#

Junjie

2026-01-15 470718b6f7de2688807a59b4e32f437624c51499

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

@@ -1,56 +1,67 @@
package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.NotifyDto;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.annotations.OpenApiLog;
import com.zy.common.service.CommonService;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.enums.WrkIoType;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.StationThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;

import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;

@Slf4j
@RestController
@RequestMapping("/openapi")
public class OpenController {

    @Value("${mainProcessPlugin}")
    private String mainProcessPlugin;
    @Value("${app.version:1.0.0}")
    private String appVersion;
    @Value("${app.version-type:stable}")
    private String appVersionType;
    @Autowired
    private CommonService commonService;
    @Autowired
    private ShuttleDispatchUtils shuttleDispatchUtils;
    private LocMastService locMastService;
    @Autowired
    private NotifyUtils notifyUtils;
    private WrkMastService wrkMastService;
    @Autowired
    private SlaveProperties slaveProperties;
    private ConfigService configService;
    @Autowired
    private DeviceConfigService deviceConfigService;

    @PostMapping("/createMoveTask")
    public R createMoveTask(@RequestBody CreateMoveTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
        }
        boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(null, param.getLocNo(), param.getShuttleNo());
        if (dispatchShuttle) {
            return R.ok();
        }
        return R.error("生成失败");
    }

    //移库任务
    // 移库任务
    @PostMapping("/createLocMoveTask")
    @OpenApiLog(memo = "移库任务")
    public R createLocMoveTask(@RequestBody CreateLocMoveTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
@@ -62,21 +73,23 @@
        return R.error("生成移库任务失败");
    }

    //入库任务
    // 入库任务
    @PostMapping("/createInTask")
    @OpenApiLog(memo = "入库任务")
    public R createInTask(@RequestBody CreateInTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
        }
        boolean result = commonService.createInTask(param);
        if (result) {
        WrkMast wrkMast = commonService.createInTask(param);
        if (wrkMast != null) {
            return R.ok();
        }
        return R.error("生成入库任务失败");
    }

    //出库任务
    // 出库任务
    @PostMapping("/createOutTask")
    @OpenApiLog(memo = "出库任务")
    public R createOutTask(@RequestBody CreateOutTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
@@ -88,7 +101,31 @@
        return R.error("生成出库任务失败");
    }

    // 批量出库任务
    @PostMapping("/createOutTaskBatch")
    @OpenApiLog(memo = "批量出库任务")
    @Transactional
    public R createOutTaskBatch(@RequestBody CreateOutTaskBatchParam param) {
        if (param == null) {
            return R.error("参数不能为空");
        }

        List<CreateOutTaskParam> taskList = param.getTaskList();
        if (taskList == null || taskList.size() == 0) {
            return R.error("任务列表不能为空");
        }

        for (CreateOutTaskParam createOutTaskParam : taskList) {
            if (createOutTaskParam == null) {
                throw new CoolException("任务参数不能为空");
            }
            commonService.createOutTask(createOutTaskParam);
        }
        return R.ok();
    }

    @PostMapping("/completeTask")
    @OpenApiLog(memo = "任务完成")
    public R completeTask(@RequestBody CompleteTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
@@ -101,6 +138,7 @@
    }

    @PostMapping("/cancelTask")
    @OpenApiLog(memo = "任务取消")
    public R cancelTask(@RequestBody CancelTaskParam param) {
        if (param == null) {
            return R.error("参数不能为空");
@@ -112,48 +150,205 @@
        return R.error("任务取消失败");
    }

    @PostMapping("/deviceStatus")
    @RequestMapping("/deviceStatus")
    // @OpenApiLog(memo = "获取设备状态")
    public R getDeviceStatus() {
        HashMap<String, Object> map = new HashMap<>();
        //获取小车数据
        ArrayList<ShuttleProtocol> shuttleProtocols = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
        // 获取堆垛机数据
        ArrayList<CrnProtocol> crnProtocols = new ArrayList<>();
        List<DeviceConfig> crnList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Crn)));
        for (DeviceConfig device : crnList) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, device.getDeviceNo());
            if (crnThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }
            shuttleProtocols.add(shuttleProtocol);
            crnProtocols.add(crnProtocol);
        }

        //获取货叉提升机数据
        ArrayList<ForkLiftProtocol> forkLiftProtocols = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
        // 获取RGV数据
        ArrayList<RgvProtocol> rgvProtocols = new ArrayList<>();
        List<DeviceConfig> rgvList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Rgv)));
        for (DeviceConfig device : rgvList) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, device.getDeviceNo());
            if (rgvThread == null) {
                continue;
            }

            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
            RgvProtocol rgvProtocol = rgvThread.getStatus();
            if (rgvProtocol == null) {
                continue;
            }
            forkLiftProtocols.add(forkLiftProtocol);
            rgvProtocols.add(rgvProtocol);
        }

        map.put("shuttle", shuttleProtocols);
        map.put("forkLift", forkLiftProtocols);
        // 获取双工位堆垛机数据
        ArrayList<DualCrnProtocol> dualCrnProtocols = new ArrayList<>();
        List<DeviceConfig> dualCrnList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.DualCrn)));
        for (DeviceConfig device : dualCrnList) {
            DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, device.getDeviceNo());
            if (dualCrnThread == null) {
                continue;
            }

            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            if (dualCrnProtocol == null) {
                continue;
            }
            dualCrnProtocols.add(dualCrnProtocol);
        }

        // 获取输送站点数据
        ArrayList<StationProtocol> stationProtocols = new ArrayList<>();
        List<DeviceConfig> stationList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Devp)));
        for (DeviceConfig device : stationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, device.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            List<StationProtocol> stationProtocolList = stationThread.getStatus();
            if (stationProtocolList == null) {
                continue;
            }
            stationProtocols.addAll(stationProtocolList);
        }

        map.put("crnList", crnProtocols);
        map.put("rgvList", rgvList);
        map.put("dualCrnList", dualCrnProtocols);
        map.put("stationList", stationProtocols);
        return R.ok().add(map);
    }

    @GetMapping("/test")
    public R test() {
        notifyUtils.notify("task", 1, "9999", NotifyMsgType.SHUTTLE_MOVING, "data");
        notifyUtils.notify(String.valueOf(SlaveType.Shuttle), 2, "9999", NotifyMsgType.SHUTTLE_MOVE_COMPLETE);
    @PostMapping("/getLocInformation")
    @OpenApiLog(memo = "获取指定库位信息")
    public R getLocInformation(@RequestBody GetLocInformationParam param) {
        if (param == null) {
            return R.error("参数不能为空");
        }
        LocMast locMast = locMastService.queryByLoc(param.getLocNo());
        if (locMast == null) {
            return R.error("库位信息不存在");
        }

        HashMap<String, Object> map = new HashMap<>();
        map.put("locNo", locMast.getLocNo());
        map.put("locSts", locMast.getLocSts());
        map.put("barcode", locMast.getBarcode());
        return R.ok().add(map);
    }

    @PostMapping("/getAllLocInformation")
    @OpenApiLog(memo = "获取全部库位信息")
    public R getAllLocInformation(@RequestBody GetAllLocInformationParam param) {
        List<HashMap<String, Object>> list = new ArrayList<>();
        EntityWrapper<LocMast> wrapper = new EntityWrapper<>();

        if (!Cools.isEmpty(param.getRow())) {
            wrapper.eq("row1", param.getRow());
        }

        if (!Cools.isEmpty(param.getLev())) {
            wrapper.eq("lev1", param.getLev());
        }

        List<LocMast> locMasts = locMastService.selectList(wrapper);
        if (locMasts.isEmpty()) {
            return R.ok().add(list);
        }

        for (LocMast locMast : locMasts) {
            HashMap<String, Object> map = new HashMap<>();
            map.put("locNo", locMast.getLocNo());
            map.put("locSts", locMast.getLocSts());
            map.put("barcode", locMast.getBarcode());
            map.put("row", locMast.getRow1());
            map.put("bay", locMast.getBay1());
            map.put("lev", locMast.getLev1());
            list.add(map);
        }

        return R.ok().add(list);
    }

    @PostMapping("/queryTask")
    @OpenApiLog(memo = "查询任务")
    public R queryTask(@RequestBody QueryTaskParam param) {
        EntityWrapper<WrkMast> wrapper = new EntityWrapper<>();
        if (param.getTaskNo() != null) {
            wrapper.eq("wms_wrk_no", param.getTaskNo());
        }

        if (param.getTaskType() != null) {
            WrkIoType ioType = WrkIoType.get(param.getTaskType());
            if (ioType == null) {
                return R.error("任务类型不存在");
            }
            wrapper.eq("io_type", ioType.id);
        }
        List<WrkMast> wrkMasts = wrkMastService.selectList(wrapper);
        return R.ok().add(wrkMasts);
    }

    @GetMapping("/systemStatus")
    public R systemStatus() {
        return R.ok();
    }

    @GetMapping("/getSystemVersion")
    public R getSystemVersion() {
        HashMap<String, Object> map = new HashMap<>();
        map.put("version", appVersion);
        map.put("versionType", appVersionType);
        return R.ok().add(map);
    }

    @GetMapping("/getFakeSystemRunStatus")
    public R getFakeSystemRunStatus() {
        HashMap<String, Object> map = new HashMap<>();
        if (mainProcessPlugin.contains("Fake")) {
            map.put("running", false);
            map.put("isFake", true);
            Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
            if (config != null) {
                if (config.getValue().equals("Y")) {
                    map.put("running", true);
                }
            }
        } else {
            map.put("isFake", false);
        }
        return R.ok().add(map);
    }

    @PostMapping("/startFakeSystem")
    @OpenApiLog(memo = "启动仿真模拟")
    public R startFakeSystem() {
        Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
        if (config != null) {
            config.setValue("Y");
            configService.updateById(config);
        }
        return R.ok();
    }

    @PostMapping("/stopFakeSystem")
    @OpenApiLog(memo = "停止仿真模拟")
    public R stopFakeSystem() {
        Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "enableFake"));
        if (config != null) {
            config.setValue("N");
            configService.updateById(config);
        }
        return R.ok();
    }