From 371e045764d851da877005e042c8034256983997 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期二, 14 十二月 2021 10:29:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 146 +++++++++++++++++++++++++++++++++---------------
1 files changed, 99 insertions(+), 47 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 86d7e68..1911e3e 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -14,11 +14,14 @@
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.BasCrnpService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
+import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,12 +38,15 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* 鍫嗗灈鏈烘帴鍙�
@@ -61,6 +67,8 @@
private BasCrnpService basCrnpService;
@Autowired
private MainServiceImpl mainService;
+ @Autowired
+ private LocMastService locMastService;
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@@ -119,17 +127,48 @@
//
// }
vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
- vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
+ if (crnProtocol.getTaskFinish() == 1) {
+ vo.setStatus("绛夊緟纭");
+ } else {
+ vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
+ if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.PUT_COMPLETE)) {
+ vo.setStatus("姝ｅ湪浣滀笟");
+ }
+ }
vo.setLoading(crnProtocol.getLoaded()==1?"鏈夌墿":"鏃犵墿"); // 鏈夌墿
vo.setBay(crnProtocol.getBay()); // 鍒�
vo.setLev(crnProtocol.getLevel()); // 灞�
- vo.setXOrigin(crnProtocol.getBay()==1?"鏄�":"鍚�"); // 璧拌鍘熺偣
- vo.setYOrigin(crnProtocol.getLevel()==1?"鏄�":"鍚�"); // 鍗囬檷鍘熺偣
+ vo.setLiftPos(crnProtocol.getLiftPosType().desc);
+ if (crnProtocol.getPlatformHigh()) {
+ vo.setSitePos("绔欏彴楂樹綅");
+ }
+ if (crnProtocol.getPlatformLow()) {
+ vo.setSitePos("绔欏彴楂樹綅");
+ }
vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
vo.setXLocation(crnProtocol.getWalkPos() == 1?"鏄�":"鍚�"); // 璧拌瀹氫綅
vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"鍚�":"鏄�"); // 鍗囬檷瀹氫綅
- vo.setStop(crnProtocol.getCrnError1().controlStop||crnProtocol.getCrnError1().mainStop||crnProtocol.getCrnError1().remoteStop?"鏄�":"鍚�"); // 鎬ュ仠
- vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1())); // 寮傚父鐮�
+ if (crnProtocol.getAlarm1() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ vo.setAlarm1(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
+ if (crnProtocol.getAlarm2() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm2());
+ vo.setAlarm2(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
+ if (crnProtocol.getAlarm3() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm3());
+ vo.setAlarm3(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
+ if (crnProtocol.getAlarm4() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm4());
+ vo.setAlarm4(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
+// vo.setAlarm1(String.valueOf(crnProtocol.getAlarm1()));
+// vo.setAlarm2(String.valueOf(crnProtocol.getAlarm2()));
+// vo.setAlarm3(String.valueOf(crnProtocol.getAlarm3()));
+// vo.setAlarm4(String.valueOf(crnProtocol.getAlarm4()));
+
}
return R.ok().add(list);
}
@@ -155,10 +194,6 @@
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- if (null != crnError) {
- vo.setError(crnError.getErrName());
- }
if (crnProtocol.getTaskNo()>0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
@@ -195,6 +230,20 @@
return R.ok().add(str.toString());
}
+
+ @GetMapping("/demo/status")
+ public R demoStatus(){
+ List<Map<String, Object>> res = new ArrayList<>();
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ Map<String, Object> map = new HashMap<>();
+ map.put("crnNo", crnSlave.getId());
+ map.put("demo", crnSlave.getDemo());
+ res.add(map);
+ }
+ return R.ok().add(res);
+ }
+
+
@PostMapping("/demo/switch")
@ManagerAuth(memo = "鍫嗗灈鏈烘紨绀�")
public R crnDemo(CrnDemoParam param) throws InterruptedException {
@@ -208,9 +257,15 @@
return R.error("鍙ｄ护閿欒");
}
Thread.sleep(200L);
- mainService.crnDemoOfLocMove(param.getCrnId());
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId().equals(param.getCrnId())) {
+ crnSlave.setDemo(param.getOpt());
+ }
+ }
+// mainService.crnDemoOfLocMove(param.getCrnId());
return R.ok();
}
+
/****************************************************************/
@@ -231,7 +286,6 @@
command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- staNoProcess(param, command);
return crnControl(command)?R.ok():R.error();
}
@@ -249,7 +303,6 @@
command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- staNoProcess(param, command);
return crnControl(command)?R.ok():R.error();
}
@@ -267,7 +320,11 @@
command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- staNoProcess(param, command);
+ LocMast sourceLoc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getSourcePosX())
+ .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
+ LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
+ .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
+ VersionUtils.locMoveCheckLocType(sourceLoc, loc);
return crnControl(command)?R.ok():R.error();
}
@@ -285,7 +342,6 @@
command.setDestinationPosX(param.getStaNo()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
- staNoProcess(param, command);
return crnControl(command)?R.ok():R.error();
}
@@ -323,23 +379,23 @@
return crnControl(command)?R.ok():R.error();
}
- @ManagerAuth(memo = "鍧愭爣绉诲姩")
- @PostMapping("/operator/coorMove")
- public R crnCoorMove(CrnOperatorParam param){
- CrnCommand command = new CrnCommand();
- command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 浠诲姟妯″紡
- command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
- command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
- command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
- command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- staNoProcess(param, command);
- return crnControl(command)?R.ok():R.error();
- }
+// @ManagerAuth(memo = "鍧愭爣绉诲姩")
+// @PostMapping("/operator/coorMove")
+// public R crnCoorMove(CrnOperatorParam param){
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 浠诲姟妯″紡
+// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
+// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
+// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
+// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
+// staNoProcess(param, command);
+// return crnControl(command)?R.ok():R.error();
+// }
@ManagerAuth(memo = "浠诲姟瀹屾垚")
@PostMapping("/operator/taskComplete")
@@ -398,23 +454,19 @@
if (crnProtocol == null) {
throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
- // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
- if (crnProtocol.getCrnError3().leftTakeNoneErr
- || crnProtocol.getCrnError3().rightTakeNoneErr
- || crnProtocol.getCrnError3().leftTakeThenLoadErr
- || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
- CrnCommand command = new CrnCommand();
- command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
- // 寤舵椂鍙戦��
- Thread.sleep(3000L);
- if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
- return R.ok();
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ // 寤舵椂鍙戦��
+ Thread.sleep(1000L);
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
+ return R.ok();
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
}
+
+
}
}
--
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