联调

dubin

3 天以前 ccc39836716ba323c946cddc78a62049731ebb46

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

@@ -14,16 +14,17 @@
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -35,12 +36,15 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
 * 堆垛机接口
@@ -61,11 +65,13 @@
    private BasCrnpService basCrnpService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;


    @ManagerAuth(memo = "进行中的命令")
    @PostMapping("/command/ongoing")
    public R ongoingCommand(){
    public R ongoingCommand() {
        List<CommandLogVo> list = new ArrayList<>();
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CommandLogVo vo = new CommandLogVo();
@@ -84,7 +90,7 @@
            vo.setStatus(1);    //  状态
            Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
            if (task != null) {
                vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
                vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
            }
        }
        return R.ok().add(list);
@@ -92,7 +98,7 @@

    @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) {
@@ -110,38 +116,32 @@
                continue;
            }
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
//            if (crnProtocol.getTaskNo()>0) {
//                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
//                if (wrkMast != null) {
//                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
//                }
//            } else {
//
//            }
            vo.setStatusType(crnProtocol.modeType.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.setLoadTwoing(crnProtocol.getLoadedTwo() == 1 ? "有物" : "无物");  //  有物

            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层
            vo.setXOrigin(crnProtocol.getBay()==1?"是":"否");     //  走行原点
            vo.setYOrigin(crnProtocol.getLevel()==1?"是":"否");     // 升降原点
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setXLocation(crnProtocol.getWalkPos() == 1?"是":"否");      // 走行定位
            vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"否":"是");      // 升降定位
//            vo.setStop(crnProtocol.getCrnError1().controlStop||crnProtocol.getCrnError1().mainStop||crnProtocol.getCrnError1().remoteStop?"是":"否");       //  急停
            if (vo.getCrnNo() == 2) {
                vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()-1000));  //  异常码
            } else {
                vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));  //  异常码
            }

            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");
            if (crnProtocol.getAlarm() == 10) {
                crnProtocol.setAlarm((short) 0);
            }
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError == null ? "未知异常" : crnError.getErrName());
            }
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/crn/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
    public R crnMsgTable() {
        List<CrnMsgTableVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
@@ -160,11 +160,7 @@
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
            if (null != crnError) {
                vo.setError(crnError.getErrName());
            }
            if (crnProtocol.getTaskNo()>0) {
            if (crnProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
@@ -174,8 +170,21 @@
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            if (crnProtocol.getTaskNoTwo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNoTwo());
                if (wrkMast != null) {
                    vo.setSourceStaNo2(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo2(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo2(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo2(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }

            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)
@@ -189,31 +198,50 @@

    @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());
    }


    @GetMapping("/demo/status")
    public R demoStatus() {
        List<Map<String, Object>> res = new ArrayList<>();
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            Map<String, Object> map = new HashMap<>();
            map.put("crnNo", crnSlave.getId());
            map.put("demo", crnSlave.getDemo());
            res.add(map);
        }
        return R.ok().add(res);
    }


    @PostMapping("/demo/switch")
    @ManagerAuth(memo = "堆垛机演示")
    public R crnDemo(CrnDemoParam param) throws InterruptedException {
        if (Cools.isEmpty(param.getCrnId())){
        if (Cools.isEmpty(param.getCrnId())) {
            return R.error();
        }
        if (Cools.isEmpty(param.getPassword())){
        if (Cools.isEmpty(param.getPassword())) {
            return R.error("请输入口令");
        }
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
        if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
            return R.error("口令错误");
        }
        Thread.sleep(200L);
        mainService.crnDemoOfLocMove(param.getCrnId());
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            if (crnSlave.getId().equals(param.getCrnId())) {
                crnSlave.setDemo(param.getOpt());
            }
        }
//        mainService.crnDemoOfLocMove(param.getCrnId());
        return R.ok();
    }

@@ -222,45 +250,46 @@
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }
//    @ManagerAuth(memo = "入库")
//    @PostMapping("/operator/put")
//    public R crnPut(CrnOperatorParam param){
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
//        boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
//        command.setTraySize(locSts);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }

//    @ManagerAuth(memo = "出库")
//    @PostMapping("/operator/take")
//    public R crnTake(CrnOperatorParam param){
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
//        boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
//        command.setTraySize(locSts);
//        return crnControl(command)?R.ok():R.error();
//    }
    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
    public R crnStockMove(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -272,31 +301,38 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
        LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        if (sourceLoc.getLocType1() != loc.getLocType1()) {
            return R.error("库位类型不一致");
        }
        command.setTraySize(loc.getLocType1() == 2);
//        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
    public R crnSiteMove(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式
        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceStaNo());     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
        command.setDestinationPosX(param.getStaNo());     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
    public R crnBacOrigin(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -308,12 +344,12 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "反原点")
    @PostMapping("/operator/reverseOrigin")
    public R reverseOrigin(CrnOperatorParam param){
    public R reverseOrigin(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -325,7 +361,7 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }

//    @ManagerAuth(memo = "坐标移动")
@@ -348,8 +384,9 @@

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
    public R crnTaskComplete(CrnOperatorParam param) {
        CrnCommand command = new CrnCommand();
        command.setPltType(param.getC());
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 1);  // 任务完成确认位
@@ -360,8 +397,9 @@
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
        return crnControl(command) ? R.ok() : R.error();
    }


//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
@@ -377,12 +415,22 @@

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
    public R crnClearCommand(CrnOperatorParam param) {
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
        return R.ok("清除命令成功");
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command) ? R.ok() : R.error();
    }

    @ManagerAuth(memo = "手动复位")
@@ -407,6 +455,7 @@
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
@@ -422,7 +471,7 @@
        return R.error();
    }

    private boolean crnControl(CrnCommand command){
    private boolean crnControl(CrnCommand command) {
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
@@ -438,22 +487,19 @@
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }

            }
        }
        return false;
    }

    private void staNoProcess(CrnOperatorParam param, CrnCommand command){
        if (param.getSourceStaNo()!=null) {
    private void staNoProcess(CrnOperatorParam param, CrnCommand command) {
        if (param.getSourceStaNo() != null) {
            if (param.getSourceStaNo() == 5) {
                command.setSourcePosX((short) 2);     // 源库位排
                command.setSourcePosY((short) 0);     // 源库位列
@@ -464,7 +510,7 @@
                command.setSourcePosZ((short) 1);     // 源库位层
            }
        }
        if (param.getStaNo()!=null) {
        if (param.getStaNo() != null) {
            if (param.getStaNo() == 5) {
                command.setDestinationPosX((short) 2);     // 目标库位排
                command.setDestinationPosY((short) 0);     // 目标库位列
@@ -477,5 +523,20 @@
        }
    }

    private boolean isLocSts(String row, String bay, String lev) {
        int rowInt = Integer.parseInt(row);
        int bayInt = Integer.parseInt(bay);
        int levInt = Integer.parseInt(lev);
        String loc = String.format("%2d", rowInt) + String.format("%3d", bayInt) + String.format("%2d", levInt);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
        if (Cools.isEmpty(locMast)) {
            return false;
        }
        if (locMast.getLocType1() == 2) {
            return true;
        }
        return false;
    }


}