*

lsh

2025-04-01 0c60480362efdcffa0cbb3f6dd4272f43859adb1

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

@@ -2,7 +2,6 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
@@ -20,6 +19,7 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
@@ -36,8 +36,10 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -50,6 +52,13 @@
@Slf4j
@RestController
public class CrnController {

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.movePath}")
    private String movePath;



    @Autowired
    private SlaveProperties slaveProperties;
@@ -121,9 +130,9 @@
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
        }
@@ -156,9 +165,9 @@
        vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
        vo.setLiftPos(crnProtocol.getLiftPosType().desc);
        vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
        vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
        if (crnProtocol.getAlarm1() > 0) {
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
        vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
        if (crnProtocol.getAlarm() > 0) {
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
            vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
        }
        return R.ok().add(vo);
@@ -298,9 +307,9 @@
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
            vo.setInEnable(basCrnp.getInEnable());
@@ -367,6 +376,10 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/crn/operator/put")
    public R crnPut(CrnOperatorParam param){
//        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -378,40 +391,51 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setCommand((short)1);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/crn/operator/take")
    public R crnTake(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setCommand((short)1);
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/crn/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setSourcePosZ(param.getSourceRow());     // 源库位排
        command.setSourcePosX(param.getSourceBay());     // 源库位列
        command.setSourcePosY(param.getSourceLev());     // 源库位层
        command.setDestinationPosZ(param.getRow());     // 目标库位排
        command.setDestinationPosX(param.getBay());     // 目标库位列
        command.setDestinationPosY(param.getLev());     // 目标库位层
        command.setCommand((short)1);
        LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
@@ -423,6 +447,10 @@
    @ManagerAuth(memo = "站到站")
    @PostMapping("/crn/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -440,6 +468,10 @@
    @ManagerAuth(memo = "回原点")
    @PostMapping("/crn/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -457,6 +489,10 @@
    @ManagerAuth(memo = "反原点")
    @PostMapping("/crn/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -466,8 +502,8 @@
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        command.setDestinationPosY((short) 22);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

@@ -492,6 +528,10 @@
    @ManagerAuth(memo = "任务完成")
    @PostMapping("/crn/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -503,6 +543,7 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        command.setCommand((short)0);
        return crnControl(command)?R.ok():R.error();
    }

@@ -521,6 +562,10 @@
    @ManagerAuth(memo = "清除命令")
    @PostMapping("/crn/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -541,6 +586,10 @@
    @ManagerAuth(memo = "手动复位")
    @PostMapping("/crn/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -563,7 +612,7 @@
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand), false)) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
@@ -575,6 +624,164 @@

        return R.error();
    }

    @ManagerAuth(memo = "切换联机模式")
    @PostMapping("/crn/operator/auto")
    public R crnAuto(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换半手动模式")
    @PostMapping("/crn/operator/semiAutomatic")
    public R crnsemiAutomatic(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)2);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换手动模式")
    @PostMapping("/crn/operator/hand")
    public R onlineWrk1(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)3);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "申请完成任务")
    @PostMapping("/crn/operator/onlineWrk1")
    public R onlineWrk2(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk1((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "申请取消任务")
    @PostMapping("/crn/operator/onlineWrk2")
    public R onlineWrk3(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk2((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "清除联机任务")
    @PostMapping("/crn/operator/onlineWrk3")
    public R onlineWrk4(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk3((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "恢复联机任务")
    @PostMapping("/crn/operator/onlineWrk4")
    public R crnHand(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk4((short)1);

        return crnControl2(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "复位")
    @PostMapping("/crn/operator/reset")
    public R crnReset(CrnOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setReset((short)1);

        return crnControl2(command)?R.ok():R.error();
    }



    private boolean crnControl2(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (command.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    throw new CoolException("堆垛机不在线");
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(4, command), false)) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
            }
        }
        return false;
    }





    private boolean crnControl(CrnCommand command){
        if (command.getCrnNo() == null) {
@@ -593,11 +800,11 @@
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                if (CommandUtils.offer(SlaveType.Crn, crn.getId(), new Task(2, command), false)) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }