From 4d285dd1ffcefbb51908a452e73477cc47300d91 Mon Sep 17 00:00:00 2001
From: ZY <zc857179121@qq.com>
Date: 星期一, 07 四月 2025 17:15:53 +0800
Subject: [PATCH] 还没有写完
---
src/main/java/com/zy/asrs/controller/CrnController.java | 579 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 473 insertions(+), 106 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 4b5edf5..2a89e23 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -10,6 +10,7 @@
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.CrnListVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.BasCrnError;
@@ -26,7 +27,6 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -38,12 +38,13 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
+import java.util.Map;
/**
* 鍫嗗灈鏈烘帴鍙�
@@ -51,8 +52,9 @@
*/
@Slf4j
@RestController
-@RequestMapping("/crn")
public class CrnController {
+
+
@Autowired
private SlaveProperties slaveProperties;
@@ -63,14 +65,12 @@
@Autowired
private BasCrnpService basCrnpService;
@Autowired
- private MainServiceImpl mainService;
- @Autowired
private LocMastService locMastService;
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
- @PostMapping("/command/ongoing")
- public R ongoingCommand(){
+ @PostMapping("/crn/command/ongoing")
+ public R ongoingCommand() {
List<CommandLogVo> list = new ArrayList<>();
for (CrnSlave crn : slaveProperties.getCrn()) {
CommandLogVo vo = new CommandLogVo();
@@ -89,15 +89,15 @@
vo.setStatus(1); // 鐘舵��
Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
if (task != null) {
- vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
+ vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
}
}
return R.ok().add(list);
}
- @PostMapping("/table/crn/state")
+ @PostMapping("/crn/table/crn/state")
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
- public R crnStateTable(){
+ public R crnStateTable() {
List<CrnStateTableVo> list = new ArrayList<>();
List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
for (BasCrnp basCrnp : crnps) {
@@ -115,49 +115,61 @@
continue;
}
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.desc); // 妯″紡鐘舵��
- if (crnProtocol.getTaskFinish() == 1) {
- vo.setStatus("绛夊緟纭");
- } else {
- vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- }
- vo.setLoading(crnProtocol.getLoaded()==1?"鏈夌墿":"鏃犵墿"); // 鏈夌墿
+ vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
+ vo.setLoading((crnProtocol.getLoaded() != null && crnProtocol.getLoaded() == 1) ? "鏈夌墿" : "鏃犵墿"); // 鏈夌墿
vo.setBay(crnProtocol.getBay()); // 鍒�
vo.setLev(crnProtocol.getLevel()); // 灞�
- 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.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.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.setAlarm1(String.valueOf(crnProtocol.getAlarm1()));
- vo.setAlarm2(String.valueOf(crnProtocol.getAlarm2()));
- vo.setAlarm3(String.valueOf(crnProtocol.getAlarm3()));
- vo.setAlarm4(String.valueOf(crnProtocol.getAlarm4()));
-// vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1())); // 寮傚父鐮�
+ 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.getAlarm1()));
+ 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);
}
- @PostMapping("/table/crn/msg")
+ @PostMapping("/crn/table/crn/{id}/state")
+ @ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
+ public R crnStateTable(@PathVariable("id") Integer id) {
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
+ // 琛ㄦ牸琛�
+ CrnStateTableVo vo = new CrnStateTableVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ return R.error();
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ return R.error();
+ }
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
+ vo.setLoading((crnProtocol.getLoaded() != null && 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);
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
+ if (crnProtocol.getAlarm1() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
+ }
+ return R.ok().add(vo);
+ }
+
+ @PostMapping("/crn/table/crn/msg")
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(){
+ public R crnMsgTable() {
List<CrnMsgTableVo> list = new ArrayList<>();
List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
for (BasCrnp basCrnp : crnps) {
@@ -176,11 +188,7 @@
}
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) {
+ if (crnProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
@@ -190,7 +198,7 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
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)
@@ -203,33 +211,153 @@
return R.ok().add(list);
}
- @PostMapping("/output/site")
+ @PostMapping("/crn/table/crn/{id}/msg")
+ @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
+ public R crnMsgTable(@PathVariable("id") Integer id) {
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
+ // 琛ㄦ牸琛�
+ CrnMsgTableVo vo = new CrnMsgTableVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ return R.error();
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ return R.error();
+ }
+
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ if (crnProtocol.getTaskNo() > 0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
+ vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
+ vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ }
+ } else {
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ }
+ 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(vo);
+ }
+
+ @GetMapping("/crn/list/auth")
+ @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
+ public R crnList() {
+ List<CrnListVo> list = new ArrayList<>();
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnListVo vo = new CrnListVo();
+ 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, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ continue;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ if (crnProtocol.getTaskNo() > 0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
+ vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
+ vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ }
+ } else {
+ vo.setDeviceStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ }
+ 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)
+
+ vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
+ vo.setWrkStatus(crnProtocol.getStatusType().id); // 浠诲姟鐘舵��
+ vo.setLoading((crnProtocol.getLoaded() != null && 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);
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
+ if (crnProtocol.getAlarm1() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
+ }
+ vo.setInEnable(basCrnp.getInEnable());
+ vo.setOutEnable(basCrnp.getOutEnable());
+ }
+ return R.ok().add(list);
+ }
+
+ @PostMapping("/crn/output/site")
@ManagerAuth(memo = "鍫嗗灈鏈烘姤鏂囨棩蹇楄緭鍑�")
- public R crnOutput(){
+ public R crnOutput() {
StringBuilder str = new StringBuilder();
String s;
int i = 0;
- while((s = OutputQueue.CRN.poll()) != null && i <=10) {
+ while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
str.append("\n").append(s);
i++;
}
return R.ok().add(str.toString());
}
- @PostMapping("/demo/switch")
+
+ @GetMapping("/crn/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("/crn/demo/switch")
@ManagerAuth(memo = "鍫嗗灈鏈烘紨绀�")
public R crnDemo(CrnDemoParam param) throws InterruptedException {
- if (Cools.isEmpty(param.getCrnId())){
+ if (Cools.isEmpty(param.getCrnId())) {
return R.error();
}
- if (Cools.isEmpty(param.getPassword())){
+ if (Cools.isEmpty(param.getPassword())) {
return R.error("璇疯緭鍏ュ彛浠�");
}
- if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
+ if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
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();
}
@@ -239,8 +367,12 @@
/****************************************************************/
@ManagerAuth(memo = "鍏ュ簱")
- @PostMapping("/operator/put")
- public R crnPut(CrnOperatorParam param){
+ @PostMapping("/crn/operator/put")
+ public R crnPut(CrnOperatorParam param) {
+// // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -252,68 +384,87 @@
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();
+ command.setCommand((short) 1);
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍑哄簱")
- @PostMapping("/operator/take")
- public R crnTake(CrnOperatorParam param){
+ @PostMapping("/crn/operator/take")
+ public R crnTake(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
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.PAKOUT); // 浠诲姟妯″紡
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 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();
+ command.setCommand((short) 1);
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "搴撲綅杞Щ")
- @PostMapping("/operator/stockMove")
- public R crnStockMove(CrnOperatorParam param){
+ @PostMapping("/crn/operator/stockMove")
+ public R crnStockMove(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
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.LOC_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�
+ command.setSourcePosZ(param.getSourceRow()); // 婧愬簱浣嶆帓
+ command.setSourcePosX(param.getSourceBay()); // 婧愬簱浣嶅垪
+ command.setSourcePosY(param.getSourceLev()); // 婧愬簱浣嶅眰
+ command.setDestinationPosZ(param.getRow()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosX(param.getBay()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosY(param.getLev()); // 鐩爣搴撲綅灞�
+ command.setCommand((short) 1);
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();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "绔欏埌绔�")
- @PostMapping("/operator/siteMove")
- public R crnSiteMove(CrnOperatorParam param){
+ @PostMapping("/crn/operator/siteMove")
+ public R crnSiteMove(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
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.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
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�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍥炲師鐐�")
- @PostMapping("/operator/bacOrigin")
- public R crnBacOrigin(CrnOperatorParam param){
+ @PostMapping("/crn/operator/bacOrigin")
+ public R crnBacOrigin(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -325,12 +476,16 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍙嶅師鐐�")
- @PostMapping("/operator/reverseOrigin")
- public R reverseOrigin(CrnOperatorParam param){
+ @PostMapping("/crn/operator/reverseOrigin")
+ public R reverseOrigin(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -340,9 +495,9 @@
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY((short) 34); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short) 5); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ command.setDestinationPosY((short) 22); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ return crnControl(command) ? R.ok() : R.error();
}
// @ManagerAuth(memo = "鍧愭爣绉诲姩")
@@ -364,8 +519,12 @@
// }
@ManagerAuth(memo = "浠诲姟瀹屾垚")
- @PostMapping("/operator/taskComplete")
- public R crnTaskComplete(CrnOperatorParam param){
+ @PostMapping("/crn/operator/taskComplete")
+ public R crnTaskComplete(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -377,7 +536,8 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ command.setCommand((short) 0);
+ return crnControl(command) ? R.ok() : R.error();
}
// @ManagerAuth(memo = "鏆傚仠")
@@ -393,18 +553,36 @@
// }
@ManagerAuth(memo = "娓呴櫎鍛戒护")
- @PostMapping("/operator/clearCommand")
- public R crnClearCommand(CrnOperatorParam param){
+ @PostMapping("/crn/operator/clearCommand")
+ public R crnClearCommand(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
- MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
- return R.ok("娓呴櫎鍛戒护鎴愬姛");
+ 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.NONE); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
- @PostMapping("/operator/handleReset")
+ @PostMapping("/crn/operator/handleReset")
public R handleReset(CrnOperatorParam param) throws Exception {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -424,9 +602,10 @@
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))) {
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(5, crnCommand))) {
return R.ok();
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -439,7 +618,136 @@
return R.error();
}
- private boolean crnControl(CrnCommand command){
+ @ManagerAuth(memo = "鍒囨崲鑱旀満妯″紡")
+ @PostMapping("/crn/operator/auto")
+ public R crnAuto(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "鍒囨崲鍗婃墜鍔ㄦā寮�")
+ @PostMapping("/crn/operator/semiAutomatic")
+ public R crnsemiAutomatic(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short) 2);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "鍒囨崲鎵嬪姩妯″紡")
+ @PostMapping("/crn/operator/hand")
+ public R onlineWrk1(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short) 3);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "鐢宠瀹屾垚浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk1")
+ public R onlineWrk2(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk1((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "鐢宠鍙栨秷浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk2")
+ public R onlineWrk3(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk2((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "娓呴櫎鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk3")
+ public R onlineWrk4(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk3((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "鎭㈠鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk4")
+ public R crnHand(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk4((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+ @ManagerAuth(memo = "澶嶄綅")
+ @PostMapping("/crn/operator/reset")
+ public R crnReset(CrnOperatorParam param) {
+ // 绯荤粺杩愯鐘舵�佸垽鏂�
+// if (SystemProperties.WCS_RUNNING_STATUS.get()) {
+// return R.error("wcs绯荤粺鐘舵�佷负寮�鍚�");
+// }
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setReset((short) 1);
+
+ return crnControl2(command) ? R.ok() : R.error();
+ }
+
+
+ private boolean crnControl2(CrnCommand command) {
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -456,11 +764,11 @@
}
// 绌洪棽鍒ゆ柇
// 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");
- }
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(4, 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�");
// }
@@ -469,8 +777,39 @@
return false;
}
- private void staNoProcess(CrnOperatorParam param, CrnCommand command){
- if (param.getSourceStaNo()!=null) {
+
+ private boolean crnControl(CrnCommand command) {
+ if (command.getCrnNo() == null) {
+ throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
+ }
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (command.getCrnNo().equals(crn.getId())) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ 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 (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�");
+// }
+ }
+ }
+ 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
@@ -481,7 +820,7 @@
command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
}
}
- if (param.getStaNo()!=null) {
+ 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�
@@ -494,5 +833,33 @@
}
}
+ // /crn/list/auth
+ @RequestMapping(value = "/crnListQuery/auth")
+ @ManagerAuth
+ public R listQuery(String condition) {
+ ArrayList<HashMap<String, Object>> list = new ArrayList<>();
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ continue;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("id", crn.getId());
+ map.put("value", "鍫嗗灈鏈�" + crn.getId() + "鍙�");
+ if (condition != "" && !condition.equals(crn.getId().toString())) {
+ continue;
+ }
+
+ list.add(map);
+ }
+ return R.ok().add(list);
+ }
+
}
--
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