#

zjj

2024-07-19 5d0f7a5aa4ee994782f3f3bcc66e23653a6ac40a

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

@@ -2,9 +2,11 @@

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.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.vo.RgvMsgTableVo;
@@ -33,15 +35,19 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.SiemensRgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

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

/**
 * RGV接口
@@ -64,20 +70,325 @@
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;
    int wrkNo = 9990;


    @ManagerAuth(memo = "演示命令下发")
    @GetMapping("/rgvDemoTask")
    public R rgvDemoTask(Integer rgvNo, Integer sta,Integer end){
        wrkNo++;
        RgvCommand command = new RgvCommand();
        command.setRgvNo(rgvNo); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(wrkNo); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(sta.shortValue()); // 源站
        command.setDestinationStaNo1(end.shortValue());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "解锁小车")
    @PostMapping("/lock")
    public R lock(RgvOperatorParam param ){
        SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, param.getRgvNo());
        rgvThread.setPakMk(true);
        return R.ok();
    }

    @GetMapping("/demo/status")
    public R demoStatus(Integer rgvNo){
        Map<String,Object> map = new HashMap<>();
        if (Cools.isEmpty(rgvNo)){
            map.put("demo","X");
            map.put("rgvMode",0);
            return R.ok().add(map);
        }
        String demo = "X";
        Integer rgvMode = 0;
//        List<Map<String, Object>> res = new ArrayList<>();
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvSlave.getId().equals(rgvNo)){
               demo = rgvSlave.getDemo()?"Y":"N";
               rgvSlave.setRgvMode(rgvProtocol.getMode().intValue());
               rgvMode = rgvProtocol.getMode().intValue();
            }
        }
        map.put("demo",demo);
        map.put("rgvMode",rgvMode);
        return R.ok().add(map);
    }

    @GetMapping("/demo/status/true")
    public R demoStatusTrue(Integer rgvNo){
        if (Cools.isEmpty(rgvNo)){
            return R.error("请选择rgv");
        }
//        List<Map<String, Object>> res = new ArrayList<>();
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (rgvSlave.getId().equals(rgvNo)){
                rgvSlave.setDemo(true);
            }
        }
        return R.ok();
    }
    @GetMapping("/demo/status/false")
    public R demoStatusFalse(Integer rgvNo){
        if (Cools.isEmpty(rgvNo)){
            return R.error("请选择rgv");
        }
//        List<Map<String, Object>> res = new ArrayList<>();
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (rgvSlave.getId().equals(rgvNo)){
                rgvSlave.setDemo(false);
            }
        }
        return R.ok();
    }

    @GetMapping("/demo/status/rgvStatus")
    public R demoStatusTrue1(Integer rgvNo,Integer status){
        if (Cools.isEmpty(rgvNo)){
            return R.error("请选择rgv");
        }
        if (Cools.isEmpty(status)){
            return R.error("选择按钮有误");
        }
//        List<Map<String, Object>> res = new ArrayList<>();
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            // 获取RGV信息
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
            if (rgvThread == null) {
                throw new CoolException("RGV不在线");
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                throw new CoolException("RGV不在线");
            }
            String DB = "";
            if (rgvSlave.getId().equals(rgvNo)){
               switch (status){
                   case 5://强制启动
                       DB="4.4";
                       break;
//                   case 6://复位信号
//                       DB="4.5";
//                       break;
                   case 7://报警消音
                       DB="4.6";
                       break;
                   case 8://启动
                       DB="4.7";
                       break;
                   case 9://停止
                       DB="5.0";
                       break;
                   case 10://急停
                       DB="5.1";
                       break;
                   case 11://复位按钮
                       DB="5.2";
                       break;
                   case 12://手动
                       DB="5.3";
                       rgvSlave.setRgvMode(3);
                       break;
                   case 13://手动定位
                       DB="5.4";
                       break;
                   case 14://单机
                       DB="5.5";
                       rgvSlave.setRgvMode(2);
                       break;
                   case 15://联机
                       DB="5.6";
                       rgvSlave.setRgvMode(1);
                       break;
                   case 16://货叉定位回中
                       DB="5.7";
                       break;
                   case 17://恢复联机任务
                       DB="6.0";
                       break;
                   case 18://清楚联机任务
                       DB="6.1";
                       break;
                   default:
                       return R.error("按钮不存在？？？？！！！");
               }
               if (MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(10, DB))) {
                   return R.ok();
               } else {
                   return R.error("命令下发失败");
               }
            }

        }
        return R.ok();
    }



    @PostMapping("/demo/switch")
    @ManagerAuth(memo = "RGV演示")
    public R crnDemo(CrnDemoParam param) throws InterruptedException {
        if (Cools.isEmpty(param.getCrnId())){
            return R.error();
        }
        if (Cools.isEmpty(param.getPassword())){
            return R.error("请输入口令");
        }
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
            return R.error("口令错误");
        }
        Thread.sleep(200L);
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (rgvSlave.getId().equals(param.getCrnId())) {
                rgvSlave.setDemo(param.getOpt());
            }
        }
//        mainService.crnDemoOfLocMove(param.getCrnId());
        return R.ok();
    }

    @ManagerAuth(memo = "取放货")
    @PostMapping("/operator/put")
    public R rgvFetchPut(RgvOperatorParam param){
        wrkNo++;
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(wrkNo); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceRow().shortValue()); // 源站
        command.setDestinationStaNo1(param.getSourceBay().shortValue());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }


    @ManagerAuth(memo = "取")
    @PostMapping("/operator/single/step/one/put")
    public R rgvFetchSingleStepOnePut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,1)?R.ok():R.error();
    }
    @ManagerAuth(memo = "放")
    @PostMapping("/operator/single/step/two/put")
    public R rgvFetchSingleStepTwoPut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,2)?R.ok():R.error();
    }
    @ManagerAuth(memo = "X运行")
    @PostMapping("/operator/single/step/three/put")
    public R rgvFetchSingleStepThreePut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,3)?R.ok():R.error();
    }

    @ManagerAuth(memo = "取放")
    @PostMapping("/operator/single/step/four/put")
    public R rgvFetchSingleStepFourPut(RgvOperatorParam param){
        return rgvFetchSingleStepPut(param,4)?R.ok():R.error();
    }

    public boolean rgvFetchSingleStepPut(RgvOperatorParam param ,Integer type){
        wrkNo++;
        RgvCommand command = new RgvCommand();
        RgvTaskModeType fetchPut = RgvTaskModeType.NONE;
        switch (type){
            case 1:
                fetchPut = RgvTaskModeType.FETCH;
                param.setSourceBay(0);
                break;
            case 2:
                fetchPut = RgvTaskModeType.PUT;
                param.setSourceRow(0);
                break;
            case 3:
                fetchPut = RgvTaskModeType.X_MOVE;
                break;
            case 4:
                fetchPut = RgvTaskModeType.FETCH_PUT;
                break;
            default:
                return false;
        }
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(wrkNo); // 工作号
        command.setTaskMode1(fetchPut); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceRow().shortValue()); // 源站
        command.setDestinationStaNo1(param.getSourceBay().shortValue());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControlD(command);
    }


    @ManagerAuth(memo = "复位")
    @PostMapping("/operator/reset")
    public R crnReset(RgvOperatorParam param){
        // 系统运行状态判断
//        if (SystemProperties.WCS_RUNNING_STATUS.get()) {
//            return R.error("wcs系统状态为开启");
//        }
        short[] array = new short[9];
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setReset(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "联机")
    @PostMapping("/operator/auto")
    public R crnAuto(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setAuto(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "恢复任务")
    @PostMapping("/operator/restoreTask")
    public R crnRestoreTask(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setRestoreTask(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "完成任务")
    @PostMapping("/operator/compTask")
    public R rgvCompTask(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setCompTask(true);
        return rgvControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "急停")
    @PostMapping("/operator/stop")
    public R rgvStop(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setStop(true);
        return rgvControl2(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "取消急停")
    @PostMapping("/operator/noStop")
    public R rgvNoStop(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // 堆垛机编号
        command.setNoStop(true);
        return rgvControl2(command)?R.ok():R.error();
    }

@@ -131,19 +442,14 @@
                continue;
            }
            vo.setStatusType(rgvProtocol.modeType.desc);   //  模式状态
            vo.setStatus(rgvProtocol.getStatusType().desc);     //  状态
            vo.setStatus(rgvProtocol.getStatusType1().desc);     //  状态
            vo.setWorkNo1(rgvProtocol.getTaskNo1());  //  工位1任务号
            vo.setStatus1(rgvProtocol.getStatusType1().desc);  // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物");  // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setRgvPos1(rgvProtocol.getRgvPosI());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"在定位":"不在定位");
            vo.setPakMk(rgvThread.isPakMk()?"无锁":"锁定");
//            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
//            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
//            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物

            vo.setWalkPos(rgvProtocol.getAlarm() == 0?"正常":"报警");
            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
//            vo.setStaNo(rgvProtocol.getSouSta().intValue());
//            vo.setSourceStaNo(rgvProtocol.getEndSta().intValue());
            if (rgvProtocol.getAlarm() > 0) {
                BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                vo.setAlarm(rgvErr==null?"未知异常":rgvErr.getErrName());
@@ -217,8 +523,8 @@
    public R rgvTaskComplete(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 1);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1( 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
@@ -240,8 +546,8 @@
        }
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setAckFinish1(false);  // 任务完成确认位
        command.setTaskNo1(0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
@@ -276,7 +582,7 @@
                RgvCommand Command = new RgvCommand();
                Command.setRgvNo(rgv.getId()); // RGV编号
                Command.setTaskMode1(RgvTaskModeType.NONE);
                Command.setAckFinish1((short) 0);  // 任务完成确认位
                Command.setAckFinish1(false);  // 任务完成确认位
                Command.setAckFinish2((short) 0);  // 任务完成确认位
                Command.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
@@ -317,4 +623,34 @@
        return false;
    }

    private boolean rgvControlD(RgvCommand command){
        if (command.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (command.getRgvNo().equals(rgv.getId())) {
//                SiemensRgvThread rgvThread = (SiemensRgvThread) 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");
//                }
                try{
                    if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(11, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                }catch (Exception e){
                    log.error("单步任务下发失败，异常："+e);
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return false;
    }

}