*

lsh

2025-03-01 5180133179d3589a1c64cdf0a1431990b80f1bc2

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

@@ -2,17 +2,20 @@

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.RgvOperatorParam;
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;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.NumUtils;
import com.zy.asrs.utils.Utils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -20,23 +23,24 @@
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
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;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;

/**
 * RGV接口
@@ -57,6 +61,13 @@
    private BasRgvService basRgvService;
    @Autowired
    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")
@@ -319,74 +330,52 @@
        return false;
    }

    @PostMapping("/console/rgv/site/data")
    @ManagerAuth(memo = "小车实时位置")
    public R scaleLatestData(){
        List<Map> result = new ArrayList<>();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            if (rgvThread == null) {
                throw new CoolException("RGV不在线");
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                throw new CoolException("RGV不在线");
            }
            Map<String, Object> rgvMap = new HashMap<>();
            rgvMap.put("title", rgvProtocol.getRgvPosI());
            rgvMap.put("id", rgvProtocol.getRgvNo());
            result.add(rgvMap);
        }
        return R.ok().add(result);
    }
    @PostMapping("/ring/through/rgv/position/data")
//    @ManagerAuth(memo = "环穿位置信息")
    public R ringThroughRgv(){
        List<RingThroughParam> result = new ArrayList<>();
//        for (RgvSlave rgv : slaveProperties.getRgv()) {
        for (int i = 1;i<10;i++) {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
//        for (int i = 1;i<2;i++) {
//            // 获取RGV信息
//            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
//            if (rgvThread == null) {
//                continue;
//            }
//            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//            if (rgvProtocol == null) {
//                continue;
//            }
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            RingThroughParam ringThroughParam = new RingThroughParam();

//            ringThroughParam.setIndex(rgv.getId());
            ringThroughParam.setIndex(i);
            double[] doubles = Utils.RingThroughXY(183.0, 100.0*i);
            ringThroughParam.setValueX(doubles[0]);
            ringThroughParam.setValueY(doubles[1]);
            ringThroughParam.setIndex(rgv.getId());
//            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(doubles[0]-2.94);
            ringThroughParam.setValueY(doubles[1]-2.94);
            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 = "环穿位置信息")
//    @ManagerAuth(memo = "站点信息")
    //  站点位置信息
    public R ringThroughDev(){
        List<RingThroughParam> result = new ArrayList<>();
//        for (RgvSlave rgv : slaveProperties.getRgv()) {
        for (int i = 1;i<10;i++) {
//            // 获取RGV信息
//            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
//            if (rgvThread == null) {
//                continue;
//            }
//            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//            if (rgvProtocol == null) {
//                continue;
//            }
        List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>());
        for (BasDevpPosition basDevpPosition : basDevpPositions){
            RingThroughParam ringThroughParam = new RingThroughParam();

//            ringThroughParam.setIndex(rgv.getId());
            ringThroughParam.setIndex(i);
            double[] doubles = Utils.RingThroughXY(183.0, 103.0*i);
            ringThroughParam.setIndex(basDevpPosition.getDevNo()-100);
//            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(doubles[0]);
            ringThroughParam.setValueY(doubles[1]);
            result.add(ringThroughParam);
@@ -394,4 +383,121 @@
        return R.ok().add(result);
    }

    @PostMapping("/ring/through/track/position/data")
//    @ManagerAuth(memo = "轨道PLC状态信息")
    public R wnergyGatheringRingParamTrack(){
        List<EnergyGatheringRingParam> result = new ArrayList<>();
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                if (devp.getId()!=1){
                    break;
                }
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                if (devpThread.isResult()){
                    if (true){
                        EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
                        energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
                        energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
                        result.add(energyGatheringRingParam);
                    } else {
                        EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
                        energyGatheringRingParam.setTrackColor("rgba(0, 230, 118, 0.5)");
                        energyGatheringRingParam.setRadiationColor("rgba(0, 230, 118, 0.5)");
                        result.add(energyGatheringRingParam);
                    }
                }
            }
            if (result.isEmpty()){
                EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
                energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
                energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
                result.add(energyGatheringRingParam);
            }
        } catch (Exception e){
            EnergyGatheringRingParam energyGatheringRingParam = new EnergyGatheringRingParam();
            energyGatheringRingParam.setTrackColor("rgba(0, 0, 0, 81)");
            energyGatheringRingParam.setRadiationColor("rgba(0, 0, 0, 81)");
            result.add(energyGatheringRingParam);
        }
        return R.ok().add(result);
    }

    @PostMapping("/ring/through/task/wrk/mast/position/data")
//    @ManagerAuth(memo = "作业信息")
    public R ringThroughTaskWrkMast(){
        List<RgvWrkMastParam> result = new ArrayList<>();
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
        for (WrkMast wrkMast : wrkMasts){
            RgvWrkMastParam rgvWrkMastParam = new RgvWrkMastParam(wrkMast);
            if (Cools.isEmpty(rgvWrkMastParam.getRgvNo())){
                rgvWrkMastParam.setRgvSts("未绑定");
            } else {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvWrkMastParam.getRgvNo());
                if (rgvThread == null) {
                    rgvWrkMastParam.setRgvSts("未知");
                } else {
                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                    if (rgvProtocol == null) {
                        rgvWrkMastParam.setRgvSts("未知");
                    } else {
                        rgvWrkMastParam.setRgvSts(rgvProtocol.statusType.desc);
                    }
                }
            }
            result.add(rgvWrkMastParam);
        }
        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 = "修改RGV状态")
    public R rgvDisableStatus(@RequestParam Integer rgvNo,
                              @RequestParam Integer status){
        log.info("/disable/rgv/status===》修改RGV状态！！！rgvNo:{},status:{},data:{}",rgvNo,status,new Date());
        BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo));
        if (basCircularShuttle == null){
            return R.error().add("未找到此RGV，异常！！！");
        }
        basCircularShuttle.setStatus(status);
        basCircularShuttleService.updateById(basCircularShuttle);
        return R.ok();
    }

    @PostMapping("/disable/task/delete")
//    @ManagerAuth(memo = "删除任务")
    public R taskDisabledelete(@RequestParam Long wrkNo){
        log.info("/disable/task/delete===》删除任务！！！wrkNo:{},data:{}",wrkNo,new Date());
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
        if (Cools.isEmpty(wrkMast)){
            return R.error().add("未找到此任务，异常！！！");
        }
        wrkMastService.deleteById(wrkMast);
        return R.ok();
    }

}