#

luxiaotao1123

2020-08-20 5b17b77e1eec4980eeb06d6b3bdbde4d1ce190ca

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

@@ -1,7 +1,9 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
@@ -9,10 +11,15 @@
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.WrkMast;
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.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.CrnThread;
@@ -23,10 +30,7 @@
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.UUID;
import java.util.concurrent.atomic.AtomicInteger;

/**
 * 堆垛机接口
@@ -36,7 +40,7 @@
@RestController
@RequestMapping("/crn")
public class CrnController {
    private static AtomicInteger integer = new AtomicInteger();

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
@@ -46,12 +50,25 @@
    @PostMapping("/command/ongoing")
    public R ongoingCommand(){
        List<CommandLogVo> list = new ArrayList<>();
        for (int i=1;i<=4;i++){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            CommandLogVo vo = new CommandLogVo();
            vo.setCrnNo(String.valueOf(i));
            vo.setStatus(1);
            vo.setCommand(UUID.randomUUID().toString());
            vo.setCrnNo(crn.getId());   //  堆垛机号
            vo.setStatus(0);    //  状态
            list.add(vo);
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            vo.setStatus(1);    //  状态
            Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
            if (task != null) {
                vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
            }
        }
        return R.ok().add(list);
    }
@@ -79,10 +96,10 @@
            if (crnProtocol.getTaskNo()>0) {
                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
                if (wrkMast != null) {
                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()));   //  模式状态
                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                }
            } else {
                vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO: CrnStatusType.UN_AUTO);   //  模式状态
                vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setWarn(""); //  报警 todo
@@ -100,34 +117,51 @@
    @ManagerAuth(memo = "堆垛机数据表")
    public R crnMsgTable(){
        List<CrnMsgTableVo> list = new ArrayList<>();
        for (int i=1;i<=4;i++){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            // 表格行
            CrnMsgTableVo vo = new CrnMsgTableVo();
            vo.setCrnNo(String.valueOf(i));
            vo.setCommand("28283E23132D23");
            vo.setError("");
            vo.setLocNo("0601812");
            vo.setOrigin("0");
            vo.setSourceLocNo("");
            vo.setSourceStaNo("0");
            vo.setStaNo("2112");
            vo.setStatus("空闲");
            if (integer.get()%5 == 0) {
                vo.setWorkNo("0000");
            vo.setCrnNo(crn.getId());   //  堆垛机号
            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.setWorkNo("9998");
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            list.add(vo);

        }
        integer.getAndIncrement();
        return R.ok().add(list);
    }

    @PostMapping("/output/site")
    @ManagerAuth(memo = "堆垛机报文日志输出")
    public R crnOutput(){
        String str = "\n" +new Date().toLocaleString() + "【2020-5-29 13:14:22】扫描plcA 目标站--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342";
        return R.ok().add(str);
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.CRN.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }


    /****************************************************************/
    /************************** 手动操作 ******************************/
@@ -136,61 +170,230 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        return R.ok("入库成功");
        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.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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        return R.ok("出库成功");
        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.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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        return R.ok("库位转移成功");
        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.LOC_MOVE); // 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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        return R.ok("站到站成功");
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        return R.ok("坐标移动成功");
        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.SITE_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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        return R.ok("回原点成功");
        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.GO_ORIGIN); // 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 = "反原点")
    @PostMapping("/operator/reverseOrigin")
    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
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 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) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(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.OFFSET_MOVE); // 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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        return R.ok("任务完成");
        CrnCommand command = new CrnCommand();
        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
        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 = "暂停")
    @PostMapping("/operator/pause")
    public R crnPause(CrnOperatorParam param){
        return R.ok("暂停成功");
    }

    @ManagerAuth(memo = "启动")
    @PostMapping("/operator/boot")
    public R crnBoot(CrnOperatorParam param){
        return R.ok("启动成功");
    }
//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
//        return R.ok("暂停成功");
//    }
//
//    @ManagerAuth(memo = "启动")
//    @PostMapping("/operator/boot")
//    public R crnBoot(CrnOperatorParam param){
//        return R.ok("启动成功");
//    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    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");
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(CrnOperatorParam param) throws Exception {
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        // 获取堆垛机缓存
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.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");
                }
                // 只有出现指定异常才进行复位
                if (crnProtocol.getCrnError2().leftTakeNoneErr
                        || crnProtocol.getCrnError2().rightTakeNoneErr
                        || crnProtocol.getCrnError2().leftPutLoadErr
                        || crnProtocol.getCrnError2().rightPutLoadErr) {
                    CrnCommand command = new CrnCommand();
                    command.setCrnNo(param.getCrnNo()); // 堆垛机编号
                    command.setAckFinish((short) 1);  // 任务完成确认位
                    command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                    // 延时发送
                    Thread.sleep(3000L);
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                }
            }
        }

        return R.error();
    }

    private boolean crnControl(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(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");
                }
            }
        }
        return false;
    }

}