*

lsh

2025-02-24 45dd3bfd08d2c95ae284bae369507a19a2e524b7

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

@@ -6,13 +6,11 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.EnergyGatheringRingParam;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.param.RgvWrkMastParam;
import com.zy.asrs.domain.param.RingThroughParam;
import com.zy.asrs.domain.param.*;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.WrkMastService;
@@ -35,8 +33,10 @@
import com.zy.core.thread.SiemensDevpThread;
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.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RequestParam;
import org.springframework.web.bind.annotation.RestController;

import javax.rmi.CORBA.Util;
@@ -66,6 +66,11 @@
    private MainServiceImpl mainService;
    @Autowired
    private BasDevpPositionService basDevpPositionService;
    @Autowired
    private BasCircularShuttleService basCircularShuttleService;

    @Value("${constant-parameters.perimeter}")
    private Long perimeter;

    @PostMapping("/table/rgv/state")
    @ManagerAuth(memo = "RGV信息表")
@@ -347,8 +352,9 @@

            ringThroughParam.setIndex(rgv.getId());
//            ringThroughParam.setIndex(i);
//            double[] doubles = Utils.RingThroughXY2(1737000.0, NumUtils.GetRandomIntInRange(183));
            double[] doubles = Utils.RingThroughXYRgv(1737000.0, 1737000.0-rgvProtocol.RgvPos.doubleValue());
//            double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183));
//            double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue());
            double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue());
//            double[] doubles = Utils.RingThroughXY2(183.0, 100*i );

            ringThroughParam.setValueX(doubles[0]-2.94);
@@ -362,13 +368,14 @@

    @PostMapping("/ring/through/dev/position/data")
//    @ManagerAuth(memo = "站点信息")
    //  站点位置信息
    public R ringThroughDev(){
        List<RingThroughParam> result = new ArrayList<>();
        List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
        for (BasDevpPosition basDevpPosition : basDevpPositions){
            RingThroughParam ringThroughParam = new RingThroughParam();
            ringThroughParam.setIndex(basDevpPosition.getDevNo());
            double[] doubles = Utils.RingThroughXYSta(1737000.0, 1737000.0-basDevpPosition.getPlcPosition());
            double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition());
            ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1);
            ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1);
            result.add(ringThroughParam);
@@ -416,7 +423,7 @@
    }

    @PostMapping("/ring/through/task/wrk/mast/position/data")
//    @ManagerAuth(memo = "站点信息")
//    @ManagerAuth(memo = "作业信息")
    public R ringThroughTaskWrkMast(){
        List<RgvWrkMastParam> result = new ArrayList<>();
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
@@ -442,4 +449,39 @@
        return R.ok().add(result);
    }

    @PostMapping("/task/rgv/circular/shuttle/mast/position/data")
//    @ManagerAuth(memo = "作业信息")
    public R rgvCircularShuttle(){
        List<RgvCircularShuttleParam> result = new ArrayList<>();
        List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<>());
        for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
            RgvCircularShuttleParam rgvCircularShuttleParam = new RgvCircularShuttleParam(basCircularShuttle);
            if (!Cools.isEmpty(rgvCircularShuttleParam.getRgvNo())){
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvCircularShuttleParam.getRgvNo());
                if (rgvThread != null) {
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol != null) {
                        rgvCircularShuttleParam.setPosition(rgvProtocol.getRgvPos());
                        if (rgvCircularShuttleParam.getStatus()==0){
                            rgvCircularShuttleParam.setStatus$(rgvProtocol.statusType.desc);
                        }
                    }
                }
            }
            result.add(rgvCircularShuttleParam);
        }
        return R.ok().add(result);
    }


    @PostMapping("/disable/rgv/status")
//    @ManagerAuth(memo = "作业信息")
    public R rgvDisableStatus(@RequestParam Integer rgvId,
                              @RequestParam Integer status){
        BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
        basCircularShuttle.setStatus(status);
        basCircularShuttleService.updateById(basCircularShuttle);
        return R.ok();
    }

}