#

Junjie

7 天以前 0b7a31fdf4990b28ccad5453a9190727ecf02f14

 src/main/java/com/zy/asrs/controller/ForkLiftController.java

@@ -1,21 +1,29 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -26,41 +34,46 @@
import java.util.List;

/**
 * 提升机接口
 * 货叉提升机接口
 */
@Slf4j
@RestController
@RequestMapping("/lift")
@RequestMapping("/forkLift")
public class ForkLiftController {

    @Autowired
    private CommonService commonService;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ForkLiftAction forkLiftAction;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        ArrayList<JSONObject> list = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(slave.getId());   //提升机号
            list.add(vo);
            JSONObject baseObj = new JSONObject();
            baseObj.put("shuttleNo", slave.getId());
            list.add(baseObj);
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
                vo.setProtocolStatus(ForkLiftProtocolStatusType.NONE.id);//离线
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null || forkLiftProtocol.getLiftNo()==null) {
            if (forkLiftProtocol == null) {
                continue;
            }
            vo.setTaskNo(forkLiftProtocol.getTaskNo().shortValue());  //  任务号
            vo.setProtocolStatus(forkLiftProtocol.getProtocolStatusType().id);
            JSONObject data = JSON.parseObject(JSON.toJSONString(forkLiftProtocol));
            List<ForkLiftStaProtocol> forkLiftStaProtocols = forkLiftThread.getForkLiftStaProtocols();
            data.put("forkLiftStaProtocols", forkLiftStaProtocols);
            baseObj.putAll(data);
        }
        return R.ok().add(list);
    }
@@ -84,8 +97,9 @@
                continue;
            }

            vo.setWorkNo(forkLiftProtocol.getTaskNo().intValue());//任务号
            vo.setWorkNo(forkLiftProtocol.getTaskNo());//任务号
            vo.setPakMk(forkLiftProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setForkLiftStaProtocols(forkLiftThread.getForkLiftStaProtocols());
        }
        return R.ok().add(list);
    }
@@ -145,9 +159,7 @@
    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
                        @RequestParam Short workNo) {
        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
        if (forkLiftThread == null) {
            return R.error("plc已掉线");
@@ -240,4 +252,82 @@
        return R.ok();
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "手动操作")
    @PostMapping("/operator/lift")
    public R liftOperator(LiftOperatorParam param){
        if (Cools.isEmpty(param.getLiftNo())) {
            return R.parse(BaseRes.PARAM);
        }

        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, param.getLiftNo());
        if (forkLiftThread == null) {
            throw new CoolException("提升机不在线");
        }
        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
        if (forkLiftProtocol == null) {
            throw new CoolException("提升机不在线");
        }

        if (param.getLiftTaskMode() == 1) {
            //小车换层
            int workNo = commonService.getWorkNo(99);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<ForkLiftCommand> liftCommand = forkLiftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 2) {
            //移动托盘
            int workNo = commonService.getWorkNo(99);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<ForkLiftCommand> liftCommand = forkLiftThread.getPickAndPutCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 3) {
            //任务确认
            forkLiftThread.reset();
            return R.ok();
        } else if (param.getLiftTaskMode() == 0) {
            //提升机复位
            forkLiftThread.setSyncTaskNo(0);
            forkLiftThread.setProtocolStatus(ForkLiftProtocolStatusType.IDLE);
            return R.ok();
        } else {
            throw new CoolException("未知命令");
        }
    }

}