#

Junjie

2023-11-27 f0c9d5aa9ab3baf86251db02d553f4d5d78aa411

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

@@ -1,6 +1,8 @@
package com.zy.asrs.controller;

import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
@@ -11,6 +13,7 @@
import com.zy.asrs.domain.param.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnListVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
@@ -20,6 +23,7 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,8 +39,10 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;

import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -49,6 +55,13 @@
@Slf4j
@RestController
public class CrnController {

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.movePath}")
    private String movePath;



    @Autowired
    private SlaveProperties slaveProperties;
@@ -203,6 +216,107 @@
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)
        }
        return R.ok().add(list);
    }

    @PostMapping("/crn/table/crn/{id}/msg")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(@PathVariable("id") Integer id){
        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
        // 表格行
        CrnMsgTableVo vo = new CrnMsgTableVo();
        vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
        // 获取堆垛机信息
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
        if (crnThread == null) {
            return R.error();
        }
        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
        if (crnProtocol == null) {
            return R.error();
        }

        vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
        if (crnProtocol.getTaskNo()>0) {
            WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
            if (wrkMast != null) {
                vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                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.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)
        vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
        vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
        vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
        vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)
        return R.ok().add(vo);
    }

    @GetMapping("/crn/list/auth")
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnList(){
        List<CrnListVo> list = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnListVo vo = new CrnListVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            list.add(vo);
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                }
            } else {
                vo.setDeviceStatus(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)
            vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)

            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            vo.setWrkStatus(crnProtocol.getStatusType().id);     //  任务状态
            vo.setLoading((crnProtocol.getLoaded() != null && 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.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
            vo.setInEnable(basCrnp.getInEnable());
            vo.setOutEnable(basCrnp.getOutEnable());
        }
        return R.ok().add(list);
    }
@@ -474,6 +588,120 @@
        return R.error();
    }

    @ManagerAuth(memo = "切换联机模式")
    @PostMapping("/crn/operator/auto")
    public R crnAuto(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换半手动模式")
    @PostMapping("/crn/operator/semiAutomatic")
    public R crnsemiAutomatic(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)2);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换手动模式")
    @PostMapping("/crn/operator/hand")
    public R onlineWrk1(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAuto((short)3);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "申请完成任务")
    @PostMapping("/crn/operator/onlineWrk1")
    public R onlineWrk2(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk1((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "申请取消任务")
    @PostMapping("/crn/operator/onlineWrk2")
    public R onlineWrk3(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk2((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "清除联机任务")
    @PostMapping("/crn/operator/onlineWrk3")
    public R onlineWrk4(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk3((short)1);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "恢复联机任务")
    @PostMapping("/crn/operator/onlineWrk4")
    public R crnHand(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setOnlineWrk4((short)1);

        return crnControl2(command)?R.ok():R.error();
    }



    private boolean crnControl2(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (command.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    throw new CoolException("堆垛机不在线");
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    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(4, 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");
//                }
            }
        }
        return false;
    }





    private boolean crnControl(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");