From 5b5bf0d3fb08926b700b9d9ef127eb86d3241725 Mon Sep 17 00:00:00 2001
From: TQS <56479841@qq.com>
Date: 星期三, 16 四月 2025 15:09:12 +0800
Subject: [PATCH] 添加小车定位失败日志打印
---
src/main/java/com/zy/asrs/controller/SteController.java | 194 +++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 188 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/SteController.java b/src/main/java/com/zy/asrs/controller/SteController.java
index 803842b..415685f 100644
--- a/src/main/java/com/zy/asrs/controller/SteController.java
+++ b/src/main/java/com/zy/asrs/controller/SteController.java
@@ -2,28 +2,42 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
+import com.core.common.BaseRes;
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.SteModeParam;
+import com.zy.asrs.domain.param.SteOperatorParam;
import com.zy.asrs.domain.vo.SteMsgTableVo;
import com.zy.asrs.domain.vo.SteStateTableVo;
+import com.zy.asrs.domain.vo.SteDataVo;
import com.zy.asrs.entity.BasSte;
+import com.zy.asrs.entity.BasSteErr;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.BasSteErrMapper;
import com.zy.asrs.service.BasSteService;
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.SlaveType;
+import com.zy.core.enums.SteTaskModeType;
+import com.zy.core.model.CrnSlave;
+import com.zy.core.model.SteSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
+import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.SteThread;
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.web.bind.annotation.*;
import java.util.ArrayList;
+import java.util.Date;
import java.util.List;
/**
@@ -41,6 +55,8 @@
private BasSteService basSteService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private BasSteErrMapper basSteErrMapper;
@PostMapping("/table/ste/state")
@ManagerAuth(memo = "绌挎杞︿俊鎭〃")
@@ -61,8 +77,22 @@
if (steProtocol == null) {
continue;
}
- vo.setTaskNo(steProtocol.getTaskNo()); // 浠诲姟鍙�
- vo.setStatusType(steProtocol.mode == 0 ? "绂荤嚎" : "鍦ㄧ嚎"); // 妯″紡鐘舵��
+ vo.setTaskNo(steProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
+ vo.setStatusVal(steProtocol.getMode().intValue()); // 鍦ㄧ嚎鐘舵��
+ String modeName = "绂荤嚎";
+ switch (steProtocol.mode){
+ case -1:
+ modeName = "绂荤嚎";
+ break;
+ case 0:
+ modeName = "鑴辨満";
+ break;
+ case 1:
+ modeName = "鑱旀満";
+ break;
+ }
+ vo.setStatusType(modeName); // 妯″紡
+// vo.setStatusType(steProtocol.mode == 0 ? "绂荤嚎" : "鍦ㄧ嚎"); // 妯″紡鐘舵��
if (!Cools.isEmpty(steProtocol.getStatus())) {
vo.setStatus(steProtocol.getStatusType().desc); // 鐘舵��
}
@@ -87,6 +117,16 @@
if (!Cools.isEmpty(steProtocol.getTrack())) {
vo.setTrack(steProtocol.getTrack()==0?"鉁�":"脳");
}
+ if (!Cools.isEmpty(steProtocol.getChargeStatus())) {
+ vo.setChargeStatus(steProtocol.getChargeStatus()==1?"鉁�":"脳");
+ }
+ if(Cools.isEmpty(steProtocol.getAlarm())){
+ vo.setAlarm1("鏈煡寮傚父");
+ } else if(!Cools.isEmpty(steProtocol.getAlarm()) && steProtocol.getAlarm() > 0){
+ BasSteErr steErr = basSteErrMapper.selectById(steProtocol.getAlarm());
+ vo.setAlarm1(steErr==null?"鏈煡寮傚父":steErr.getErrName());
+ }
+ vo.setAlarm2(Cools.isEmpty(steProtocol.getAlarm0())? "鏈煡":steProtocol.getAlarm0().toString());
}
return R.ok().add(list);
}
@@ -111,7 +151,7 @@
continue;
}
- vo.setWorkNo(steProtocol.getTaskNo()); // 浠诲姟鍙�
+ vo.setWorkNo(steProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
if (steProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(steProtocol.getTaskNo());
if (wrkMast != null) {
@@ -126,6 +166,7 @@
}
vo.setSpeed(steProtocol.getSpeed()); // 閫熷害
vo.setCloser(steProtocol.getCloser()); // 杩戠偣璺濈
+ vo.setPakMk(steProtocol.getPakMk()); // 浣滀笟鏍囪
}
return R.ok().add(list);
}
@@ -143,4 +184,145 @@
return R.ok().add(str.toString());
}
+ @GetMapping("/detl/{steNo}")
+ public R steDetl(@PathVariable("steNo") Integer steNo){
+ SteDataVo vo = new SteDataVo();
+ for (SteSlave ste : slaveProperties.getSte()) {
+ if (steNo.equals(ste.getId())) {
+ vo.setSteNo(ste.getId());
+ BasSte basSte = basSteService.selectById(ste.getId());
+ if (!Cools.isEmpty(basSte)) {
+ vo.setRow(basSte.getRow());
+ vo.setBay(basSte.getBay());
+ vo.setLev(basSte.getLev());
+ vo.setCrnNo(basSte.getCrnNo());
+ vo.setWorkNo(basSte.getWrkNo());
+ vo.setPakMk(basSte.getPakMk());
+ }
+ break;
+ }
+ }
+ return R.ok().add(vo);
+ }
+
+ @PostMapping("/detl/update")
+ @ManagerAuth
+ public R steUpdate(SteDataVo vo){
+ BasSte basSte = basSteService.selectById(vo.getSteNo());
+ if (basSte == null) {
+ return R.error();
+ }
+ // 鑾峰彇绌挎杞︿俊鎭�
+ SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, vo.getSteNo());
+ SteProtocol steProtocol = steThread.getSteProtocol();
+ if (steProtocol == null) {
+ throw new CoolException(vo.getSteNo() + "鍙风┛姊溅涓嶅湪绾匡紝鏃犳硶淇濆瓨");
+ }
+ if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
+ if (!steThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
+ throw new CoolException("鏈嶅姟鍣ㄩ敊璇�");
+ }
+ }
+ SteCommand steCommand = new SteCommand();
+ steCommand.setTaskNo(vo.getWorkNo());
+ if (MessageQueue.offer(SlaveType.Ste, vo.getSteNo(), new Task(2, steCommand))) {
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ basSte.setPakMk(vo.getPakMk());
+ basSte.setWrkNo(vo.getWorkNo());
+ basSte.setCrnNo(vo.getCrnNo());
+ basSte.setUpdateTime(new Date());
+ if (!basSteService.updateById(basSte)) {
+ throw new CoolException("淇敼澶辫触");
+ }
+ return R.ok();
+ }
+
+
+ /****************************************************************/
+ /************************** 鎵嬪姩鎿嶄綔 ******************************/
+ /****************************************************************/
+
+ @PostMapping("/mode/switch")
+ @ManagerAuth
+ public R crnDemo(SteModeParam param) throws InterruptedException {
+ if (Cools.isEmpty(param.getSteNo())){
+ 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 (SteSlave steSlave : slaveProperties.getSte()) {
+ if (steSlave.getId().equals(param.getSteNo())) {
+ // 鑾峰彇绌挎杞︿俊鎭�
+ SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steSlave.getId());
+ SteProtocol steProtocol = steThread.getSteProtocol();
+ if (steProtocol == null) { continue; }
+ if (steProtocol.loca==0) continue;
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(param.getSteNo()); // 绌挎杞︾紪鍙�
+ if (steProtocol.getMode() == 0) {
+ steCommand.setControlMode((short) 1);
+ } else {
+ steCommand.setControlMode((short) 0);
+ }
+ if (MessageQueue.offer(SlaveType.Ste, param.getSteNo(), new Task(2, steCommand))) {
+ return R.ok();
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ return R.ok();
+ }
+
+ @ManagerAuth(memo = "鎵嬪姩鎿嶄綔")
+ @PostMapping("/operator/ste")
+ public R steOperator(SteOperatorParam param){
+ if (Cools.isEmpty(param.getSteNo(), param.getSteTaskMode())) {
+ return R.parse(BaseRes.PARAM);
+ }
+
+ for (SteSlave ste : slaveProperties.getSte()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (param.getSteNo().equals(ste.getId())) {
+ SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
+ if (steThread == null) {
+ throw new CoolException("绌挎杞︿笉鍦ㄧ嚎");
+ }
+ SteProtocol steProtocol = steThread.getSteProtocol();
+ if (steProtocol == null) {
+ throw new CoolException("绌挎杞︿笉鍦ㄧ嚎");
+ }
+ SteTaskModeType steTaskModeType = SteTaskModeType.get(param.getSteTaskMode());
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(ste.getId()); // 绌挎杞︾紪鍙�
+ if (param.getSteTaskMode() == 16) {
+ steCommand.setComplete(true);
+ } else if (param.getSteTaskMode() == 99) {
+ steCommand.setControlMode((short) 1);
+ } else if (param.getSteTaskMode() == 100) {
+ steCommand.setControlMode((short) 0);
+ } else {
+ if (steTaskModeType == null) {
+ throw new CoolException("浠诲姟绫诲瀷閿欒");
+ }
+ steCommand.setTaskNo(param.getTaskNo()); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(steTaskModeType);
+ }
+ if (MessageQueue.offer(SlaveType.Ste, ste.getId(), new Task(2, steCommand))) {
+ return R.ok();
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ return R.error();
+ }
+
}
--
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