1

zhang

2025-08-29 c6ac196d7207e64b8591f84932439214561fc446

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

@@ -1,243 +1,333 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.ForkLiftProtocolStatusType;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ForkLiftSlave;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.ForkLiftProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ForkLiftThread;
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.List;

/**
 * 提升机接口
 */
@Slf4j
@RestController
@RequestMapping("/lift")
public class ForkLiftController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private BasLiftService basLiftService;
    @Autowired
    private RedisUtil redisUtil;

    @PostMapping("/table/lift/state")
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        for (ForkLiftSlave slave : slaveProperties.getForkLift()) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(slave.getId());   //提升机号
            list.add(vo);
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
                vo.setProtocolStatus(ForkLiftProtocolStatusType.NONE.id);//离线
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null || forkLiftProtocol.getLiftNo()==null) {
                continue;
            }
            vo.setTaskNo(forkLiftProtocol.getTaskNo().shortValue());  //  任务号
            vo.setProtocolStatus(forkLiftProtocol.getProtocolStatusType().id);
        }
        return R.ok().add(list);
    }

    @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()) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(slave.getId());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
            if (forkLiftThread == null) {
                continue;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                continue;
            }

            vo.setWorkNo(forkLiftProtocol.getTaskNo().intValue());//任务号
            vo.setPakMk(forkLiftProtocol.getPakMk()?"Y" : "N");    // 作业标记
        }
        return R.ok().add(list);
    }

    @PostMapping("/output/lift")
    @ManagerAuth
    public R liftOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    @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());
                if (!Cools.isEmpty(basLift)) {
                    vo.setWorkNo(basLift.getWrkNo());
                    vo.setPakMk(basLift.getPakMk());
                }
                break;
            }
        }
        return R.ok().add(vo);
    }

    @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());
                // 获取提升机信息
                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId());
                if (forkLiftThread == null) {
                    return R.error("设备不在线");
                }
                ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                if (forkLiftProtocol == null) {
                    return R.error("设备不在线");
                }

                break;
            }
        }
        return R.ok().add(vo);
    }

    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
        if (forkLiftThread == null) {
            return R.error("plc已掉线");
        }
        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
        if (forkLiftProtocol == null) {
            return R.error("plc已掉线");
        }
        if (workNo != null) {
            forkLiftThread.setSyncTaskNo(workNo.intValue());
        }
        return R.ok();
    }

    @RequestMapping(value = "/command/query")
    public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        return R.ok().add(redisCommand);
    }

    //回退命令
    @RequestMapping(value = "/command/rollback")
    public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep) {
        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //命令完成状态切换
    @RequestMapping(value = "/command/completeSwitch")
    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep
            , @RequestParam("complete") Integer complete) {
        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<ForkLiftCommand> commands = assignCommand.getCommands();
        ForkLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //重启任务(命令)
    @RequestMapping(value = "/command/restart")
    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        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());
        if (forkLiftThread == null) {
            return R.error();
        }
        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
        if (forkLiftProtocol == null) {
            return R.error();
        }
        if (!forkLiftThread.isIdle()) {
            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
        return R.ok();
    }

    //删除任务(命令)
    @RequestMapping(value = "/command/del")
    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
        return R.ok();
    }

}
//package com.zy.asrs.controller;
//
//import com.alibaba.fastjson.JSON;
//import com.alibaba.fastjson.JSONObject;
//import com.core.annotations.ManagerAuth;
//import com.core.common.BaseRes;
//import com.core.common.Cools;
//import com.core.common.R;
//import com.core.exception.CoolException;
//import com.zy.asrs.domain.param.LiftOperatorParam;
//import com.zy.asrs.domain.vo.*;
//import com.zy.asrs.entity.BasLift;
//import com.zy.asrs.service.BasLiftService;
//import com.zy.common.service.CommonService;
//import com.zy.common.utils.RedisUtil;
//import com.zy.core.action.ForkLiftAction;
//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.command.*;
//import com.zy.core.model.protocol.ForkLiftProtocol;
//import com.zy.core.model.protocol.ForkLiftStaProtocol;
//import com.zy.core.properties.SlaveProperties;
//import com.zy.core.thread.ForkLiftThread;
//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.List;
//
///**
// * 货叉提升机接口
// */
//@Slf4j
//@RestController
//@RequestMapping("/forkLift")
//public class ForkLiftController {
//
//    @Autowired
//    private CommonService commonService;
//    @Autowired
//    private SlaveProperties slaveProperties;
//    @Autowired
//    private BasLiftService basLiftService;
//    @Autowired
//    private RedisUtil redisUtil;
//    @Autowired
//    private ForkLiftAction forkLiftAction;
//
//    @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()) {
//            // 表格行
//            JSONObject baseObj = new JSONObject();
//            baseObj.put("shuttleNo", slave.getId());
//            list.add(baseObj);
//            // 获取提升机信息
//            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
//            if (forkLiftThread == null) {
//                continue;
//            }
//            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//            if (forkLiftProtocol == null) {
//                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);
//    }
//
//    @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()) {
//            // 表格行
//            LiftMsgTableVo vo = new LiftMsgTableVo();
//            vo.setLiftNo(slave.getId());   //  提升机号
//            list.add(vo);
//            // 获取提升机信息
//            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, slave.getId());
//            if (forkLiftThread == null) {
//                continue;
//            }
//            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//            if (forkLiftProtocol == null) {
//                continue;
//            }
//
//            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);
//    }
//
//    @PostMapping("/output/lift")
//    @ManagerAuth
//    public R liftOutput(){
//        StringBuilder str = new StringBuilder();
//        String s;
//        int i = 0;
//        while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
//            str.append("\n").append(s);
//            i++;
//        }
//        return R.ok().add(str.toString());
//    }
//
//    @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());
//                if (!Cools.isEmpty(basLift)) {
//                    vo.setWorkNo(basLift.getWrkNo());
//                    vo.setPakMk(basLift.getPakMk());
//                }
//                break;
//            }
//        }
//        return R.ok().add(vo);
//    }
//
//    @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());
//                // 获取提升机信息
//                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSlave.getId());
//                if (forkLiftThread == null) {
//                    return R.error("设备不在线");
//                }
//                ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//                if (forkLiftProtocol == null) {
//                    return R.error("设备不在线");
//                }
//
//                break;
//            }
//        }
//        return R.ok().add(vo);
//    }
//
//    @PostMapping("/detl/update")
//    @ManagerAuth(memo = "修改数据")
//    public R liftUpdate(@RequestParam Integer liftNo,
//                        @RequestParam Short workNo) {
//        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
//        if (forkLiftThread == null) {
//            return R.error("plc已掉线");
//        }
//        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//        if (forkLiftProtocol == null) {
//            return R.error("plc已掉线");
//        }
//        if (workNo != null) {
//            forkLiftThread.setSyncTaskNo(workNo.intValue());
//        }
//        return R.ok();
//    }
//
//    @RequestMapping(value = "/command/query")
//    public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        return R.ok().add(redisCommand);
//    }
//
//    //回退命令
//    @RequestMapping(value = "/command/rollback")
//    public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
//            , @RequestParam("commandStep") Integer commandStep) {
//        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        redisCommand.setCommandStep(commandStep);
//        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
//        return R.ok();
//    }
//
//    //命令完成状态切换
//    @RequestMapping(value = "/command/completeSwitch")
//    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
//            , @RequestParam("commandStep") Integer commandStep
//            , @RequestParam("complete") Integer complete) {
//        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
//        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
//        List<ForkLiftCommand> commands = assignCommand.getCommands();
//        ForkLiftCommand command = commands.get(commandStep);
//        command.setComplete(complete != 0);
//        redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
//        return R.ok();
//    }
//
//    //重启任务(命令)
//    @RequestMapping(value = "/command/restart")
//    public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        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());
//        if (forkLiftThread == null) {
//            return R.error();
//        }
//        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//        if (forkLiftProtocol == null) {
//            return R.error();
//        }
//        if (!forkLiftThread.isIdle()) {
//            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
//        return R.ok();
//    }
//
//    //删除任务(命令)
//    @RequestMapping(value = "/command/del")
//    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
//        Object o = redisUtil.get(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        if (o == null) {
//            return R.error();
//        }
//        redisUtil.del(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo);
//        return R.ok();
//    }
//
//    /****************************************************************/
//    /************************** 手动操作 ******************************/
//    /****************************************************************/
//
//    @ManagerAuth(memo = "手动操作")
//    @PostMapping("/operator/lift")
//    public R liftOperator(LiftOperatorParam param){
//        if (Cools.isEmpty(param.getLiftNo())) {
//            return R.parse(BaseRes.PARAM);
//        }
//
//        ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, param.getLiftNo());
//        if (forkLiftThread == null) {
//            throw new CoolException("提升机不在线");
//        }
//        ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//        if (forkLiftProtocol == null) {
//            throw new CoolException("提升机不在线");
//        }
//
//        if (param.getLiftTaskMode() == 1) {
//            //小车换层
//            int workNo = commonService.getWorkNo(99);//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);
//            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
//            commands.addAll(liftCommand);
//
//            //提交到线程去工作
//            LiftAssignCommand assignCommand = new LiftAssignCommand();
//            assignCommand.setCommands(commands);
//            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
//            assignCommand.setTaskNo((short) workNo);
//            assignCommand.setAuto(false);//手动模式
//            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
//
//            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
//
//            Integer startSta = param.getSourceStaNo();
//            Integer targetSta = param.getStaNo();
//
//            //获取提升机命令
//            List<ForkLiftCommand> liftCommand = forkLiftThread.getPickAndPutCommand(workNo, startSta, targetSta);
//            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
//            commands.addAll(liftCommand);
//
//            //提交到线程去工作
//            LiftAssignCommand assignCommand = new LiftAssignCommand();
//            assignCommand.setCommands(commands);
//            assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
//            assignCommand.setTaskNo((short) workNo);
//            assignCommand.setAuto(false);//手动模式
//            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
//
//            forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
//            return R.ok();
//        } else if (param.getLiftTaskMode() == 3) {
//            //任务确认
//            forkLiftThread.reset();
//            return R.ok();
//        } else if (param.getLiftTaskMode() == 0) {
//            //提升机复位
//            forkLiftThread.setSyncTaskNo(0);
//            forkLiftThread.setProtocolStatus(ForkLiftProtocolStatusType.IDLE);
//            return R.ok();
//        } else {
//            throw new CoolException("未知命令");
//        }
//    }
//
//}