#

Junjie

2025-11-11 bfe469c7fa604a6431d58ea5e5143c959d76bd86

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

@@ -5,31 +5,31 @@
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.SystemSwitchParam;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.domain.vo.CrnDetailVo;
import com.zy.asrs.domain.vo.CrnLatestDataVo;
import com.zy.asrs.entity.BasCrnpErr;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasMapService;
import com.zy.asrs.service.BasCrnpErrService;
import com.zy.asrs.service.DeviceConfigService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.model.MapNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.RedisUtil;
import com.zy.common.CodeRes;
import com.zy.core.Slave;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.impl.ZySiemensCrnThread;
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.*;

/**
@@ -42,15 +42,11 @@
public class ConsoleController {

    @Autowired
    private BasMapService basMapService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private NavigateMapData navigateMapData;
    private DeviceConfigService deviceConfigService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private SlaveProperties slaveProperties;
    private BasCrnpErrService basCrnpErrService;

    @PostMapping("/system/running/status")
    @ManagerAuth(memo = "系统运行状态")
@@ -77,102 +73,158 @@
        return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
    }

    /**
     * 获取地图楼层数据
     */
    @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());
        }
        return R.ok().add(levList);
    }
//    @PostMapping("/latest/data/site")
//    @ManagerAuth(memo = "站点实时数据")
//    public R siteLatestData(){
//        List<SiteLatestDataVo> vos = new ArrayList<>();
//        Map<Integer, StaProtocol> stations = new HashMap<>();
//        for (DevpSlave devp : slaveProperties.getDevp()) {
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//            if (null != devpThread) {
//                stations.putAll(devpThread.getStation());
//            }
//        }
//        for (Map.Entry<Integer, StaProtocol> entry : stations.entrySet()) {
//            SiteLatestDataVo vo = new SiteLatestDataVo();
//            StaProtocol staProtocol = entry.getValue();
//            vo.setSiteId(String.valueOf(entry.getKey())); // 站点编号
//            vo.setWorkNo(staProtocol.getWorkNo()); // 工作号
//            vo.setSiteStatus(SiteStatusType.process(staProtocol));  // 状态
//            vos.add(vo);
//        }
//        return R.ok().add(vos);
//    }

    /**
     * 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();
        }
    @PostMapping("/latest/data/crn")
    @ManagerAuth(memo = "堆垛机实时数据")
    public R crnLatestData(){
        List<CrnLatestDataVo> vos = new ArrayList<>();

        BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
        //解析json地图数据
        ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
        List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//过滤地图数据
        return R.ok().add(lists);
    }

    /**
     * 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() {
        for (int i = 1; i <= 10; i++) {//总共10层楼
            redisUtil.del(RedisKeyType.MAP.key + i);
        }
        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();
    }

    /**
     * 任务检测
     */
    @GetMapping("/checkTask")
    @ManagerAuth(memo = "任务检测")
    public R checkTask() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<>());
        if (!wrkMasts.isEmpty()) {
            return R.error("存在未结束任务");
        }

        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
        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;
            }

            if (shuttleProtocol.getTaskNo() > 0) {
                return R.error(slave.getId() + "号小车存在工作号");
            }
        }

        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }
            CrnLatestDataVo vo = new CrnLatestDataVo();
            vo.setCrnId(crnProtocol.getCrnNo());   //  堆垛机编号

            if (forkLiftProtocol.getTaskNo() > 0) {
                return R.error(slave.getId() + "号货叉提升机存在工作号");
            vo.setOffset((double) new Random().nextInt(560));     //  堆垛机偏移量
            vo.setBay(crnProtocol.getBay());    //  当前列
            /**
             * 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<>();
//        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
//            // 获取堆垛机信息
//            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//            if (rgvThread == null) {
//                continue;
//            }
//            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//            if (rgvProtocol == null) {
//                continue;
//            }
//            RgvLatestDataVo vo = new RgvLatestDataVo();
//            vo.setRgvId(rgvProtocol.getRgvNo());   //  RGV编号
//            vo.setTrackSiteNo(String.valueOf(rgvProtocol.getRgvPos()));
//            vo.setRgvStatus(rgvProtocol.getStatusType());
//            vos.add(vo);
//
//        }
//        Object object = redisUtil.get("rgvLatestData");
//        List<Object> siteLatestDataVos = JSON.parseArray(object.toString());
//        return R.ok().add(siteLatestDataVos);
//    }

//    @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");
        }

        return R.ok();
        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);
    }

}