From 9e715c16b49a066e627d150fb2d973a8562db8dc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 27 十一月 2025 09:26:38 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 458 ++++++++++-----------------------------------------------
1 files changed, 80 insertions(+), 378 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 9f424bf..d3435f5 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,39 +1,30 @@
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.CrnOperatorParam;
-import com.zy.asrs.domain.vo.CommandLogVo;
-import com.zy.asrs.domain.vo.CrnMsgTableVo;
+import com.zy.asrs.domain.param.CrnCommandTakeParam;
import com.zy.asrs.domain.vo.CrnStateTableVo;
-import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.entity.BasCrnpErr;
import com.zy.asrs.entity.WrkMast;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
+import com.zy.asrs.service.BasCrnpErrService;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.asrs.service.impl.MainServiceImpl;
-import com.zy.core.CrnThread;
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;
-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.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
@@ -42,7 +33,6 @@
/**
* 鍫嗗灈鏈烘帴鍙�
- * Created by vincent on 2020-06-01
*/
@Slf4j
@RestController
@@ -50,47 +40,15 @@
public class CrnController {
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
private WrkMastService wrkMastService;
@Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
+ private BasCrnpErrService basCrnpErrService;
@Autowired
private BasCrnpService basCrnpService;
- @Autowired
- private MainServiceImpl mainService;
-
-
- @ManagerAuth(memo = "杩涜涓殑鍛戒护")
- @PostMapping("/command/ongoing")
- public R ongoingCommand(){
- List<CommandLogVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
- CommandLogVo vo = new CommandLogVo();
- 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);
- }
@PostMapping("/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) {
@@ -103,71 +61,19 @@
if (crnThread == null) {
continue;
}
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ CrnProtocol crnProtocol = crnThread.getStatus();
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.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.setMode(crnProtocol.getModeType().desc); // 妯″紡鐘舵��
vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- vo.setLoading(crnProtocol.getLoaded()==1?"鏈夌墿":"鏃犵墿"); // 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.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.setWarnCode(String.valueOf(crnProtocol.getAlarm1())); // 寮傚父鐮�
- }
- return R.ok().add(list);
- }
-
- @PostMapping("/table/crn/msg")
- @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(){
- List<CrnMsgTableVo> list = new ArrayList<>();
- 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, basCrnp.getCrnNo());
- if (crnThread == null) {
- continue;
- }
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
-
- 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) {
- 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.setLiftPos(crnProtocol.getLiftPosType().desc);
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
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)
@@ -175,303 +81,99 @@
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)
+
+ if (crnProtocol.getModeType().equals(CrnModeType.AUTO)) {
+ vo.setDeviceStatus("AUTO");
+ }
+
+ if (crnProtocol.getTaskNo() > 0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo())); // 婧愮珯
+ vo.setStaNo(String.valueOf(wrkMast.getStaNo())); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ vo.setDeviceStatus("WORKING");
+ }
+ }
+
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
+ if (crnProtocol.getAlarm() > 0) {
+ BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
+ vo.setDeviceStatus("ERROR");
+ }
}
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(){
+ 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")
- @ManagerAuth(memo = "鍫嗗灈鏈烘紨绀�")
- public R crnDemo(CrnDemoParam param) throws InterruptedException {
- if (Cools.isEmpty(param.getCrnId())){
- return R.error();
+ @PostMapping("/command/take")
+ public R crnCommandTake(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
}
- if (Cools.isEmpty(param.getPassword())){
- return R.error("璇疯緭鍏ュ彛浠�");
+
+ Integer crnNo = param.getCrnNo();
+ String sourceLocNo = param.getSourceLocNo();
+ String targetLocNo = param.getTargetLocNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
}
- if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
- return R.error("鍙ｄ护閿欒");
- }
- Thread.sleep(200L);
- mainService.crnDemoOfLocMove(param.getCrnId());
+
+ CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
return R.ok();
}
-
- /****************************************************************/
- /************************** 鎵嬪姩鎿嶄綔 ******************************/
- /****************************************************************/
-
- @ManagerAuth(memo = "鍏ュ簱")
- @PostMapping("/operator/put")
- public R crnPut(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.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�
- staNoProcess(param, command);
- return crnControl(command)?R.ok():R.error();
- }
-
- @ManagerAuth(memo = "鍑哄簱")
- @PostMapping("/operator/take")
- public R crnTake(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.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�
- staNoProcess(param, command);
- return crnControl(command)?R.ok():R.error();
- }
-
- @ManagerAuth(memo = "搴撲綅杞Щ")
- @PostMapping("/operator/stockMove")
- public R crnStockMove(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.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�
- staNoProcess(param, command);
- return crnControl(command)?R.ok():R.error();
- }
-
- @ManagerAuth(memo = "绔欏埌绔�")
- @PostMapping("/operator/siteMove")
- public R crnSiteMove(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.SITE_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�
- staNoProcess(param, command);
- return crnControl(command)?R.ok():R.error();
- }
-
- @ManagerAuth(memo = "鍥炲師鐐�")
- @PostMapping("/operator/bacOrigin")
- public R crnBacOrigin(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.GO_ORIGIN); // 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 = "鍙嶅師鐐�")
- @PostMapping("/operator/reverseOrigin")
- public R reverseOrigin(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.GO_ORIGIN); // 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) 34); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short) 5); // 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")
- public R crnTaskComplete(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) 1); // 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 = "鏆傚仠")
-// @PostMapping("/operator/pause")
-// public R crnPause(CrnOperatorParam param){
-// return R.ok("鏆傚仠鎴愬姛");
-// }
-//
-// @ManagerAuth(memo = "鍚姩")
-// @PostMapping("/operator/boot")
-// public R crnBoot(CrnOperatorParam param){
-// return R.ok("鍚姩鎴愬姛");
-// }
-
- @ManagerAuth(memo = "娓呴櫎鍛戒护")
- @PostMapping("/operator/clearCommand")
- public R crnClearCommand(CrnOperatorParam param){
- 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");
- }
-
- @ManagerAuth(memo = "鎵嬪姩澶嶄綅")
- @PostMapping("/operator/handleReset")
- public R handleReset(CrnOperatorParam param) throws Exception {
- if (param.getCrnNo() == null) {
- throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
- }
- // 鑾峰彇鍫嗗灈鏈虹紦瀛�
- 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) {
- 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");
- }
- // 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");
- }
- }
- }
+ @PostMapping("/command/move")
+ public R crnCommandMove(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
}
- return R.error();
+ Integer crnNo = param.getCrnNo();
+ String targetLocNo = param.getTargetLocNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+
+ CrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
}
- private boolean crnControl(CrnCommand command){
- if (command.getCrnNo() == null) {
- throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
+ @PostMapping("/command/taskComplete")
+ public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
}
- 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�");
-// }
- }
+
+ Integer crnNo = param.getCrnNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
}
- return false;
+
+ CrnCommand command = crnThread.getResetCommand(crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
}
-
- 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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