From 4cc10691cd2197f72c205723a642a62478c33273 Mon Sep 17 00:00:00 2001
From: whycq <whycq>
Date: 星期二, 31 五月 2022 09:04:22 +0800
Subject: [PATCH] # ycq
---
src/main/java/com/zy/asrs/controller/CrnController.java | 226 +++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 156 insertions(+), 70 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index de0fd9b..6376556 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,18 +1,28 @@
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.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
+import com.zy.asrs.domain.param.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
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;
import com.zy.core.cache.SlaveConnection;
@@ -24,15 +34,18 @@
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;
+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�
@@ -49,6 +62,12 @@
private WrkMastService wrkMastService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private BasCrnpService basCrnpService;
+ @Autowired
+ private MainServiceImpl mainService;
+ @Autowired
+ private LocMastService locMastService;
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@@ -82,39 +101,36 @@
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
public R crnStateTable(){
List<CrnStateTableVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnStateTableVo vo = new CrnStateTableVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ list.add(vo);
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
if (crnThread == null) {
- log.error("{}鍙峰爢鍨涙満杩炴帴澶辫触", crn.getId());
continue;
}
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) {
- log.error("{}鍙峰爢鍨涙満杩炴帴澶辫触", crn.getId());
continue;
}
- // 琛ㄦ牸琛�
- CrnStateTableVo vo = new CrnStateTableVo();
- vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
- WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
- if (wrkMast != null) {
- vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
- }
- } else {
- vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
- }
+ vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- vo.setWarn(""); // 鎶ヨ todo
- vo.setLoading(crnProtocol.getLoaded()==1?"Y":"N"); // 鏈夌墿
+ 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.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
- vo.setLiftPos(crnProtocol.getLiftPosType().desc); // 杞借揣鍙颁綅缃�
- vo.setWorkNo(crnProtocol.getAlarm1()); // 寮傚父鐮�
- list.add(vo);
+
+ vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
+ vo.setLiftPos(crnProtocol.getLiftPosType().desc);
+ vo.setWalkPos(crnProtocol.getWalkPos()==1?"涓嶅湪瀹氫綅":"鍦ㄥ畾浣�");
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
+ if (crnProtocol.getAlarm() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+ vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
}
return R.ok().add(list);
}
@@ -123,9 +139,14 @@
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
public R crnMsgTable(){
List<CrnMsgTableVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnMsgTableVo vo = new CrnMsgTableVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ list.add(vo);
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
if (crnThread == null) {
continue;
}
@@ -133,14 +154,8 @@
if (crnProtocol == null) {
continue;
}
- // 琛ㄦ牸琛�
- CrnMsgTableVo vo = new CrnMsgTableVo();
- vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
+
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- if (null != crnError) {
- vo.setError(crnError.getErrorCode() + crnError.getErrName());
- }
if (crnProtocol.getTaskNo()>0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
@@ -153,8 +168,13 @@
} else {
vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
- list.add(vo);
-
+ vo.setXspeed(crnProtocol.getXSpeed()); // 璧拌閫熷害锛坢/min)
+ vo.setYspeed(crnProtocol.getYSpeed()); // 鍗囬檷閫熷害锛坢/min)
+ vo.setZspeed(crnProtocol.getZSpeed()); // 鍙夌墮閫熷害锛坢/min)
+ vo.setXdistance(crnProtocol.getXDistance()); // 璧拌璺濈(Km)
+ vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
+ vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
+ vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
}
return R.ok().add(list);
}
@@ -171,6 +191,43 @@
}
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 {
+ if (Cools.isEmpty(param.getCrnId())){
+ return R.error();
+ }
+ if (Cools.isEmpty(param.getPassword())){
+ return R.error("璇疯緭鍏ュ彛浠�");
+ }
+ if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
+ return R.error("鍙ｄ护閿欒");
+ }
+ Thread.sleep(200L);
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId().equals(param.getCrnId())) {
+ crnSlave.setDemo(param.getOpt());
+ }
+ }
+// mainService.crnDemoOfLocMove(param.getCrnId());
+ return R.ok();
+ }
+
/****************************************************************/
@@ -225,6 +282,11 @@
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�
+ 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();
}
@@ -235,7 +297,7 @@
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.SITE_MOVE); // 浠诲姟妯″紡
+ command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡
command.setSourcePosX(param.getSourceStaNo()); // 婧愬簱浣嶆帓
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
@@ -279,22 +341,23 @@
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�
- 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")
@@ -353,23 +416,20 @@
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�
+ crnCommand.setCommand((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");
}
+
+
}
}
@@ -392,18 +452,44 @@
throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
// 绌洪棽鍒ゆ柇
- if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
+// 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("鍛戒护涓嬪彂澶辫触");
}
- } else {
- throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
- }
+// } else {
+// throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
+// }
}
}
return false;
}
+ private void staNoProcess(CrnOperatorParam param, CrnCommand command){
+ if (param.getSourceStaNo()!=null) {
+ if (param.getSourceStaNo() == 5) {
+ command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ } else if (param.getSourceStaNo() == 6) {
+ command.setSourcePosX((short) 1); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ }
+ }
+ if (param.getStaNo()!=null) {
+ if (param.getStaNo() == 5) {
+ command.setDestinationPosX((short) 2); // 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�
+ } else if (param.getStaNo() == 6) {
+ command.setDestinationPosX((short) 1); // 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�
+ }
+ }
+ }
+
+
}
--
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