#

野心家

2023-09-05 883195f4d14f24abeb35182dd2af53a8f022a1d0

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

@@ -3,23 +3,29 @@
import com.alibaba.fastjson.JSON;
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.CrnStatusType;
import com.zy.asrs.domain.param.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -28,15 +34,18 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.CrnThread;
import com.zy.core.properties.SystemProperties;
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;

/**
 * 堆垛机接口
@@ -55,6 +64,10 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;


    @ManagerAuth(memo = "进行中的命令")
@@ -104,25 +117,20 @@
                continue;
            }
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                }
            } else {
                vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层
            vo.setXOrigin(crnProtocol.getBay()==1?"是":"否");     //  走行原点
            vo.setYOrigin(crnProtocol.getLevel()==1?"是":"否");     // 升降原点

            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setXLocation(crnProtocol.getWalkPos() == 1?"是":"否");      // 走行定位
            vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"否":"是");      // 升降定位
            vo.setStop(crnProtocol.getCrnError1().controlStop||crnProtocol.getCrnError1().mainStop||crnProtocol.getCrnError1().remoteStop?"是":"否");       //  急停
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));  //  异常码
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
        }
        return R.ok().add(list);
    }
@@ -148,10 +156,6 @@
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            if (null != crnError) {
                vo.setError(crnError.getErrName());
            }
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
@@ -187,6 +191,43 @@
        }
        return R.ok().add(str.toString());
    }


    @GetMapping("/demo/status")
    public R demoStatus(){
        List<Map<String, Object>> res = new ArrayList<>();
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            Map<String, Object> map = new HashMap<>();
            map.put("crnNo", crnSlave.getId());
            map.put("demo", crnSlave.getDemo());
            res.add(map);
        }
        return R.ok().add(res);
    }


    @PostMapping("/demo/switch")
    @ManagerAuth(memo = "堆垛机演示")
    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 (CrnSlave crnSlave : slaveProperties.getCrn()) {
            if (crnSlave.getId().equals(param.getCrnId())) {
                crnSlave.setDemo(param.getOpt());
            }
        }
//        mainService.crnDemoOfLocMove(param.getCrnId());
        return R.ok();
    }



    /****************************************************************/
@@ -241,6 +282,11 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command)?R.ok():R.error();
    }

@@ -251,7 +297,7 @@
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式
        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceStaNo());     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
@@ -295,22 +341,23 @@
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }
//    @ManagerAuth(memo = "坐标移动")
//    @PostMapping("/operator/coorMove")
//    public R crnCoorMove(CrnOperatorParam param){
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
//        staNoProcess(param, command);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
@@ -369,23 +416,20 @@
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                // 只有出现指定异常才进行复位
                if (crnProtocol.getCrnError3().leftTakeNoneErr
                        || crnProtocol.getCrnError3().rightTakeNoneErr
                        || crnProtocol.getCrnError3().leftTakeThenLoadErr
                        || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
                    CrnCommand command = new CrnCommand();
                    command.setCrnNo(param.getCrnNo()); // 堆垛机编号
                    command.setAckFinish((short) 1);  // 任务完成确认位
                    command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                    // 延时发送
                    Thread.sleep(3000L);
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }


            }
        }

@@ -422,4 +466,30 @@
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {
            if (param.getSourceStaNo() == 5) {
                command.setSourcePosX((short) 2);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
                command.setSourcePosZ((short) 1);     // 源库位层
            } else if (param.getSourceStaNo() == 6) {
                command.setSourcePosX((short) 1);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
                command.setSourcePosZ((short) 1);     // 源库位层
            }
        }
        if (param.getStaNo()!=null) {
            if (param.getStaNo() == 5) {
                command.setDestinationPosX((short) 2);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
                command.setDestinationPosZ((short) 1);     // 目标库位层
            } else if (param.getStaNo() == 6) {
                command.setDestinationPosX((short) 1);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
                command.setDestinationPosZ((short) 1);     // 目标库位层
            }
        }
    }


}