#

Junjie

2025-11-27 9e715c16b49a066e627d150fb2d973a8562db8dc

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

@@ -1,158 +1,179 @@
package com.zy.asrs.controller;

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.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.param.CrnCommandTakeParam;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasCrnpErr;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCrnpErrService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.thread.CrnThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.UUID;
import java.util.concurrent.atomic.AtomicInteger;

/**
 * 堆垛机接口
 * Created by vincent on 2020-06-01
 */
@Slf4j
@RestController
@RequestMapping("/crn")
public class CrnController {

    public static AtomicInteger integer = new AtomicInteger();

    @ManagerAuth(memo = "进行中的命令")
    @PostMapping("/command/ongoing")
    public R ongoingCommand(){
        List<CommandLogVo> list = new ArrayList<>();
        for (int i=1;i<=4;i++){
            CommandLogVo vo = new CommandLogVo();
            vo.setCrnNo(String.valueOf(i));
            vo.setStatus(1);
            vo.setCommand(UUID.randomUUID().toString());
            list.add(vo);
        }
        return R.ok().add(list);
    }
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasCrnpErrService basCrnpErrService;
    @Autowired
    private BasCrnpService basCrnpService;

    @PostMapping("/table/crn/state")
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(){
    public R crnStateTable() {
        List<CrnStateTableVo> list = new ArrayList<>();
        for (int i=1;i<=4;i++){
            CrnStateTableVo vo = new CrnStateTableVo(String.valueOf(i), CrnStatusType.AUTO, "正常", "有物", "99", "3", "中位", "18233", "422", "0", "1204", "关闭", "0");
            if (integer.get()%5 == 0) {
                vo.setWorkNo("0000");
            } else {
                vo.setWorkNo("9998");
            }
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnStateTableVo vo = new CrnStateTableVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            list.add(vo);
        }
        integer.getAndIncrement();
        return R.ok().add(list);
    }
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            vo.setMode(crnProtocol.getModeType().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.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "不在定位" : "在定位");
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
            vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)

    @PostMapping("/table/crn/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
        List<CrnMsgTableVo> list = new ArrayList<>();
        for (int i=1;i<=4;i++){
            CrnMsgTableVo vo = new CrnMsgTableVo();
            vo.setCrnNo(String.valueOf(i));
            vo.setCommand("28283E23132D23");
            vo.setError("");
            vo.setLocNo("0601812");
            vo.setOrigin("0");
            vo.setSourceLocNo("");
            vo.setSourceStaNo("0");
            vo.setStaNo("2112");
            vo.setStatus("空闲");
            if (integer.get()%5 == 0) {
                vo.setWorkNo("0000");
            } else {
                vo.setWorkNo("9998");
            if (crnProtocol.getModeType().equals(CrnModeType.AUTO)) {
                vo.setDeviceStatus("AUTO");
            }
            list.add(vo);

            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo()));    //  源站
                    vo.setStaNo(String.valueOf(wrkMast.getStaNo()));   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                    vo.setDeviceStatus("WORKING");
                }
            }

            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
                vo.setDeviceStatus("ERROR");
            }
        }
        integer.getAndIncrement();
        return R.ok().add(list);
    }

    @PostMapping("/output/site")
    @ManagerAuth(memo = "堆垛机报文日志输出")
    public R crnOutput(){
        String str = "\n" +new Date().toLocaleString() + "【2020-5-29 13:14:22】扫描plcA 目标站--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342";
        return R.ok().add(str);
    public R crnOutput() {
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/
    @PostMapping("/command/take")
    public R crnCommandTake(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        return R.ok("入库成功");
        Integer crnNo = param.getCrnNo();
        String sourceLocNo = param.getSourceLocNo();
        String targetLocNo = param.getTargetLocNo();

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        return R.ok("出库成功");
    @PostMapping("/command/move")
    public R crnCommandMove(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

        Integer crnNo = param.getCrnNo();
        String targetLocNo = param.getTargetLocNo();

        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

        CrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        return R.ok("库位转移成功");
    }
    @PostMapping("/command/taskComplete")
    public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        return R.ok("站到站成功");
    }
        Integer crnNo = param.getCrnNo();

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        return R.ok("坐标移动成功");
    }
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return R.error("线程不存在");
        }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        return R.ok("回原点成功");
        CrnCommand command = crnThread.getResetCommand(crnNo);
        MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
        return R.ok();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        return R.ok("任务完成");
    }

    @ManagerAuth(memo = "暂停")
    @PostMapping("/operator/pause")
    public R crnPause(CrnOperatorParam param){
        return R.ok("暂停成功");
    }

    @ManagerAuth(memo = "启动")
    @PostMapping("/operator/boot")
    public R crnBoot(CrnOperatorParam param){
        return R.ok("启动成功");
    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
        return R.ok("清除命令成功");
    }

}