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.core.exception.CoolException;
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import com.zy.asrs.domain.enums.RgvStatusType;
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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.param.RgvOperatorParam;
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import com.zy.asrs.domain.vo.RgvMsgTableVo;
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import com.zy.asrs.domain.vo.RgvStateTableVo;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasRgvErr;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.mapper.BasRgvErrMapper;
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import com.zy.asrs.service.BasRgvService;
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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.core.CrnThread;
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import com.zy.core.RgvThread;
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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.RgvModeType;
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import com.zy.core.enums.RgvTaskModeType;
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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.RgvSlave;
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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.command.RgvCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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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 com.zy.core.thread.SiemensRgvThread;
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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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* RGV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("/rgv")
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public class RgvController {
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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 BasRgvService basRgvService;
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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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int wrkNo = 9990;
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@ManagerAuth(memo = "演示命令下发")
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@GetMapping("/rgvDemoTask")
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public R rgvDemoTask(Integer rgvNo, Integer sta,Integer end){
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wrkNo++;
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RgvCommand command = new RgvCommand();
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command.setRgvNo(rgvNo); // RGV编号
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command.setAckFinish1(false); // 任务完成确认位
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command.setTaskNo1(wrkNo); // 工作号
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command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo1(sta.shortValue()); // 源站
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command.setDestinationStaNo1(end.shortValue()); // 目标站
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// command.setAckFinish2((short) 0); // 任务完成确认位
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// command.setTaskNo2((short) 0); // 工作号
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// command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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// command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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// command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)? R.ok(): R.error();
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}
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@ManagerAuth(memo = "解锁小车")
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@PostMapping("/lock")
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public R lock(RgvOperatorParam param ){
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo());
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rgvThread.setPakMk(true);
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return R.ok();
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}
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@GetMapping("/demo/status")
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public R demoStatus(Integer rgvNo){
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Map<String,Object> map = new HashMap<>();
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if (Cools.isEmpty(rgvNo)){
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map.put("demo","X");
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map.put("rgvMode",0);
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return R.ok().add(map);
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}
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String demo = "X";
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Integer rgvMode = 0;
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// List<Map<String, Object>> res = new ArrayList<>();
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvSlave.getId().equals(rgvNo)){
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demo = rgvSlave.getDemo()?"Y":"N";
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rgvSlave.setRgvMode(rgvProtocol.getMode().intValue());
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rgvMode = rgvProtocol.getMode().intValue();
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}
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}
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map.put("demo",demo);
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map.put("rgvMode",rgvMode);
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return R.ok().add(map);
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}
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@GetMapping("/demo/status/true")
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public R demoStatusTrue(Integer rgvNo){
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if (Cools.isEmpty(rgvNo)){
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return R.error("请选择rgv");
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}
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// List<Map<String, Object>> res = new ArrayList<>();
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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if (rgvSlave.getId().equals(rgvNo)){
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rgvSlave.setDemo(true);
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}
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}
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return R.ok();
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}
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@GetMapping("/demo/status/false")
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public R demoStatusFalse(Integer rgvNo){
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if (Cools.isEmpty(rgvNo)){
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return R.error("请选择rgv");
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}
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// List<Map<String, Object>> res = new ArrayList<>();
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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if (rgvSlave.getId().equals(rgvNo)){
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rgvSlave.setDemo(false);
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}
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}
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return R.ok();
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}
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@GetMapping("/demo/status/rgvStatus")
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public R demoStatusTrue1(Integer rgvNo,Integer status){
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if (Cools.isEmpty(rgvNo)){
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return R.error("请选择rgv");
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}
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if (Cools.isEmpty(status)){
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return R.error("选择按钮有误");
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}
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// List<Map<String, Object>> res = new ArrayList<>();
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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// 获取RGV信息
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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String DB = "";
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if (rgvSlave.getId().equals(rgvNo)){
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switch (status){
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case 5://强制启动
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DB="4.4";
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break;
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// case 6://复位信号
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// DB="4.5";
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// break;
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case 7://报警消音
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DB="4.6";
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break;
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case 8://启动
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DB="4.7";
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break;
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case 9://停止
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DB="5.0";
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break;
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case 10://急停
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DB="5.1";
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break;
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case 11://复位按钮
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DB="5.2";
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break;
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case 12://手动
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DB="5.3";
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rgvSlave.setRgvMode(3);
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break;
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case 13://手动定位
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DB="5.4";
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break;
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case 14://单机
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DB="5.5";
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rgvSlave.setRgvMode(2);
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break;
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case 15://联机
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DB="5.6";
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rgvSlave.setRgvMode(1);
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break;
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case 16://货叉定位回中
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DB="5.7";
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break;
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case 17://恢复联机任务
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DB="6.0";
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break;
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default:
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return R.error("按钮不存在？？？？！！！");
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}
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if (MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(10, DB))) {
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return R.ok();
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} else {
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return R.error("命令下发失败");
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}
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}
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}
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return R.ok();
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}
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@PostMapping("/demo/switch")
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@ManagerAuth(memo = "RGV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 (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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if (rgvSlave.getId().equals(param.getCrnId())) {
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rgvSlave.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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@ManagerAuth(memo = "取放货")
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@PostMapping("/operator/put")
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public R rgvFetchPut(RgvOperatorParam param){
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wrkNo++;
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1(false); // 任务完成确认位
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command.setTaskNo1(wrkNo); // 工作号
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command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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command.setSourceStaNo1(param.getSourceRow().shortValue()); // 源站
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command.setDestinationStaNo1(param.getSourceBay().shortValue()); // 目标站
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// command.setAckFinish2((short) 0); // 任务完成确认位
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// command.setTaskNo2((short) 0); // 工作号
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// command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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// command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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// command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)? R.ok(): R.error();
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}
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@ManagerAuth(memo = "取")
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@PostMapping("/operator/single/step/one/put")
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public R rgvFetchSingleStepOnePut(RgvOperatorParam param){
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return rgvFetchSingleStepPut(param,1)?R.ok():R.error();
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}
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@ManagerAuth(memo = "放")
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@PostMapping("/operator/single/step/two/put")
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public R rgvFetchSingleStepTwoPut(RgvOperatorParam param){
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return rgvFetchSingleStepPut(param,2)?R.ok():R.error();
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}
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@ManagerAuth(memo = "X运行")
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@PostMapping("/operator/single/step/three/put")
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public R rgvFetchSingleStepThreePut(RgvOperatorParam param){
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return rgvFetchSingleStepPut(param,3)?R.ok():R.error();
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}
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@ManagerAuth(memo = "取放")
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@PostMapping("/operator/single/step/four/put")
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public R rgvFetchSingleStepFourPut(RgvOperatorParam param){
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return rgvFetchSingleStepPut(param,4)?R.ok():R.error();
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}
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public boolean rgvFetchSingleStepPut(RgvOperatorParam param ,Integer type){
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wrkNo++;
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RgvCommand command = new RgvCommand();
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RgvTaskModeType fetchPut = RgvTaskModeType.NONE;
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switch (type){
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case 1:
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fetchPut = RgvTaskModeType.FETCH;
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param.setSourceBay(0);
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break;
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case 2:
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fetchPut = RgvTaskModeType.PUT;
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param.setSourceRow(0);
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break;
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case 3:
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fetchPut = RgvTaskModeType.X_MOVE;
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break;
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case 4:
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fetchPut = RgvTaskModeType.FETCH_PUT;
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break;
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default:
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return false;
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}
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1(false); // 任务完成确认位
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command.setTaskNo1(wrkNo); // 工作号
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command.setTaskMode1(fetchPut); // 任务模式: 取放货
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command.setSourceStaNo1(param.getSourceRow().shortValue()); // 源站
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command.setDestinationStaNo1(param.getSourceBay().shortValue()); // 目标站
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// command.setAckFinish2((short) 0); // 任务完成确认位
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// command.setTaskNo2((short) 0); // 工作号
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// command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
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// command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
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// command.setDestinationStaNo2(param.getStaNo2()); // 目标站
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command.setCommand((short) 0);
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return rgvControlD(command);
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}
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@ManagerAuth(memo = "复位")
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@PostMapping("/operator/reset")
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public R crnReset(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setReset(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "联机")
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@PostMapping("/operator/auto")
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public R crnAuto(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setAuto(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "恢复任务")
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@PostMapping("/operator/restoreTask")
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public R crnRestoreTask(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setRestoreTask(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "完成任务")
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@PostMapping("/operator/compTask")
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public R rgvCompTask(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setCompTask(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "急停")
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@PostMapping("/operator/stop")
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public R rgvStop(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setStop(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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@ManagerAuth(memo = "取消急停")
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@PostMapping("/operator/noStop")
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public R rgvNoStop(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // 堆垛机编号
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command.setNoStop(true);
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return rgvControl2(command)?R.ok():R.error();
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}
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private boolean rgvControl2(RgvCommand command){
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if (command.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取堆垛机信息
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if (command.getRgvNo().equals(rgv.getId())) {
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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// 空闲判断
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// if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(2, command))) {
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return true;
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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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// } else {
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// throw new CoolException("堆垛机不在空闲状态");
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// }
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}
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}
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return false;
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}
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@PostMapping("/table/rgv/state")
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@ManagerAuth(memo = "RGV信息表")
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public R rgvStateTable(){
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List<RgvStateTableVo> list = new ArrayList<>();
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List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
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for (BasRgv basRgv : rgvs) {
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// 表格行
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RgvStateTableVo vo = new RgvStateTableVo();
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vo.setRgvNo(basRgv.getRgvNo()); // RGV号
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list.add(vo);
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// 获取RGV信息
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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vo.setStatusType(rgvProtocol.modeType.desc); // 模式状态
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vo.setStatus(rgvProtocol.getStatusType1().desc); // 状态
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vo.setWorkNo1(rgvProtocol.getTaskNo1()); // 工位1任务号
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vo.setRgvPos(rgvProtocol.getRgvPos());
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vo.setPakMk(rgvThread.isPakMk()?"无锁":"锁定");
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vo.setWalkPos(rgvProtocol.getAlarm() == 0?"正常":"报警");
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vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
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// vo.setStaNo(rgvProtocol.getSouSta().intValue());
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// vo.setSourceStaNo(rgvProtocol.getEndSta().intValue());
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if (rgvProtocol.getAlarm() > 0) {
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BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
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vo.setAlarm(rgvErr==null?"未知异常":rgvErr.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/rgv/msg")
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@ManagerAuth(memo = "RGV数据表")
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public R rgvMsgTable(){
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List<RgvMsgTableVo> list = new ArrayList<>();
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List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
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for (BasRgv basRgv : rgvs) {
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// 表格行
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RgvMsgTableVo vo = new RgvMsgTableVo();
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vo.setRgvNo(basRgv.getRgvNo()); // RGV号
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list.add(vo);
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// 获取RGV信息
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
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if (rgvThread == null) {
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continue;
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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vo.setWorkNo(rgvProtocol.getTaskNo1()); // 任务号
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if (rgvProtocol.getTaskNo1()>0) {
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WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
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if (wrkMast != null) {
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vo.setStatus(RgvStatusType.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(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc); // 模式状态
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}
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vo.setXspeed(rgvProtocol.getXSpeed()); // 走行速度（m/min)
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vo.setXdistance(rgvProtocol.getXDistance()); // 走行距离(Km)
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vo.setXduration(rgvProtocol.getXDuration()); // 走行时长(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 = "RGV报文日志输出")
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public R rgvOutput(){
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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.RGV.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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/****************************************************************/
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/************************** 手动操作 ******************************/
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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 rgvTaskComplete(RgvOperatorParam param){
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1(false); // 任务完成确认位
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command.setTaskNo1( 0); // 工作号
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short) 0); // 源站
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command.setDestinationStaNo1((short) 0); // 目标站
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command.setAckFinish2((short) 1); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo2((short) 0); // 源站
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command.setDestinationStaNo2((short) 0); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)? R.ok(): R.error();
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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 rgvClearCommand(RgvOperatorParam param){
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if (param.getRgvNo() == null) {
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throw new CoolException("请选择RGV号");
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}
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RgvCommand command = new RgvCommand();
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command.setRgvNo(param.getRgvNo()); // RGV编号
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command.setAckFinish1(false); // 任务完成确认位
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command.setTaskNo1(0); // 工作号
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command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo1((short) 0); // 源站
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command.setDestinationStaNo1((short) 0); // 目标站
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command.setAckFinish2((short) 0); // 任务完成确认位
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command.setTaskNo2((short) 0); // 工作号
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command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
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command.setSourceStaNo2((short) 0); // 源站
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command.setDestinationStaNo2((short) 0); // 目标站
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command.setCommand((short) 0);
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return rgvControl(command)? R.ok(): R.error();
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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(RgvOperatorParam param) throws Exception {
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if (param.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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// 获取RGV缓存
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取RGV信息
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if (param.getRgvNo().equals(rgv.getId())) {
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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RgvCommand Command = new RgvCommand();
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Command.setRgvNo(rgv.getId()); // RGV编号
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Command.setTaskMode1(RgvTaskModeType.NONE);
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Command.setAckFinish1(false); // 任务完成确认位
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Command.setAckFinish2((short) 0); // 任务完成确认位
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Command.setCommand((short) 0); // 任务完成确认位
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// 延时发送
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Thread.sleep(1000L);
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, 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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private boolean rgvControl(RgvCommand command){
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if (command.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取RGV信息
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if (command.getRgvNo().equals(rgv.getId())) {
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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if (rgvThread == null) {
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throw new CoolException("RGV不在线");
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}
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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throw new CoolException("RGV不在线");
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}
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, command))) {
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return true;
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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 false;
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}
|
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private boolean rgvControlD(RgvCommand command){
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if (command.getRgvNo() == null) {
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throw new CoolException("请选择RGV");
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}
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// 获取RGV信息
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if (command.getRgvNo().equals(rgv.getId())) {
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// SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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// if (rgvThread == null) {
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// throw new CoolException("RGV不在线");
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// }
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// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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// if (rgvProtocol == null) {
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// throw new CoolException("RGV不在线");
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// }
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try{
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if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(11, command))) {
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return true;
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} else {
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throw new CoolException("命令下发失败");
|
}
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}catch (Exception e){
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log.error("单步任务下发失败，异常："+e);
|
throw new CoolException("命令下发失败");
|
}
|
}
|
}
|
return false;
|
}
|
|
}
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