#

Junjie

2023-10-07 f291be24a072b4c8993106247e3142b0dcc5f480

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

@@ -12,16 +12,19 @@
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NyLiftUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.LiftProtocolStatusType;
import com.zy.core.enums.NyLiftTaskModelType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -52,14 +55,13 @@
    @ManagerAuth(memo = "提升机信息表")
    public R liftStateTable(){
        List<LiftStateTableVo> list = new ArrayList<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftStateTableVo vo = new LiftStateTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //提升机号
            vo.setLiftNo(slave.getId());   //提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                vo.setProtocolStatus(LiftProtocolStatusType.OFFLINE.id);//离线
                continue;
@@ -70,28 +72,17 @@
            }
            vo.setTaskNo(liftProtocol.getTaskNo());  //  任务号
            vo.setProtocolStatus(liftProtocol.getProtocolStatusType().id);
            vo.setLiftLock(liftProtocol.getLiftLock());
            vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback());
            vo.setReady(liftProtocol.getReady());
            vo.setRunning(liftProtocol.getRunning());
            vo.setMode(liftProtocol.getMode());
            vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
            vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
            vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
            vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
            vo.setNotReady(liftProtocol.getNotReady());
            vo.setServoError1(liftProtocol.getServoError1());
            vo.setServoError2(liftProtocol.getServoError2());
            vo.setServoError3(liftProtocol.getServoError3());
            vo.setServoError4(liftProtocol.getServoError4());
            vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed());
            vo.setPakMk(liftProtocol.getPakMk());
            vo.setModel(liftProtocol.getModel());
            vo.setBusy(liftProtocol.getBusy());
            vo.setHasTray(liftProtocol.getHasTray());
            vo.setHasCar(liftProtocol.getHasCar());
            vo.setDeviceError(liftProtocol.getDeviceError());
            vo.setFrontOverrun(liftProtocol.getFrontOverrun());
            vo.setBackOverrun(liftProtocol.getBackOverrun());
            vo.setLeftOverrun(liftProtocol.getLeftOverrun());
            vo.setRightOverrun(liftProtocol.getRightOverrun());
            vo.setOverHeight(liftProtocol.getOverHeight());
            vo.setOverWeight(liftProtocol.getOverWeight());
        }
        return R.ok().add(list);
    }
@@ -100,14 +91,13 @@
    @ManagerAuth(memo = "提升机数据表")
    public R liftMsgTable(){
        List<LiftMsgTableVo> list = new ArrayList<>();
        List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
        for (BasLift basLift : lifts) {
        for (LiftSlave slave : slaveProperties.getLift()) {
            // 表格行
            LiftMsgTableVo vo = new LiftMsgTableVo();
            vo.setLiftNo(basLift.getLiftNo());   //  提升机号
            vo.setLiftNo(slave.getId());   //  提升机号
            list.add(vo);
            // 获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
            if (liftThread == null) {
                continue;
            }
@@ -118,14 +108,12 @@

            vo.setWorkNo(liftProtocol.getTaskNo().intValue());//任务号
            vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
            vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
            vo.setReverseFeedback(liftProtocol.getReverseFeedback());
            vo.setMotorOverload(liftProtocol.getMotorOverload());
            vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
            vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
            vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
            vo.setLev(liftProtocol.getLev());
            vo.setTaskAddress(liftProtocol.getTaskAddress());
            vo.setDistAddress(liftProtocol.getDistAddress());
            vo.setCompleteTaskNo(liftProtocol.getCompleteTaskNo());
            vo.setShuttleNo(liftProtocol.getShuttleNo().intValue());
            vo.setToken(liftProtocol.getToken());//令牌
        }
        return R.ok().add(list);
    }
@@ -204,18 +192,80 @@
                    throw new CoolException("提升机不在线");
                }

                LiftAssignCommand assignCommand = new LiftAssignCommand();
                assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 提升机编号
                assignCommand.setTaskNo((short) commonService.getWorkNo(3));//获取任务号
                assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
                assignCommand.setAuto(false);//手动模式
                assignCommand.setLev(param.getLev());//移动楼层
                if (param.getLiftTaskMode() == 1) {
                    //提升机升降楼层
                    int workNo = commonService.getWorkNo(3);//获取任务号

                if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                    Integer startSta = null;
                    Integer targetSta = null;
                    for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                        if (liftStaProtocol.getLev() == liftProtocol.getLev().intValue()) {
                            startSta = liftStaProtocol.getStaNo();
                        }

                        if (liftStaProtocol.getLev() == param.getLev()) {
                            targetSta = liftStaProtocol.getStaNo();
                        }
                    }

                    if (startSta == null || targetSta == null) {
                        throw new CoolException("起点或目标点不存在");
                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, startSta, targetSta, workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 2) {
                    //移动托盘
                    int workNo = commonService.getWorkNo(3);//获取任务号

//                    LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(param.getSourceStaNo());
//                    LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(param.getStaNo());
//                    if (sourceLiftSta == null || liftSta == null) {
//                        throw new CoolException("源站或目标站不存在");
//                    }

                    //获取提升机命令
                    NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, param.getSourceStaNo(), param.getStaNo(), workNo);
                    ArrayList<NyLiftCommand> commands = new ArrayList<>();
                    commands.add(liftCommand);

                    //提交到线程去工作
                    LiftAssignCommand assignCommand = new LiftAssignCommand();
                    assignCommand.setCommands(commands);
                    assignCommand.setLiftNo(liftProtocol.getLiftNo());
                    assignCommand.setTaskNo((short) workNo);
                    assignCommand.setAuto(false);//手动模式
                    assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

                    if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else if (param.getLiftTaskMode() == 0) {
                    //提升机复位
                    liftProtocol.setToken(0);
                    liftProtocol.setProtocolStatusType(LiftProtocolStatusType.IDLE);
                } else {
                    throw new CoolException("命令下发失败");
                    throw new CoolException("未知命令");
                }

            }
        }
        return R.error();
@@ -224,8 +274,9 @@
    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R liftUpdate(@RequestParam Integer liftNo,
                            @RequestParam Short workNo,
                            @RequestParam String pakMk){
                        @RequestParam Short workNo,
                        @RequestParam String pakMk,
                        @RequestParam Integer token) {
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
        if (liftThread == null) {
            return R.error("plc已掉线");
@@ -239,6 +290,9 @@
        }
        if (pakMk != null) {
            liftProtocol.setPakMk(pakMk.equals("Y"));
        }
        if (token != null) {
            liftProtocol.setToken(token);
        }
        return R.ok();
    }
@@ -278,8 +332,8 @@
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<LiftCommand> commands = assignCommand.getCommands();
        LiftCommand command = commands.get(commandStep);
        List<NyLiftCommand> commands = assignCommand.getCommands();
        NyLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();