From 522f6806cde91d524e196626fdfe5ab4b5e3c9e2 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 17 八月 2020 17:04:15 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 168 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 159 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index f4914b9..cbc1d78 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -2,7 +2,9 @@
import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
+import com.core.common.BaseRes;
import com.core.common.R;
+import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
@@ -14,6 +16,7 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
+import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
@@ -162,11 +165,6 @@
return R.ok().add(str.toString());
}
- public static void main(String[] args) {
- for (int i =0; i<10; i++) {
-
- }
- }
/****************************************************************/
/************************** 鎵嬪姩鎿嶄綔 ******************************/
@@ -175,19 +173,130 @@
@ManagerAuth(memo = "鍏ュ簱")
@PostMapping("/operator/put")
public R crnPut(CrnOperatorParam param){
- return R.ok("鍏ュ簱鎴愬姛");
+ if (param.getCrnNo() == null) {
+ return R.error(BaseRes.PARAM);
+ }
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (param.getCrnNo().equals(crn.getId())) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ break;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ break;
+ }
+ // 绌洪棽鍒ゆ柇
+ if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
+ 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.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�
+ if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
+ return R.error("鍛戒护涓嬪彂澶辫触");
+ } else {
+ return R.ok();
+ }
+ } else {
+ return R.error("鍫嗗灈鏈洪潪绌洪棽鐘舵��");
+ }
+ }
+ }
+ return R.error("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
@ManagerAuth(memo = "鍑哄簱")
@PostMapping("/operator/take")
public R crnTake(CrnOperatorParam param){
- return R.ok("鍑哄簱鎴愬姛");
+ if (param.getCrnNo() == null) {
+ return R.error(BaseRes.PARAM);
+ }
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (param.getCrnNo().equals(crn.getId())) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ break;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ break;
+ }
+ // 绌洪棽鍒ゆ柇
+ if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
+ 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.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�
+ if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
+ return R.error("鍛戒护涓嬪彂澶辫触");
+ } else {
+ return R.ok();
+ }
+ } else {
+ return R.error("鍫嗗灈鏈洪潪绌洪棽鐘舵��");
+ }
+ }
+ }
+ return R.error("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
@ManagerAuth(memo = "搴撲綅杞Щ")
@PostMapping("/operator/stockMove")
public R crnStockMove(CrnOperatorParam param){
- return R.ok("搴撲綅杞Щ鎴愬姛");
+ if (param.getCrnNo() == null) {
+ return R.error(BaseRes.PARAM);
+ }
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (param.getCrnNo().equals(crn.getId())) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ break;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ break;
+ }
+ // 绌洪棽鍒ゆ柇
+ if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
+ 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�
+ if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
+ return R.error("鍛戒护涓嬪彂澶辫触");
+ } else {
+ return R.ok();
+ }
+ } else {
+ return R.error("鍫嗗灈鏈洪潪绌洪棽鐘舵��");
+ }
+ }
+ }
+ return R.error("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
@ManagerAuth(memo = "绔欏埌绔�")
@@ -205,7 +314,18 @@
@ManagerAuth(memo = "鍥炲師鐐�")
@PostMapping("/operator/bacOrigin")
public R crnBacOrigin(CrnOperatorParam param){
- return R.ok("鍥炲師鐐规垚鍔�");
+ 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�
+ return crnControl(command)?R.ok():R.error();
}
@ManagerAuth(memo = "浠诲姟瀹屾垚")
@@ -232,4 +352,34 @@
return R.ok("娓呴櫎鍛戒护鎴愬姛");
}
+ 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;
+ }
+
}
--
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