#

Junjie

2025-11-19 5fb7dae61f9d6c38c37014cf27f28107c6f52e74

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

@@ -1,31 +1,47 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
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.enums.CrnStatusType;
import com.zy.asrs.domain.enums.StationStatusType;
import com.zy.asrs.domain.param.SystemSwitchParam;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.service.BasMapService;
import com.zy.asrs.domain.vo.CrnDetailVo;
import com.zy.asrs.domain.vo.CrnLatestDataVo;
import com.zy.asrs.domain.vo.StationLatestDataVo;
import com.zy.asrs.domain.vo.RgvLatestDataVo;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.CodeRes;
import com.zy.common.model.MapNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.MapNodeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.model.protocol.RgvProtocol;

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.*;

import javax.servlet.http.HttpServletRequest;
import java.util.*;

/**
 * 主控图接口
 * Created by vincent on 2020-06-01
 */
@Slf4j
@RestController
@@ -33,39 +49,214 @@
public class ConsoleController {

    @Autowired
    private SlaveProperties slaveProperties;
    private DeviceConfigService deviceConfigService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnpErrService basCrnpErrService;
    @Autowired
    private BasMapService basMapService;
    @Autowired
    private RedisUtil redisUtil;
    @Value("${super.pwd}")
    private String superPwd;
    @Autowired
    private NavigateMapData navigateMapData;
    private LocMastService locMastService;

    @PostMapping("/system/running/status")
    @ManagerAuth(memo = "系统运行状态")
    public R systemRunningStatus(){
    public R systemRunningStatus() {
        return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
    }

    @PostMapping("/system/switch")
    @ManagerAuth(memo = "系统运行开关操作")
    public R systemSwitch(SystemSwitchParam param) throws InterruptedException {
        if (Cools.isEmpty(param.getOperatorType())){
        if (Cools.isEmpty(param.getOperatorType())) {
            return R.error();
        }
        if (param.getOperatorType() == 0) {
            if (Cools.isEmpty(param.getPassword())){
            if (Cools.isEmpty(param.getPassword())) {
                return R.error("请输入口令");
            }
            if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
            if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
                return R.error("口令错误");
            }
        }
        Thread.sleep(200L);
        SystemProperties.WCS_RUNNING_STATUS.set(param.getOperatorType()==1?Boolean.TRUE:Boolean.FALSE);
        SystemProperties.WCS_RUNNING_STATUS.set(param.getOperatorType() == 1 ? Boolean.TRUE : Boolean.FALSE);
        return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
    }

    @PostMapping("/latest/data/station")
    @ManagerAuth(memo = "站点实时数据")
    public R stationLatestData() {
        List<StationLatestDataVo> vos = new ArrayList<>();

        List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Devp)));
        for (DeviceConfig deviceConfig : devpList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp,
                    deviceConfig.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            List<StationProtocol> statusList = stationThread.getStatus();
            if (statusList == null || statusList.isEmpty()) {
                continue;
            }
            for (StationProtocol stationProtocol : statusList) {
                StationLatestDataVo vo = new StationLatestDataVo();
                vo.setStationId(stationProtocol.getStationId()); // 站点编号
                vo.setTaskNo(stationProtocol.getTaskNo()); // 任务号
                vo.setTargetStaNo(stationProtocol.getTargetStaNo()); // 目标站点
                vo.setAutoing(stationProtocol.isAutoing()); // 是否自动
                vo.setLoading(stationProtocol.isLoading()); // 是否有物
                vo.setInEnable(stationProtocol.isInEnable()); // 是否可入
                vo.setOutEnable(stationProtocol.isOutEnable()); // 是否可出
                vo.setEmptyMk(stationProtocol.isEmptyMk()); // 是否空板
                vo.setFullPlt(stationProtocol.isFullPlt()); // 是否满板
                vo.setPalletHeight(stationProtocol.getPalletHeight()); // 托盘高度
                vo.setError(stationProtocol.getError()); // 错误码
                vo.setBarcode(stationProtocol.getBarcode()); // 条码
                String stationStatus = StationStatusType.process(stationProtocol).toString().toLowerCase().replaceAll("_", "-");
                vo.setStationStatus(stationStatus);
                vos.add(vo);
            }

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

    @PostMapping("/latest/data/crn")
    @ManagerAuth(memo = "堆垛机实时数据")
    public R crnLatestData() {
        List<CrnLatestDataVo> vos = new ArrayList<>();

        List<DeviceConfig> crnList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Crn)));
        for (DeviceConfig deviceConfig : crnList) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, deviceConfig.getDeviceNo());
            if (crnThread == null) {
                continue;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }
            CrnLatestDataVo vo = new CrnLatestDataVo();
            vo.setCrnId(crnProtocol.getCrnNo()); // 堆垛机编号

            vo.setOffset((double) new Random().nextInt(560)); // 堆垛机偏移量
            vo.setBay(crnProtocol.getBay()); // 当前列
            /**
             * 堆垛机状态判断
             */
            if (crnProtocol.getAlarm() > 0) {
                vo.setCrnStatus(CrnStatusType.MACHINE_ERROR);
            } else {
                if (crnProtocol.getTaskNo() > 0) {
                    WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                    if (wrkMast != null) {
                        vo.setCrnStatus(CrnStatusType.process(wrkMast.getIoType()));
                    } else {
                        vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO
                                : CrnStatusType.MACHINE_UN_AUTO);
                    }
                } else {
                    vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO
                            : CrnStatusType.MACHINE_UN_AUTO);
                }
            }
            vos.add(vo);
        }
        return R.ok().add(vos);
    }

    @PostMapping("/latest/data/rgv")
    @ManagerAuth(memo = "RGV实时数据")
    public R rgvLatestData(){
        List<RgvLatestDataVo> vos = new ArrayList<>();
        List<DeviceConfig> rgvList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Rgv)));
        for (DeviceConfig deviceConfig : rgvList) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, deviceConfig.getDeviceNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getStatus();
            if (rgvProtocol == null) {
                continue;
            }
            RgvLatestDataVo vo = new RgvLatestDataVo();
            vo.setRgvNo(rgvProtocol.getRgvNo());
            vo.setTrackSiteNo(String.valueOf(rgvProtocol.getRgvPos()));
            vo.setRgvStatus(RgvStatusType.get(rgvProtocol.getStatus()));
            vos.add(vo);
        }
        return R.ok().add(vos);
    }

    // @PostMapping("/latest/data/barcode")
    // @ManagerAuth(memo = "条码扫描仪实时数据")
    // public R barcodeLatestData(){
    // List<BarcodeDataVo> list = new ArrayList<>();
    // for (Slave barcode : slaveProperties.getBarcode()) {
    // BarcodeThread barcodeThread = (BarcodeThread)
    // SlaveConnection.get(SlaveType.Barcode, barcode.getId());
    // if (null == barcodeThread) {
    // continue;
    // }
    // BarcodeDataVo vo = new BarcodeDataVo();
    // vo.setBarcodeId(barcode.getId());
    // vo.setCodeValue(barcodeThread.getBarcode());
    // list.add(vo);
    // }
    // return R.ok().add(list);
    // }

    @PostMapping("/crn/detail")
    @ManagerAuth(memo = "堆垛机设备数据详情")
    public R crnDetail(@RequestParam Integer crnNo) {
        if (Cools.isEmpty(crnNo)) {
            return R.parse(CodeRes.EMPTY);
        }
        CrnDetailVo vo = new CrnDetailVo();

        DeviceConfig deviceConfig = deviceConfigService.selectOne(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Crn))
                .eq("device_no", crnNo));

        if (deviceConfig == null) {
            return R.error("设备不存在");
        }

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        CrnProtocol crnProtocol = crnThread.getStatus();
        vo.setCrnNo(crnNo);
        vo.setWorkNo(crnProtocol.getTaskNo());
        vo.setCrnStatus(crnProtocol.getStatusType().desc);

        if (crnProtocol.getAlarm() > 0) {
            BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
            vo.setError(crnError == null ? "未知异常" : crnError.getErrName());
        }

        if (crnProtocol.getTaskNo() > 0) {
            WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
            if (wrkMast != null) {
                vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo()));
                vo.setStaNo(String.valueOf(wrkMast.getStaNo()));
                vo.setWrkSts(wrkMast.getWrkSts$()); // 工作状态
                vo.setIoType(wrkMast.getIoType$()); // 入出库类型
                vo.setSourceLocNo(wrkMast.getSourceLocNo$());
                vo.setLocNo(wrkMast.getLocNo$());
                vo.setCrnStatus(crnProtocol.getStatusType().desc);
                vo.setError(""); // todo
            }
        }
        return R.ok().add(vo);
    }

    /**
@@ -74,11 +265,7 @@
    @GetMapping("/map/lev/list")
    @ManagerAuth
    public R getMapLevList() {
        List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
        ArrayList<Integer> levList = new ArrayList<>();
        for (BasMap basMap : basMaps) {
            levList.add(basMap.getLev());
        }
        List<Integer> levList = locMastService.getLevList();
        return R.ok().add(levList);
    }

@@ -86,40 +273,20 @@
     * 获取地图数据
     */
    @GetMapping("/map/{lev}/auth")
    @ManagerAuth
    public R getMapFromRedis(@PathVariable Integer lev) {
        Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
        if (data == null) {
            return R.error();
    public R getLocMap(@PathVariable Integer lev) {
        Object object = redisUtil.get(RedisKeyType.LOC_MAP_BASE.key);
        if (object == null) {
            return R.error("地图未初始化");
        }

        BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
        //解析json地图数据
        ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
        List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//过滤地图数据
        return R.ok().add(lists);
    }

    /**
     * 重置redis中的地图，将占用的库位全部解除
     */
    @GetMapping("/map/resetMap/auth")
    @ManagerAuth
    public R resetMapToRedis() {
        for (int i = 1; i <= 10; i++) {//总共10层楼
            redisUtil.del(RedisKeyType.MAP.key + i);
        List<List<HashMap<String, Object>>> mapNodeList = (List<List<HashMap<String, Object>>>) object;
        List<LocMast> locMastList = locMastService.selectLocByLev(lev);
        for (LocMast locMast : locMastList) {
            String[] locType = locMast.getLocType().split("-");
            HashMap<String, Object> mapNode = mapNodeList.get(Integer.parseInt(locType[0])).get(Integer.parseInt(locType[1]));
            mapNode.put("locSts", locMast.getLocSts());
            mapNode.put("locNo", locMast.getLocNo());
        }
        return R.ok();
    }

    /**
     * 重置redis中的地图，将占用的库位全部解除
     */
    @GetMapping("/map/resetMap/{lev}")
    @ManagerAuth(memo = "重置Redis地图")
    public R resetMapToRedisByLev(@PathVariable Integer lev, HttpServletRequest request) {
        redisUtil.del(RedisKeyType.MAP.key + lev);
        return R.ok();
        return R.ok().add(mapNodeList);
    }

}