#改造

cpT

2025-07-03 4da282d3a87fb648ae6865929f5862b27d05a562

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

@@ -2,9 +2,12 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.param.RingThroughParam;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.core.cache.RgvErrCache;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.TaskProtocolCache;
@@ -46,6 +49,7 @@
            map2.put("rgvPos", rgvProtocol.getRgvPos());
            map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
            map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "未知":rgvProtocol.getLoaded()==1? "有物":"无物");
            map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
            res.add(map2);
        }
        return R.ok().add(res);
@@ -75,24 +79,64 @@
        return R.ok().add(res);
    }

    @PostMapping("/run/del")//Take  Put  Walk
    @ManagerAuth(memo = "清空任务")
    public R rgvRunDel(@RequestParam(defaultValue = "0")  Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
            }

        } catch (Exception e) {
            return R.error("任务删除失败"+e.getMessage());
        }

        return R.ok("任务清空成功");
    }

    @PostMapping("/run/del2")//Take  Put  Walk
    @ManagerAuth(memo = "清除作业启动中")
    public R rgvRunDel2(@RequestParam(defaultValue = "0")  Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        try {
            rgvThread.setWrkSign();
        } catch (Exception e) {
            return R.error("清除作业启动中失败"+e.getMessage());
        }

        return R.ok("任务清空成功");
    }

    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                            @RequestParam(defaultValue = "0")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                            @RequestParam(defaultValue = "9999")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                            @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
        if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
            return R.error("目标站点请填写");
        }
        if (rgvPosDestination == null || rgvPosDestination == 0){
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("目标站点不存在");
            }
            rgvPosDestination = basDevpPosition.getPlcPosition();
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -126,17 +170,14 @@
    @PostMapping("/run/put")//Take  Put  Walk
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                        @RequestParam(defaultValue = "0")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNo,
                        @RequestParam(defaultValue = "9999")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                        @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("目标站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -150,10 +191,15 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("目标站点不存在");
            }
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
            issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
            issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
            issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
            issuedPut.setIsRunning(1);
@@ -170,18 +216,15 @@
    @PostMapping("/run/take")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
                        @RequestParam(defaultValue = "0") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNo,
                        @RequestParam(defaultValue = "9999") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                        @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNo == null || rgvStaNo == 0){
            return R.error("目标站点请填写");
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
@@ -193,10 +236,15 @@
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            if (Cools.isEmpty(basDevpPosition)){
                return R.error("取货站点不存在");
            }
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
            issuedTake.setTargetPositionStaNo(basDevpPosition.getDevNo());
            issuedTake.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
            issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
            issuedTake.setIsRunning(1);
@@ -209,4 +257,189 @@

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/TakeAndPut")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
                         @RequestParam(defaultValue = "9999") Integer taskNo,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
                         @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
        }
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("放货站点请填写");
        }
        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();

        TaskProtocol issuedTake = new TaskProtocol();
        TaskProtocol issuedPut = new TaskProtocol();
        try {
            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
            if (allTaskProtocol.size() > 0) {
                return R.error("存在执行中任务，请先处理！！！");
            }

            BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
            if (Cools.isEmpty(basDevpPositionTake)){
                return R.error("取货站点不存在");
            }
            //执行
            issuedTake.setTaskNo(Long.valueOf(taskNo));
            issuedTake.setTaskStatus(2);
            issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
            issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
            issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
            issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
            issuedTake.setIsRunning(1);
            issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);

            BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
            if (Cools.isEmpty(basDevpPositionPut)){
                return R.error("目标站点不存在");
            }
            //执行
            issuedPut.setTaskNo(Long.valueOf(taskNo));
            issuedPut.setTaskStatus(3);
            issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
            issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
            issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
            issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
            issuedPut.setIsRunning(1);
            issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);

            taskProtocolCache.updateTaskProtocol(issuedTake);
            taskProtocolCache.updateTaskProtocol(issuedPut);

        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }

    @PostMapping("/run/delRgvTask")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }

        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            rgvThread.setDelRgvTask();
        } catch (Exception e) {
            return R.error("任务生成失败"+e.getMessage());
        }

        return R.ok("任务生成成功");
    }



    @PostMapping("/ring/through/rgv/position/data")
//    @ManagerAuth(memo = "小车位置信息")
    public R ringThroughRgv(){
        List<RingThroughParam> result = new ArrayList<>();

        ConcurrentHashMap<Integer, RgvProtocol> allRgvStatus = RgvStatusCache.getAllRgvStatus();
        for (RgvProtocol rgvProtocol : allRgvStatus.values()){
            RingThroughParam ringThroughParam = new RingThroughParam();

            ringThroughParam.setIndex(rgvProtocol.getRgvNo());
//            ringThroughParam.setIndex(i);
//            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(rgvProtocol.getRgvNo()*100*1D);
            ringThroughParam.setValueY(rgvProtocol.getRgvNo()*100*2D);
            ringThroughParam.setModeColor(rgvProtocol.modeType.color);
            ringThroughParam.setStatusColor(rgvProtocol.statusType.color);
            result.add(ringThroughParam);
        }
        return R.ok().add(result);
    }

    @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<>();
        ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
            add(1001);
            add(1002);
            add(1003);
            add(1004);
            add(1005);
            add(1006);
            add(1007);
            add(1008);
            add(1009);
            add(1010);
            add(1011);
            add(1012);
            add(1013);
            add(1014);
            add(1015);
            add(1016);
            add(1017);
            add(1018);
            add(1019);
            add(1020);
            add(1021);
            add(1022);
            add(1023);
        }};
        for (Integer staNo : arrayList){
            RingThroughParam ringThroughParam = new RingThroughParam();
            ringThroughParam.setIndex(staNo);
//            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);
//            double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),perimeter, basDevpPosition.getPlcPosition());
            ringThroughParam.setValueX(staNo*100*1D);
            ringThroughParam.setValueY(staNo*100*2D);
            result.add(ringThroughParam);
        }
        return R.ok().add(result);
    }

    @PostMapping("/ring/through/track/position/data")
//    @ManagerAuth(memo = "轨道PLC状态信息")
    public R wnergyGatheringRingParamTrack(){
        return R.ok();
    }

    @PostMapping("/ring/through/task/wrk/mast/position/data")
//    @ManagerAuth(memo = "作业信息")
    public R ringThroughTaskWrkMast(){
        return R.ok();
    }

    @PostMapping("/ring/through/task/wrk/mast/position/data/v1")
//    @ManagerAuth(memo = "作业信息")
    public R ringThroughTaskWrkMastV1(){
        return R.ok();
    }

    @PostMapping("/task/rgv/circular/shuttle/mast/position/data")
//    @ManagerAuth(memo = "作业信息")
    public R rgvCircularShuttle(){
        return R.ok();
    }

    @PostMapping("/task/rgv/circular/shuttle/mast/position/data/v1")
//    @ManagerAuth(memo = "作业信息")
    public R rgvCircularShuttleV1(){
        return R.ok();
    }
}