牛眼四向穿梭车HTTP请求工具类

Junjie

2023-07-26 14cf00a11479cb1696eec55e10208490bd4aa09d

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

@@ -1,5 +1,6 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
@@ -15,7 +16,9 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -24,6 +27,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
@@ -32,7 +36,6 @@
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;

/**
@@ -51,6 +54,10 @@
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
@@ -65,6 +72,8 @@
            // 获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            if (shuttleThread == null) {
                vo.setStatus(ShuttleProtocolStatusType.OFFLINE.id);//设备离线
                vo.setBusyStatus(ShuttleProtocolStatusType.OFFLINE.desc);
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
@@ -73,7 +82,7 @@
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//当前任务状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().id);//当前任务状态
            vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
            LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
            if (currentLocMast == null) {
@@ -142,6 +151,9 @@
            if (shuttleProtocol == null) {
                continue;
            }
            if (shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
            if (shuttleProtocol.getTaskNo() > 0) {
@@ -163,6 +175,10 @@
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setRunSpeed(basShuttle.getRunSpeed());//四向穿梭车运行速度(设置)
            vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
        }
        return R.ok().add(list);
    }
@@ -231,37 +247,82 @@
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth
    public R steUpdate(ShuttleDataVo vo){
        BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
        if (basShuttle == null) {
    @RequestMapping(value = "/command/query")
    public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        // 获取四向穿梭车信息
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        return R.ok().add(redisCommand);
    }

    //回退命令
    @RequestMapping(value = "/command/rollback")
    public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //命令完成状态切换
    @RequestMapping(value = "/command/completeSwitch")
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep
            , @RequestParam("complete") Integer complete) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ShuttleCommand> commands = assignCommand.getCommands();
        ShuttleCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //重启任务(命令)
    @RequestMapping(value = "/command/restart")
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        Short shuttleNo = redisCommand.getShuttleNo();
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
        if (shuttleThread == null) {
            return R.error();
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存");
            return R.error();
        }
//        if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
//            if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
//                throw new CoolException("服务器错误");
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } else {
            throw new CoolException("命令下发失败");
        if (!shuttleProtocol.isIdle()) {
            return R.error();
        }
        //四向穿梭车处于空闲状态，进行任务的恢复
        shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
        return R.ok();
    }

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
    //删除任务(命令)
    @RequestMapping(value = "/command/del")
    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
            return R.error();
        }
        redisUtil.del("shuttle_wrk_no_" + wrkNo);
        return R.ok();
    }

@@ -300,7 +361,7 @@
                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
                assignCommand.setTaskNo((short) 9999);
                assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
                assignCommand.setAuto(false);//手动模式

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
@@ -313,4 +374,42 @@
        return R.error();
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R shuttleUpdate(@RequestParam Integer shuttleNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk){
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error("plc已掉线");
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            shuttleProtocol.setTaskNo(workNo);
        }
        if (pakMk != null) {
            shuttleProtocol.setPakMk(pakMk.equals("Y"));
        }
        return R.ok();
    }

    @PostMapping("/runSpeed/{shuttleNo}")
    @ManagerAuth
    public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {

        BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
        if (basShuttle == null) {
            return R.error("四向穿梭车不存在");
        }
        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setChargeLine(chargeLine);
        if (!basShuttleService.updateById(basShuttle)) {
            return R.error();
        }
        return R.ok();
    }

}