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 | 297 ++++++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 262 insertions(+), 35 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index dd1872d..cbc1d78 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,42 +1,76 @@
package com.zy.asrs.controller;
+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;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.core.cache.MessageQueue;
+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;
+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 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 java.util.ArrayList;
-import java.util.Date;
import java.util.List;
-import java.util.UUID;
import java.util.concurrent.atomic.AtomicInteger;
/**
* 鍫嗗灈鏈烘帴鍙�
* Created by vincent on 2020-06-01
*/
+@Slf4j
@RestController
@RequestMapping("/crn")
public class CrnController {
-
- public static AtomicInteger integer = new AtomicInteger();
+ private static AtomicInteger integer = new AtomicInteger();
+ @Autowired
+ private SlaveProperties slaveProperties;
+ @Autowired
+ private WrkMastService wrkMastService;
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@PostMapping("/command/ongoing")
public R ongoingCommand(){
List<CommandLogVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
+ for (CrnSlave crn : slaveProperties.getCrn()) {
CommandLogVo vo = new CommandLogVo();
- vo.setCrnNo(String.valueOf(i));
- vo.setStatus(1);
- vo.setCommand(UUID.randomUUID().toString());
+ vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
+ vo.setStatus(0); // 鐘舵��
list.add(vo);
+ // 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;
+ }
+ vo.setStatus(1); // 鐘舵��
+ Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
+ if (task != null) {
+ vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
+ }
}
return R.ok().add(list);
}
@@ -45,16 +79,39 @@
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
public R crnStateTable(){
List<CrnStateTableVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
- CrnStateTableVo vo = new CrnStateTableVo(String.valueOf(i), CrnStatusType.AUTO, "姝ｅ父", "鏈夌墿", "99", "3", "涓綅", "18233", "422", "0", "1204", "鍏抽棴", "0");
- if (integer.get()%5 == 0) {
- vo.setWorkNo("0000");
- } else {
- vo.setWorkNo("9998");
+ 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) {
+ 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.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 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.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�
list.add(vo);
}
- integer.getAndIncrement();
return R.ok().add(list);
}
@@ -62,34 +119,52 @@
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
public R crnMsgTable(){
List<CrnMsgTableVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
+ 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;
+ }
+ // 琛ㄦ牸琛�
CrnMsgTableVo vo = new CrnMsgTableVo();
- vo.setCrnNo(String.valueOf(i));
- vo.setCommand("28283E23132D23");
- vo.setError("");
- vo.setLocNo("0601812");
- vo.setOrigin("0");
- vo.setSourceLocNo("");
- vo.setSourceStaNo("0");
- vo.setStaNo("2112");
- vo.setStatus("绌洪棽");
- if (integer.get()%5 == 0) {
- vo.setWorkNo("0000");
+ 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.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.setWorkNo("9998");
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
list.add(vo);
+
}
- integer.getAndIncrement();
return R.ok().add(list);
}
@PostMapping("/output/site")
@ManagerAuth(memo = "鍫嗗灈鏈烘姤鏂囨棩蹇楄緭鍑�")
public R crnOutput(){
- String str = "\n" +new Date().toLocaleString() + "銆�2020-5-29 13:14:22銆戞壂鎻弍lcA 鐩爣绔�--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342";
- return R.ok().add(str);
+ StringBuilder str = new StringBuilder();
+ String s;
+ int i = 0;
+ while( (s = OutputQueue.CRN.poll()) != null && i <=10) {
+ str.append("\n").append(s);
+ i++;
+ }
+// str = new StringBuilder("\n" + new Date().toLocaleString() + "銆�2020-5-29 13:14:22銆戞壂鎻弍lcA 鐩爣绔�--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342");
+ return R.ok().add(str.toString());
}
+
/****************************************************************/
/************************** 鎵嬪姩鎿嶄綔 ******************************/
@@ -98,19 +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�")
@@ -128,7 +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")
@@ -155,4 +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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