捡料

Junjie

2023-07-25 3a641d32f53e378e5cfa1bd4b1ae5590f4883bda

 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;
@@ -17,6 +18,7 @@
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 +26,8 @@
import com.zy.core.model.ShuttleSlave;
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;

/**
@@ -53,6 +56,8 @@
    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")
@@ -242,43 +247,82 @@
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer shuttleNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk){
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
            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.error("plc已掉线");
    }

    @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)) {
    @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();
        }
        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) {
            return R.error();
        }
        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();
    }

    //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();
    }

@@ -330,4 +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();
    }

}