初步调试

zc

3 天以前 715101e29ad1eb8d70f587237a37d74d50d3fd2a

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

@@ -1,26 +1,29 @@
package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.domain.vo.LiftDataVo;
import com.zy.asrs.domain.vo.LiftMsgTableVo;
import com.zy.asrs.domain.vo.LiftSensorDataVo;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.common.utils.RedisUtil;
import com.zy.core.action.LiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -44,51 +47,33 @@
    private BasLiftService basLiftService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private LiftAction liftAction;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
        ArrayList<JSONObject> list = new ArrayList<>();
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //提升机号
            list.add(vo);
            JSONObject baseObj = new JSONObject();
            baseObj.put("shuttleNo", slave.getId());
            list.add(baseObj);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                vo.setProtocolStatus(LiftProtocolStatusType.OFFLINE.id);//离线
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null || liftProtocol.getLiftNo()==null) {
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                continue;
            }
            vo.setTaskNo(liftProtocol.getTaskNo());  //  任务号
            vo.setProtocolStatus(liftProtocol.getProtocolStatusType().id);
            vo.setLiftLock(liftProtocol.getLiftLock());
            vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback());
            vo.setReady(liftProtocol.getReady());
            vo.setRunning(liftProtocol.getRunning());
            vo.setMode(liftProtocol.getMode());
            vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
            vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
            vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
            vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
            vo.setNotReady(liftProtocol.getNotReady());
            vo.setServoError1(liftProtocol.getServoError1());
            vo.setServoError2(liftProtocol.getServoError2());
            vo.setServoError3(liftProtocol.getServoError3());
            vo.setServoError4(liftProtocol.getServoError4());
            vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed());
            vo.setPakMk(liftProtocol.getPakMk());
            JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol));
            List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
            data.put("liftStaProtocols", liftStaProtocols);
            baseObj.putAll(data);
        }
        return R.ok().add(list);
    }
@@ -97,32 +82,26 @@
    @ManagerAuth(memo = "提升机数据表")
    public R liftMsgTable(){
        List<LiftMsgTableVo> list = new ArrayList<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //  提升机号
            vo.setLiftNo(slave.getId());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                continue;
            }

            vo.setWorkNo(liftProtocol.getTaskNo().intValue());//任务号
            vo.setWorkNo(liftProtocol.getTaskNo());//任务号
            vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
            vo.setShuttleNo(liftProtocol.getShuttleNo().intValue());
            vo.setLiftStaProtocols(liftThread.getLiftStaProtocols());
            vo.setCompleteTaskNo(Integer.parseInt(liftProtocol.getCompleteTaskNo()));
            vo.setLev(liftProtocol.getLev());
        }
        return R.ok().add(list);
    }
@@ -168,7 +147,7 @@
                if (liftThread == null) {
                    return R.error("设备不在线");
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                LiftProtocol liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    return R.error("设备不在线");
                }
@@ -190,56 +169,223 @@
            return R.parse(BaseRes.PARAM);
        }

        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            if (param.getLiftNo().equals(liftSlave.getId())) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
                if (liftThread == null) {
                    throw new CoolException("提升机不在线");
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    throw new CoolException("提升机不在线");
                }

                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 提升机编号
                assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
                assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
                assignCommand.setAuto(false);//手动模式
                assignCommand.setLev(param.getLev());//移动楼层

                if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo());
        if (liftThread == null) {
            throw new CoolException("提升机不在线");
        }
        return R.error();
        LiftProtocol liftProtocol = liftThread.getStatus();
        if (liftProtocol == null) {
            throw new CoolException("提升机不在线");
        }

        if (param.getLiftTaskMode() == 1) {

            return R.ok();
        } else if (param.getLiftTaskMode() == 5) {
            //托盘入
            int workNo = commonService.getWorkNo(8);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<LiftCommand> liftCommand = liftThread.getPalletInCommand(workNo, startSta, targetSta);
            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());

            liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 6) {
            //托盘入
            int workNo = commonService.getWorkNo(8);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<LiftCommand> liftCommand = liftThread.getPalletOutCommand(workNo, startSta, targetSta);
            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());

            liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 7) {
            //移动
            int workNo = commonService.getWorkNo(8);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<LiftCommand> liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 8) {
            //移动
            int workNo = commonService.getWorkNo(8);//获取任务号

            Integer startSta = param.getSourceStaNo();
            Integer targetSta = param.getStaNo();

            //获取提升机命令
            List<LiftCommand> liftCommand = liftThread.getMoveWithShuttleCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo((short) workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 3) {
            //等待确认
            liftThread.setProtocolStatus(LiftProtocolStatusType.WAITING);
            return R.ok();
        } else if (param.getLiftTaskMode() == 0) {
            //提升机复位
            liftThread.setSyncTaskNo(0);
            liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
            return R.ok();
        } else {
            throw new CoolException("未知命令");
        }
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                            @RequestParam Short workNo,
                            @RequestParam String pakMk){
        for (LiftSlave liftSlave : slaveProperties.getLift()) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
            if (liftThread == null) {
                return R.error("plc已掉线");
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return R.error("plc已掉线");
            }
            if (workNo != null) {
                liftProtocol.setTaskNo(workNo);
            }
            if (pakMk != null) {
                liftProtocol.setPakMk(pakMk.equals("Y"));
            }
        }
        return R.error("plc已掉线");
    }
//    @PostMapping("/detl/update")
//    @ManagerAuth(memo = "修改数据")
//    public R liftUpdate(@RequestParam Integer liftNo,
//                        @RequestParam Short workNo,
//                        @RequestParam String pakMk,
//                        @RequestParam Integer token) {
//        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
//        if (liftThread == null) {
//            return R.error("plc已掉线");
//        }
//        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//        if (liftProtocol == null) {
//            return R.error("plc已掉线");
//        }
//        if (workNo != null) {
//            liftProtocol.setTaskNo(workNo);
//        }
//        if (pakMk != null) {
//            liftProtocol.setPakMk(pakMk.equals("Y"));
//        }
//        if (token != null) {
//            liftProtocol.setToken(token);
//        }
//        return R.ok();
//    }
//
//    @RequestMapping(value = "/command/query")
//    public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        return R.ok().add(redisCommand);
//    }
//
//    //回退命令
//    @RequestMapping(value = "/command/rollback")
//    public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
//            , @RequestParam("commandStep") Integer commandStep) {
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        redisCommand.setCommandStep(commandStep);
//        redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
//        return R.ok();
//    }
//
//    //命令完成状态切换
//    @RequestMapping(value = "/command/completeSwitch")
//    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
//            , @RequestParam("commandStep") Integer commandStep
//            , @RequestParam("complete") Integer complete) {
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
//        List<NyLiftCommand> commands = assignCommand.getCommands();
//        NyLiftCommand command = commands.get(commandStep);
//        command.setComplete(complete != 0);
//        redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
//        return R.ok();
//    }
//
//    //重启任务(命令)
//    @RequestMapping(value = "/command/restart")
//    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        Short liftNo = redisCommand.getLiftNo();
//        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
//        if (liftThread == null) {
//            return R.error();
//        }
//        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//        if (liftProtocol == null) {
//            return R.error();
//        }
//        if (!liftProtocol.isIdle()) {
//            return R.error();
//        }
//        //提升机处于空闲状态，进行任务的恢复
//        liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
//        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
//        return R.ok();
//    }
//
//    //删除任务(命令)
//    @RequestMapping(value = "/command/del")
//    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        redisUtil.del(RedisKeyType.LIFT.key + wrkNo);
//        return R.ok();
//    }

}