#

Junjie

2025-11-11 bfe469c7fa604a6431d58ea5e5143c959d76bd86

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

@@ -2,7 +2,9 @@

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.param.CrnCommandTakeParam;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasCrnpErr;
@@ -10,15 +12,19 @@
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;

@@ -42,7 +48,7 @@

    @PostMapping("/table/crn/state")
    @ManagerAuth(memo = "堆垛机信息表")
    public R crnStateTable(){
    public R crnStateTable() {
        List<CrnStateTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -62,12 +68,12 @@
            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.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.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)
@@ -80,7 +86,7 @@
                vo.setDeviceStatus("AUTO");
            }

            if (crnProtocol.getTaskNo()>0) {
            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo()));    //  源站
@@ -94,7 +100,7 @@
            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.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
                vo.setDeviceStatus("ERROR");
            }
        }
@@ -103,15 +109,71 @@

    @PostMapping("/output/site")
    @ManagerAuth(memo = "堆垛机报文日志输出")
    public R crnOutput(){
    public R crnOutput() {
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.CRN.poll()) != null && i <=10) {
        while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

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

        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();
    }

    @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();
    }

    @PostMapping("/command/taskComplete")
    public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
        if (Cools.isEmpty(param)) {
            return R.error("缺少参数");
        }

        Integer crnNo = param.getCrnNo();

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

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