Merge branch 'ynwcs' of http://47.97.1.152:5880/r/zy-wcs into ynwcs

luxiaotao1123

2022-12-03 8d473a12406bd509f3c7f8c349bf7b134642b282

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

@@ -1,33 +1,38 @@
package com.zy.asrs.controller;

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.zy.asrs.domain.vo.PlcErrorTableVo;
import com.zy.asrs.domain.vo.SiteTableVo;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.entity.WrkCharge;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasSteService;
import com.zy.asrs.service.WrkChargeService;
import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.SteTaskModeType;
import com.zy.core.enums.SteChargeType;
import com.zy.core.enums.SteStatusType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.DevpThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

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

/**
 * 输送设备接口
@@ -42,6 +47,12 @@
    private SlaveProperties slaveProperties;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private WrkChargeService wrkChargeService;
    @Autowired
    private BasSteService basSteService;
    @Autowired
    private CommonService commonService;

    @GetMapping("/io/mode/info/site")
    @ManagerAuth(memo = "充电模式")
@@ -71,24 +82,49 @@
    @PostMapping("/io/mode/action/site")
    @ManagerAuth(memo = "充电控制")
    public R ioModeAction(@RequestParam("floor") Integer floor, @RequestParam("charge") Boolean charge){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 输送线充电命令下发区 --------------------------------------------------------------------------
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            boolean res = devpThread.charge(floor - 1, charge);
            if (!charge && res) {
                // 穿梭车充电命令下发区 --------------------------------------------------------------------------
                int steNo = floor;
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(9999); // 工作号
                steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE);
                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                }
            }
            return res?R.ok():R.error();
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) {
            return R.error("目前存在小车充电任务，请稍后再试");
        }
        return R.ok();
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
            return R.error("目前存在小车复位任务，请稍后再试");
        }
        if (charge) {
            return R.ok();
        }

        SteChargeType steCharge = SteChargeType.get(floor);
        assert steCharge != null;
        Integer steNo = basSteService.hasCarOfLocNo(steCharge.locNo);
        if (Cools.isEmpty(steNo)) {
            return R.error(steNo + "号小车不在" + floor + "号充电桩，请检查小车定位");
        }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        BasSte basSte = basSteService.selectById(steNo);
        if (steProtocol.getMode() == 0) {
            return R.error(steNo + "号小车离线，无法操作");
        }
        if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
            return R.error(steNo + "号小车不是空闲，无法操作");
        }
        WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
        if (wrkCharge == null) {
            // 开始穿梭车复位任务
            wrkCharge = new WrkCharge();
            wrkCharge.setSteNo(steNo);
            wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
            wrkCharge.setWrkSts(41L);   // 41.小车准备复位
            wrkCharge.setCrnNo(2);  // 固定2号堆垛机
            wrkCharge.setIoPri((double) 10);
            wrkCharge.setSourceLocNo(steCharge.locNo);
            wrkCharge.setLocNo(basSte.getIdleLoc());
            wrkCharge.setMemo("reset");
            wrkCharge.setAppeTime(new Date());
            if (!wrkChargeService.insert(wrkCharge)) {
                log.error("保存{}号穿梭车复位任务失败!!!", steNo);
            }
        }
        return R.ok(steNo + "号小车准备离开" + floor + "号充电桩");
    }

    @PostMapping("/table/site")