From 191f08b7a74c461d1914652aed737888967a69f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 19 十月 2023 16:51:38 +0800
Subject: [PATCH] #地图增加分布式锁
---
src/main/java/com/zy/asrs/controller/LiftController.java | 261 ++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 212 insertions(+), 49 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/LiftController.java b/src/main/java/com/zy/asrs/controller/LiftController.java
index f88ea21..50f8d46 100644
--- a/src/main/java/com/zy/asrs/controller/LiftController.java
+++ b/src/main/java/com/zy/asrs/controller/LiftController.java
@@ -1,5 +1,6 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
@@ -10,15 +11,20 @@
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.WrkMastService;
+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.LiftAssignCommand;
+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;
@@ -41,21 +47,23 @@
@Autowired
private BasLiftService basLiftService;
@Autowired
- private WrkMastService wrkMastService;
+ private CommonService commonService;
+ @Autowired
+ private RedisUtil redisUtil;
@PostMapping("/table/lift/state")
@ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
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()) {
// 琛ㄦ牸琛�
LiftStateTableVo vo = new LiftStateTableVo();
- vo.setLiftNo(basLift.getLiftNo()); //鎻愬崌鏈哄彿
+ vo.setLiftNo(slave.getId()); //鎻愬崌鏈哄彿
list.add(vo);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- 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);//绂荤嚎
continue;
}
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
@@ -63,29 +71,18 @@
continue;
}
vo.setTaskNo(liftProtocol.getTaskNo()); // 浠诲姟鍙�
- vo.setProtocolStatus(liftProtocol.getProtocolStatusType().desc);
- 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.setProtocolStatus(liftProtocol.getProtocolStatusType().id);
+ 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);
}
@@ -94,14 +91,13 @@
@ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃")
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()) {
// 琛ㄦ牸琛�
LiftMsgTableVo vo = new LiftMsgTableVo();
- vo.setLiftNo(basLift.getLiftNo()); // 鎻愬崌鏈哄彿
+ vo.setLiftNo(slave.getId()); // 鎻愬崌鏈哄彿
list.add(vo);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
if (liftThread == null) {
continue;
}
@@ -112,13 +108,12 @@
vo.setWorkNo(liftProtocol.getTaskNo().intValue());//浠诲姟鍙�
vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
- 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());//浠ょ墝
}
return R.ok().add(list);
}
@@ -197,20 +192,188 @@
throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
}
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 鎻愬崌鏈虹紪鍙�
- assignCommand.setTaskNo((short) 9999);
- assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
- assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ if (param.getLiftTaskMode() == 1) {
+ //鎻愬崌鏈哄崌闄嶆ゼ灞�
+ int workNo = commonService.getWorkNo(3);//鑾峰彇浠诲姟鍙�
- 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("璧风偣鎴栫洰鏍囩偣涓嶅瓨鍦�");
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, startSta, targetSta, workNo);
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ 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("鍛戒护涓嬪彂澶辫触");
+ }
+ } else if (param.getLiftTaskMode() == 2) {
+ //绉诲姩鎵樼洏
+ int workNo = commonService.getWorkNo(3);//鑾峰彇浠诲姟鍙�
+
+// LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(param.getSourceStaNo());
+// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(param.getStaNo());
+// if (sourceLiftSta == null || liftSta == null) {
+// throw new CoolException("婧愮珯鎴栫洰鏍囩珯涓嶅瓨鍦�");
+// }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, param.getSourceStaNo(), param.getStaNo(), workNo);
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ 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("鍛戒护涓嬪彂澶辫触");
+ }
+ } else if (param.getLiftTaskMode() == 0) {
+ //鎻愬崌鏈哄浣�
+ liftProtocol.setToken(0);
+ liftProtocol.setProtocolStatusType(LiftProtocolStatusType.IDLE);
} else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ throw new CoolException("鏈煡鍛戒护");
}
+
}
}
return R.error();
}
+ @PostMapping("/detl/update")
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R liftUpdate(@RequestParam Integer liftNo,
+ @RequestParam Short workNo,
+ @RequestParam String pakMk,
+ @RequestParam Integer token) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ liftProtocol.setTaskNo(workNo);
+ }
+ if (pakMk != null) {
+ liftProtocol.setPakMk(pakMk.equals("Y"));
+ }
+ if (token != null) {
+ liftProtocol.setToken(token);
+ }
+ return R.ok();
+ }
+
+ @RequestMapping(value = "/command/query")
+ public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ return R.ok().add(redisCommand);
+ }
+
+ //鍥為��鍛戒护
+ @RequestMapping(value = "/command/rollback")
+ public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep) {
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ redisCommand.setCommandStep(commandStep);
+ redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+ 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();
+ }
+
+ //閲嶅惎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/restart")
+ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ Short liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+ if (liftThread == null) {
+ return R.error();
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return R.error();
+ }
+ if (!liftProtocol.isIdle()) {
+ return R.error();
+ }
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ return R.ok();
+ }
+
+ //鍒犻櫎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/del")
+ public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ redisUtil.del("lift_wrk_no_" + wrkNo);
+ return R.ok();
+ }
+
}
--
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