From 3979820ffea1120bc553accbdeba6445da91f277 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:58:05 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/ConsoleController.java | 246 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 172 insertions(+), 74 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ConsoleController.java b/src/main/java/com/zy/asrs/controller/ConsoleController.java
index 89acbce..1c61d5e 100644
--- a/src/main/java/com/zy/asrs/controller/ConsoleController.java
+++ b/src/main/java/com/zy/asrs/controller/ConsoleController.java
@@ -1,22 +1,33 @@
package com.zy.asrs.controller;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.param.SystemSwitchParam;
import com.zy.asrs.entity.BasMap;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasMapService;
+import com.zy.asrs.service.DeviceConfigService;
+import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
+import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.RedisUtil;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
-import com.zy.core.properties.SlaveProperties;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.command.ShuttleRedisCommand;
+import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SystemProperties;
+import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;
import javax.servlet.http.HttpServletRequest;
@@ -32,15 +43,15 @@
public class ConsoleController {
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private BasMapService basMapService;
@Autowired
private RedisUtil redisUtil;
- @Value("${super.pwd}")
- private String superPwd;
@Autowired
private NavigateMapData navigateMapData;
+ @Autowired
+ private LocMastService locMastService;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
@PostMapping("/system/running/status")
@ManagerAuth(memo = "绯荤粺杩愯鐘舵��")
@@ -68,6 +79,20 @@
}
/**
+ * 鑾峰彇鍦板浘妤煎眰鏁版嵁
+ */
+ @GetMapping("/map/lev/list")
+ @ManagerAuth
+ public R getMapLevList() {
+ List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
+ ArrayList<Integer> levList = new ArrayList<>();
+ for (BasMap basMap : basMaps) {
+ levList.add(basMap.getLev());
+ }
+ return R.ok().add(levList);
+ }
+
+ /**
* 鑾峰彇鍦板浘鏁版嵁
*/
@GetMapping("/map/{lev}/auth")
@@ -78,10 +103,41 @@
return R.error();
}
- BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
- //瑙ｆ瀽json鍦板浘鏁版嵁
- ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
- List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//杩囨护鍦板浘鏁版嵁
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE, NavigationMapType.PATH_LOCK), arrayList, lev, null, null);//杩囨护鍦板浘鏁版嵁
+ return R.ok().add(lists);
+ }
+
+ /**
+ * 鑾峰彇搴撲綅鍦板浘鏁版嵁
+ */
+ @GetMapping("/locMap/{lev}/auth")
+ @ManagerAuth
+ public R getLocMap(@PathVariable Integer lev) {
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {
+ return R.error();
+ }
+
+ List<List<MapNode>> arrayList = (List<List<MapNode>>) data;
+ List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.getMapTypes(NavigationMapType.NONE), arrayList, lev, null, null);//杩囨护鍦板浘鏁版嵁
+
+ //鑾峰彇褰撳墠妤煎眰搴撲綅鏁版嵁
+ List<LocMast> locMasts = locMastService.selectLocByLev(lev);
+ for (LocMast locMast : locMasts) {
+ Integer row = locMast.getRow1();
+ Integer bay = locMast.getBay1();
+
+ List<MapNode> list = lists.get(row);
+ MapNode mapNode = list.get(bay);
+
+ mapNode.setLocSts(locMast.getLocSts());
+ mapNode.setLocNo(locMast.getLocNo());
+
+ //鏇存柊list
+ list.set(bay, mapNode);
+ lists.set(row, list);
+ }
return R.ok().add(lists);
}
@@ -91,32 +147,10 @@
@GetMapping("/map/resetMap/auth")
@ManagerAuth
public R resetMapToRedis() {
- for (int i = 1; i <= 10; i++) {//鎬诲叡10灞傛ゼ
- BasMap basMap = basMapService.selectLatestMap(i);
- //杞藉叆鍦板浘
- List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
- if (basMap == null) {
- //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
- //瀛樺叆鏁版嵁搴�
- basMap = new BasMap();
- basMap.setData(JSON.toJSONString(lists));
- basMap.setCreateTime(new Date());
- basMap.setUpdateTime(new Date());
- basMap.setLev(i);
-
- if (!basMapService.insert(basMap)) {
- log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
- }
- }else {
- basMap.setData(JSON.toJSONString(lists));
- basMap.setUpdateTime(new Date());
- if (!basMapService.updateById(basMap)) {
- log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
- }
- }
-
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
+ List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
+ for (BasMap basMap : basMaps) {
+ Integer lev = basMap.getLev();
+ redisUtil.del(RedisKeyType.MAP.key + lev);
}
return R.ok();
}
@@ -127,45 +161,109 @@
@GetMapping("/map/resetMap/{lev}")
@ManagerAuth(memo = "閲嶇疆Redis鍦板浘")
public R resetMapToRedisByLev(@PathVariable Integer lev, HttpServletRequest request) {
- // super璐﹀彿
- String token = request.getHeader("token");
- if (token == null) {
- return R.error();
- }
- String deToken = Cools.deTokn(token, superPwd);
- if (deToken == null) {
- return R.error("鏉冮檺涓嶈冻");
- }
- if (!"super".equals(deToken.substring(13))) {
- return R.error("鏉冮檺涓嶈冻");
- }
-
- BasMap basMap = basMapService.selectLatestMap(lev);
- //杞藉叆鍦板浘
- List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
- if (basMap == null) {
- //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
- //瀛樺叆鏁版嵁搴�
- basMap = new BasMap();
- basMap.setData(JSON.toJSONString(lists));
- basMap.setCreateTime(new Date());
- basMap.setUpdateTime(new Date());
- basMap.setLev(lev);
-
- if (!basMapService.insert(basMap)) {
- log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
- }
- } else {
- basMap.setData(JSON.toJSONString(lists));
- basMap.setUpdateTime(new Date());
- if (!basMapService.updateById(basMap)) {
- log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
- }
- }
-
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
+ redisUtil.del(RedisKeyType.MAP.key + lev);
return R.ok();
}
+ /**
+ * 鑾峰彇棰勮璺緞
+ */
+ @GetMapping("/getMoveAdvancePath/{lev}/auth")
+ @ManagerAuth
+ public R getMoveAdvancePath(@PathVariable Integer lev) {
+ HashMap<String, Object> pathMap = new HashMap<>();
+
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig deviceConfig : shuttleList) {
+ // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceConfig.getDeviceNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ continue;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != lev) {
+ continue;
+ }
+
+ if (shuttleProtocol.getTaskNo() == 0) {
+
+ }
+
+ //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
+ if (object != null) {
+ ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
+ List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//绌挎杞﹂璁¤矾寰�
+
+ for (NavigateNode node : nodes) {
+ String locNo = Utils.getLocNo(node.getX(), node.getY(), node.getZ());
+
+ List<Integer> shuttleNoList = new ArrayList<>();
+ Object tmp = pathMap.get(locNo);
+ if(tmp != null) {
+ shuttleNoList = (List<Integer>) tmp;
+ }
+
+ if (!shuttleNoList.contains(shuttleProtocol.getShuttleNo())) {
+ shuttleNoList.add(shuttleProtocol.getShuttleNo());
+ }
+
+ pathMap.put(locNo, shuttleNoList);
+ }
+ }
+ }
+
+ List<HashMap<String, Object>> pathList = new ArrayList<>();
+ for (Map.Entry<String, Object> entry : pathMap.entrySet()) {
+ String locNo = entry.getKey();
+ Object shuttleNoList = entry.getValue();
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("locNo", locNo);
+ map.put("x", Utils.getRow(locNo));
+ map.put("y", Utils.getBay(locNo));
+ map.put("z", Utils.getLev(locNo));
+ map.put("shuttleNoList", shuttleNoList);
+ pathList.add(map);
+ }
+ return R.ok().add(pathList);
+ }
+
+ /**
+ * 鑾峰彇閿佸畾璺緞
+ */
+ @GetMapping("/getLockPath/{lev}/auth")
+ @ManagerAuth
+ public R getLockPath(@PathVariable Integer lev) {
+ HashMap<String, Object> lockMap = new HashMap<>();
+ Object o = redisUtil.get(RedisKeyType.LOCK_MAP_NODES.key + lev);
+ if (o != null) {
+ lockMap = (HashMap<String, Object>) o;
+ }
+
+ List<HashMap<String, Object>> lockList = new ArrayList<>();
+ for (Map.Entry<String, Object> entry : lockMap.entrySet()) {
+ String locNo = entry.getKey();
+ Object shuttleNo = entry.getValue();
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("locNo", locNo);
+ map.put("x", Utils.getRow(locNo));
+ map.put("y", Utils.getBay(locNo));
+ map.put("z", Utils.getLev(locNo));
+ map.put("shuttleNo", shuttleNo);
+ lockList.add(map);
+ }
+ return R.ok().add(lockList);
+ }
+
}
--
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