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 | 76 ++++++++++++++++++++++++++++++++++---
1 files changed, 69 insertions(+), 7 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index b828dea..d3435f5 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.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;
@@ -10,15 +12,19 @@
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;
@@ -42,7 +48,7 @@
@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) {
@@ -62,12 +68,12 @@
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.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.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)
@@ -80,7 +86,7 @@
vo.setDeviceStatus("AUTO");
}
- if (crnProtocol.getTaskNo()>0) {
+ if (crnProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo())); // 婧愮珯
@@ -94,7 +100,7 @@
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.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
vo.setDeviceStatus("ERROR");
}
}
@@ -103,15 +109,71 @@
@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("/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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