号
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}
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vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
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if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
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vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//错误信息码
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}
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vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态
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vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
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vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
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vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
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vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
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vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
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vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
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vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
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vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//当前的升降伺服负载率
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vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//当前的行走伺服负载率
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}
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return R.ok().add(list);
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}
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@PostMapping("/table/shuttle/msg")
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@ManagerAuth(memo = "四向穿梭车数据表")
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public R steMsgTable(){
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List<ShuttleMsgTableVo> list = new ArrayList<>();
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List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
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for (BasShuttle basShuttle : shuttles) {
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// 表格行
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ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
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vo.setShuttleNo(basShuttle.getShuttleNo()); // 四向穿梭车号
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list.add(vo);
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// 获取穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
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if (shuttleThread == null) {
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continue;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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continue;
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}
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vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
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if (shuttleProtocol.getTaskNo() > 0) {
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WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
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if (wrkMast != null) {
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vo.setSourceLocNo(wrkMast.getSourceLocNo());//源库位
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vo.setDistLocNo(wrkMast.getLocNo());//目标库位
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}
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}
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if (shuttleProtocol.getProtocolStatusType() != null) {
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vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态
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}
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vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
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vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
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vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
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vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
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vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
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vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率
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vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
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vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
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vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 作业标记
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}
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return R.ok().add(list);
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}
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@PostMapping("/latest/data/shuttle")
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@ManagerAuth(memo = "四向穿梭车实时数据")
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public R shuttleLatestData(){
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return R.ok();
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}
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@PostMapping("/output/shuttle")
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@ManagerAuth
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public R steOutput(){
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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.SHUTTLE.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("/detl/{shuttleNo}")
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public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){
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ShuttleDataVo vo = new ShuttleDataVo();
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for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
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if (shuttleNo.equals(shuttleSlave.getId())) {
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vo.setShuttleNo(shuttleSlave.getId());
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BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
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if (!Cools.isEmpty(basShuttle)) {
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vo.setWorkNo(basShuttle.getWrkNo());
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vo.setPakMk(basShuttle.getPakMk());
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}
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break;
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}
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}
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return R.ok().add(vo);
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}
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@GetMapping("/sensor/detl/{shuttleNo}")
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public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){
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ShuttleSensorDataVo vo = new ShuttleSensorDataVo();
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for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
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if (shuttleNo.equals(shuttleSlave.getId())) {
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vo.setShuttleNo(shuttleSlave.getId());
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// 获取穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
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if (shuttleThread == null) {
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return R.error("设备不在线");
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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return R.error("设备不在线");
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}
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// 穿梭车异常 -----------
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// 穿梭车提示信息 ----------------------
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// 状态信息 -------------
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break;
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}
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}
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return R.ok().add(vo);
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}
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@PostMapping("/detl/update")
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@ManagerAuth
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public R steUpdate(ShuttleDataVo vo){
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BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
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if (basShuttle == null) {
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return R.error();
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}
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// 获取四向穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
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}
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// if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
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// if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
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// throw new CoolException("服务器错误");
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// }
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// }
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ShuttleCommand shuttleCommand = new ShuttleCommand();
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shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
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if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
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} else {
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throw new CoolException("命令下发失败");
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}
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basShuttle.setPakMk(vo.getPakMk());
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basShuttle.setWrkNo(vo.getWorkNo());
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basShuttle.setUpdateTime(new Date());
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if (!basShuttleService.updateById(basShuttle)) {
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throw new CoolException("修改失败");
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}
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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 = "手动操作")
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@PostMapping("/operator/shuttle")
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public R shuttleOperator(ShuttleOperatorParam param){
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if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
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return R.parse(BaseRes.PARAM);
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}
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if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
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return R.parse(BaseRes.PARAM);
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}
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for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
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if (param.getShuttleNo().equals(shuttleSlave.getId())) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
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if (shuttleThread == null) {
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throw new CoolException("四向穿梭车不在线");
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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if (shuttleProtocol == null) {
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throw new CoolException("四向穿梭车不在线");
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}
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ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
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ShuttleAssignCommand command = new ShuttleAssignCommand();
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command.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
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command.setTaskMode(shuttleTaskModeType.id.shortValue());
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command.setSourceLocNo(param.getSourceLocNo());
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command.setLocNo(param.getDistLocNo());
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command.setTaskNo((short) 9999);
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if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
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return R.ok();
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} else {
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throw new CoolException("命令下发失败");
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}
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}
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}
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return R.error();
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}
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}
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