#

Junjie

2025-09-10 be056737989257b7627ebc3bc4b3b687648a9a27

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

@@ -2,6 +2,7 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
@@ -10,25 +11,18 @@
import com.zy.asrs.domain.param.LiftOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.service.BasLiftService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.ForkLiftUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.action.ForkLiftAction;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.ForkLiftTaskModeType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.enums.*;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.thread.ForkLiftThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -48,25 +42,27 @@
    @Autowired
    private CommonService commonService;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ForkLiftAction forkLiftAction;
    @Autowired
    private DeviceConfigService deviceConfigService;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        ArrayList<JSONObject> list = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
        List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.ForkLift)));
        for (DeviceConfig device : forkliftList) {
            // 表格行
            JSONObject baseObj = new JSONObject();
            baseObj.put("shuttleNo", slave.getId());
            baseObj.put("liftNo", device.getDeviceNo());
            list.add(baseObj);
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
            if (forkLiftThread == null) {
                continue;
            }
@@ -75,6 +71,8 @@
                continue;
            }
            JSONObject data = JSON.parseObject(JSON.toJSONString(forkLiftProtocol));
            List<ForkLiftStaProtocol> forkLiftStaProtocols = forkLiftThread.getForkLiftStaProtocols();
            data.put("forkLiftStaProtocols", forkLiftStaProtocols);
            baseObj.putAll(data);
        }
        return R.ok().add(list);
@@ -83,14 +81,16 @@
    @PostMapping("/table/lift/msg")
    @ManagerAuth(memo = "提升机数据表")
    public R liftMsgTable(){
        List<LiftMsgTableVo> list = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
        List<ForkLiftMsgTableVo> list = new ArrayList<>();
        List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.ForkLift)));
        for (DeviceConfig device : forkliftList) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(slave.getId());   //  提升机号
            ForkLiftMsgTableVo vo = new ForkLiftMsgTableVo();
            vo.setLiftNo(device.getDeviceNo());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
            if (forkLiftThread == null) {
                continue;
            }
@@ -99,8 +99,9 @@
                continue;
            }

            vo.setWorkNo(forkLiftProtocol.getTaskNo().intValue());//任务号
            vo.setWorkNo(forkLiftProtocol.getTaskNo());//任务号
            vo.setPakMk(forkLiftProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setForkLiftStaProtocols(forkLiftThread.getForkLiftStaProtocols());
        }
        return R.ok().add(list);
    }
@@ -111,7 +112,7 @@
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
        while((s = OutputQueue.FORKLIFT.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
@@ -121,10 +122,12 @@
    @GetMapping("/detl/{liftNo}")
    public R liftDetl(@PathVariable("liftNo") Integer liftNo){
        LiftDataVo vo = new LiftDataVo();
        for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
            if (liftNo.equals(liftSlave.getId())) {
                vo.setLiftNo(liftSlave.getId());
                BasLift basLift = basLiftService.selectById(liftSlave.getId());
        List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.ForkLift)));
        for (DeviceConfig device : forkliftList) {
            if (liftNo.equals(device.getDeviceNo())) {
                vo.setLiftNo(device.getDeviceNo());
                BasLift basLift = basLiftService.selectById(device.getDeviceNo());
                if (!Cools.isEmpty(basLift)) {
                    vo.setWorkNo(basLift.getWrkNo());
                    vo.setPakMk(basLift.getPakMk());
@@ -138,11 +141,13 @@
    @GetMapping("/sensor/detl/{liftNo}")
    public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
        LiftSensorDataVo vo = new LiftSensorDataVo();
        for (ForkLiftSlave liftSlave : slaveProperties.getForkLift()) {
            if (liftNo.equals(liftSlave.getId())) {
                vo.setLiftNo(liftSlave.getId());
        List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                .eq("device_type", String.valueOf(SlaveType.ForkLift)));
        for (DeviceConfig device : forkliftList) {
            if (liftNo.equals(device.getDeviceNo())) {
                vo.setLiftNo(device.getDeviceNo());
                // 获取提升机信息
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId());
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
                if (forkLiftThread == null) {
                    return R.error("设备不在线");
                }
@@ -160,9 +165,7 @@
    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
                        @RequestParam Short workNo) {
        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
        if (forkLiftThread == null) {
            return R.error("plc已掉线");
@@ -183,7 +186,7 @@
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class);
        return R.ok().add(redisCommand);
    }

@@ -195,7 +198,7 @@
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
@@ -210,8 +213,8 @@
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class);
        ForkLiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ForkLiftCommand> commands = assignCommand.getCommands();
        ForkLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
@@ -226,9 +229,9 @@
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        Short liftNo = redisCommand.getLiftNo();
        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo.intValue());
        ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class);
        Integer liftNo = redisCommand.getLiftNo();
        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
        if (forkLiftThread == null) {
            return R.error();
        }
@@ -240,7 +243,7 @@
            return R.error();
        }
        //提升机处于空闲状态，进行任务的恢复
        forkLiftThread.setSyncTaskNo(redisCommand.getWrkNo().intValue());//将提升机线程分配任务号
        forkLiftThread.setSyncTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
        return R.ok();
    }

@@ -277,49 +280,71 @@

        if (param.getLiftTaskMode() == 1) {
            //小车换层
            int workNo = commonService.getWorkNo(99);//获取任务号
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

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

            //获取提升机命令
            List<ForkLiftCommand> liftCommand = forkLiftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
            ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);
            commands.add(liftCommand);

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

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 2) {
            //移动托盘
            int workNo = commonService.getWorkNo(99);//获取任务号
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

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

            //获取提升机命令
            List<ForkLiftCommand> liftCommand = forkLiftThread.getPickAndPutCommand(workNo, startSta, targetSta);
            ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.addAll(liftCommand);
            commands.add(liftCommand);

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

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 3) {
            //移动
            int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号

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

            //获取提升机命令
            ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, startSta, targetSta);
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

            //提交到线程去工作
            ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo());
            assignCommand.setTaskNo(workNo);
            assignCommand.setAuto(false);//手动模式
            assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id);

            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
            return R.ok();
        } else if (param.getLiftTaskMode() == 4) {
            //任务确认
            forkLiftThread.reset();
            return R.ok();