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luxiaotao1123

2020-08-17 522f6806cde91d524e196626fdfe5ab4b5e3c9e2

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

@@ -2,7 +2,9 @@

import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
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;
@@ -14,6 +16,7 @@
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;
@@ -162,11 +165,6 @@
        return R.ok().add(str.toString());
    }

    public static void main(String[] args) {
        for (int i =0; i<10; i++) {

        }
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
@@ -175,19 +173,130 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        return R.ok("入库成功");
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        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) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        return R.ok("出库成功");
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        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) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        return R.ok("库位转移成功");
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        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) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
    }

    @ManagerAuth(memo = "站到站")
@@ -205,7 +314,18 @@
    @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.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 = "任务完成")
@@ -232,4 +352,34 @@
        return R.ok("清除命令成功");
    }

    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;
    }

}

 src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java

@@ -15,24 +15,24 @@
    private Integer sourceStaNo;

    // 源库位-排
    private Integer sourceRow;
    private Short sourceRow;

    // 源库位-列
    private Integer sourceBay;
    private Short sourceBay;

    // 源库位-层
    private Integer sourceLev;
    private Short sourceLev;

    // 目标站
    private Integer staNo;
    private Short staNo;

    // 目标库位-排
    private Integer row;
    private Short row;

    // 目标库位-列
    private Integer bay;
    private Short bay;

    // 目标库位-层
    private Integer lev;
    private Short lev;

}