#

Junjie

5 天以前 82c36e2b434fa7a1c16b0448aa4cf1483107f79c

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

@@ -1,41 +1,46 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
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.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasMapService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateMapData;
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.common.CodeRes;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.RgvStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.enums.WrkIoType;
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.ShuttleThread;
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.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
@@ -43,39 +48,246 @@
public class ConsoleController {

    @Autowired
    private BasMapService basMapService;
    private DeviceConfigService deviceConfigService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnpErrService basCrnpErrService;
    @Autowired
    private WrkLastnoService wrkLastnoService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private NavigateMapData navigateMapData;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private DeviceConfigService deviceConfigService;

    @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<>();

        WrkLastno inTaskRange = wrkLastnoService.selectById(WrkIoType.IN.id);
        WrkLastno outTaskRange = wrkLastnoService.selectById(WrkIoType.OUT.id);

        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("_", "-");
                if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() > 0) {
                    String taskClass = getStationTaskClass(stationProtocol.getTaskNo(), inTaskRange, outTaskRange);
                    if (taskClass != null) {
                        stationStatus = taskClass;
                    }
                }
                vo.setStationStatus(stationStatus);
                vos.add(vo);
            }

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

    private String getStationTaskClass(Integer taskNo, WrkLastno inTaskRange, WrkLastno outTaskRange) {
        if (taskNo == null || taskNo <= 0) {
            return null;
        }
        if (isInRange(taskNo, inTaskRange)) {
            return "machine-pakin";
        }
        if (isInRange(taskNo, outTaskRange)) {
            return "machine-pakout";
        }
        return null;
    }

    private boolean isInRange(Integer taskNo, WrkLastno taskRange) {
        if (taskRange == null || taskRange.getSNo() == null || taskRange.getENo() == null) {
            return false;
        }
        return taskNo >= taskRange.getSNo() && taskNo <= taskRange.getENo();
    }

    @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

            // 使用实际列值作为偏移参考，避免随机坐标导致界面漂移
            vo.setOffset(Double.valueOf(crnProtocol.getBay()));
            vo.setBay(crnProtocol.getBay()); // 当前列
            vo.setTaskNo(crnProtocol.getTaskNo());
            /**
             * 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.setTaskNo(rgvProtocol.getTaskNo());
            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);
    }

    /**
@@ -84,11 +296,7 @@
    @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);
    }

@@ -96,174 +304,34 @@
     * 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();
        }

        List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
        List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE, NavigationMapType.PATH_LOCK), arrayList, lev, null, null);//过滤地图数据
        return R.ok().add(lists);
    }

    /**
     * 获取库位地图数据
     */
    @GetMapping("/locMap/{lev}/auth")
    @ManagerAuth
    public R getLocMap(@PathVariable Integer lev) {
        Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
        if (data == null) {
            return R.error();
        Object object = redisUtil.get(RedisKeyType.LOC_MAP_BASE.key);
        if (object == null) {
            return R.error("地图未初始化");
        }

        List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
        List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE), arrayList, lev, null, null);//过滤地图数据

        //获取当前楼层库位数据
        List<LocMast> locMasts = locMastService.selectLocByLev(lev);
        for (LocMast locMast : locMasts) {
            Integer row = locMast.getRow1();
            Integer bay = locMast.getBay1();

            List<MapNode> list = lists.get(row);
            MapNode mapNode = list.get(bay);

            mapNode.setLocSts(locMast.getLocSts());
            mapNode.setLocNo(locMast.getLocNo());

            //更新list
            list.set(bay, mapNode);
            lists.set(row, list);
        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().add(lists);
        return R.ok().add(mapNodeList);
    }

    /**
     * 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() {
        List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
        for (BasMap basMap : basMaps) {
            Integer lev = basMap.getLev();
            redisUtil.del(RedisKeyType.MAP.key + lev);
    @RequestMapping(value = "/map/locList")
    public R mapLocList() {
        Object object = redisUtil.get(RedisKeyType.LOC_MAST_MAP_LIST.key);
        if (object != null) {
            JSONArray data = JSON.parseArray(object.toString());
            return R.ok().add(data);
        }
        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();
    }

    /**
     * 获取预计路径
     */
    @GetMapping("/getMoveAdvancePath/{lev}/auth")
    @ManagerAuth
    public R getMoveAdvancePath(@PathVariable Integer lev) {
        HashMap<String, Object> pathMap = new HashMap<>();

        List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.Shuttle)));
        for (DeviceConfig deviceConfig : shuttleList) {
            // 获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != lev) {
                continue;
            }

            if (shuttleProtocol.getTaskNo() == 0) {

            }

            //存在任务，获取指令
            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径

                for (NavigateNode node : nodes) {
                    String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());

                    List<Integer> shuttleNoList = new ArrayList<>();
                    Object tmp = pathMap.get(locNo);
                    if(tmp != null) {
                        shuttleNoList = (List<Integer>) tmp;
                    }

                    if (!shuttleNoList.contains(shuttleProtocol.getShuttleNo())) {
                        shuttleNoList.add(shuttleProtocol.getShuttleNo());
                    }

                    pathMap.put(locNo, shuttleNoList);
                }
            }
        }

        List<HashMap<String, Object>> pathList = new ArrayList<>();
        for (Map.Entry<String, Object> entry : pathMap.entrySet()) {
            String locNo = entry.getKey();
            Object shuttleNoList = entry.getValue();

            HashMap<String, Object> map = new HashMap<>();
            map.put("locNo", locNo);
            map.put("x", Utils.getRow(locNo));
            map.put("y", Utils.getBay(locNo));
            map.put("z", Utils.getLev(locNo));
            map.put("shuttleNoList", shuttleNoList);
            pathList.add(map);
        }
        return R.ok().add(pathList);
    }

    /**
     * 获取锁定路径
     */
    @GetMapping("/getLockPath/{lev}/auth")
    @ManagerAuth
    public R getLockPath(@PathVariable Integer lev) {
        HashMap<String, Object> lockMap = new HashMap<>();
        Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
        if (o != null) {
            lockMap = (HashMap<String, Object>) o;
        }

        List<HashMap<String, Object>> lockList = new ArrayList<>();
        for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
            String locNo = entry.getKey();
            Object shuttleNo = entry.getValue();

            HashMap<String, Object> map = new HashMap<>();
            map.put("locNo", locNo);
            map.put("x", Utils.getRow(locNo));
            map.put("y", Utils.getBay(locNo));
            map.put("z", Utils.getLev(locNo));
            map.put("shuttleNo", shuttleNo);
            lockList.add(map);
        }
        return R.ok().add(lockList);
        EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
        wrapper.eq("lev1", 1);
        List<LocMast> locMasts = locMastService.selectList(wrapper);
        redisUtil.set(RedisKeyType.LOC_MAST_MAP_LIST.key, JSON.toJSONString(locMasts), 60 * 60 * 24);
        return R.ok().add(locMasts);
    }

}