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 | 179 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 179 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
new file mode 100644
index 0000000..d3435f5
--- /dev/null
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -0,0 +1,179 @@
+package com.zy.asrs.controller;
+
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.annotations.ManagerAuth;
+import com.core.common.Cools;
+import com.core.common.R;
+import com.zy.asrs.domain.param.CrnCommandTakeParam;
+import com.zy.asrs.domain.vo.CrnStateTableVo;
+import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.entity.BasCrnpErr;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasCrnpErrService;
+import com.zy.asrs.service.BasCrnpService;
+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.SlaveType;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
+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;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 鍫嗗灈鏈烘帴鍙�
+ */
+@Slf4j
+@RestController
+@RequestMapping("/crn")
+public class CrnController {
+
+ @Autowired
+ private WrkMastService wrkMastService;
+ @Autowired
+ private BasCrnpErrService basCrnpErrService;
+ @Autowired
+ private BasCrnpService basCrnpService;
+
+ @PostMapping("/table/crn/state")
+ @ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
+ public R crnStateTable() {
+ List<CrnStateTableVo> list = new ArrayList<>();
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnStateTableVo vo = new CrnStateTableVo();
+ 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.getStatus();
+ if (crnProtocol == null) {
+ continue;
+ }
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ 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.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.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)
+
+ 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() {
+ StringBuilder str = new StringBuilder();
+ String s;
+ int i = 0;
+ while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
+ str.append("\n").append(s);
+ i++;
+ }
+ return R.ok().add(str.toString());
+ }
+
+ @PostMapping("/command/take")
+ public R crnCommandTake(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+
+ 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�");
+ }
+
+ CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
+ }
+
+ @PostMapping("/command/move")
+ public R crnCommandMove(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+
+ 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();
+ }
+
+ @PostMapping("/command/taskComplete")
+ public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+
+ Integer crnNo = param.getCrnNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+
+ CrnCommand command = crnThread.getResetCommand(crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
+ }
+}
--
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