From 9f05696822f8feee385a34a92dd9aa16009e84a0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 18 六月 2023 12:38:00 +0800
Subject: [PATCH] 寻路算法，地图节点优化，剔除原入出库模式获取地图节点方案，改为根据库位状态实时获取节点信息或直接获取无过滤的完整节点信息
---
src/main/java/com/zy/asrs/controller/ConsoleController.java | 125 ++++++++++++++++++++++++++++++++++++-----
1 files changed, 109 insertions(+), 16 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ConsoleController.java b/src/main/java/com/zy/asrs/controller/ConsoleController.java
index 835f7be..7b808ab 100644
--- a/src/main/java/com/zy/asrs/controller/ConsoleController.java
+++ b/src/main/java/com/zy/asrs/controller/ConsoleController.java
@@ -1,6 +1,8 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
+import com.core.common.Arith;
import com.core.common.Cools;
import com.core.common.R;
import com.zy.asrs.domain.enums.CrnStatusType;
@@ -8,11 +10,21 @@
import com.zy.asrs.domain.param.SystemSwitchParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.entity.BasMap;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.LocMastMapper;
import com.zy.asrs.service.BasDevpService;
+import com.zy.asrs.service.BasMapService;
import com.zy.asrs.service.WrkMastService;
import com.zy.common.CodeRes;
+import com.zy.common.model.MapNode;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.utils.NavigateMapData;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.CrnThread;
+import com.zy.core.DevpThread;
import com.zy.core.Slave;
+import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.SlaveType;
@@ -23,14 +35,11 @@
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.CrnThread;
-import com.zy.core.thread.DevpThread;
+import com.zy.core.thread.ScaleThread;
+import com.zy.core.thread.SiemensCrnThread;
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.RequestParam;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
import java.util.*;
@@ -49,6 +58,12 @@
private WrkMastService wrkMastService;
@Autowired
private BasDevpService basDevpService;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private LocMastMapper locMastMapper;
+ @Autowired
+ private RedisUtil redisUtil;
@PostMapping("/system/running/status")
@ManagerAuth(memo = "绯荤粺杩愯鐘舵��")
@@ -70,7 +85,7 @@
return R.error("鍙ｄ护閿欒");
}
}
- Thread.sleep(2000L);
+ Thread.sleep(200L);
SystemProperties.WCS_RUNNING_STATUS.set(param.getOperatorType()==1?Boolean.TRUE:Boolean.FALSE);
return R.ok().add(Cools.add("status", SystemProperties.WCS_RUNNING_STATUS.get()));
}
@@ -109,27 +124,35 @@
// 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;
}
CrnLatestDataVo vo = new CrnLatestDataVo();
vo.setCrnId(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
+
+// Short totalBay = locMastMapper.selectTotalBay();
+
vo.setOffset((double) new Random().nextInt(560)); // 鍫嗗灈鏈哄亸绉婚噺
+ vo.setBay((short) (crnProtocol.getBay() - crn.getOffset())); // 褰撳墠鍒�
/**
* 鍫嗗灈鏈虹姸鎬佸垽鏂�
*/
- if (crnProtocol.getTaskNo()>0) {
- WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
- if (wrkMast != null) {
- vo.setCrnStatus(CrnStatusType.process(wrkMast.getIoType()));
- }
+ if (crn.getId() == 1 && crnProtocol.getAlarm() > 0) {
+ vo.setCrnStatus(CrnStatusType.MACHINE_ERROR);
} else {
- vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO: CrnStatusType.MACHINE_UN_AUTO);
+ if (crnProtocol.getTaskNo()>0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setCrnStatus(CrnStatusType.process(wrkMast.getIoType()));
+ } else {
+ vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO: CrnStatusType.MACHINE_UN_AUTO);
+ }
+ } else {
+ vo.setCrnStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO: CrnStatusType.MACHINE_UN_AUTO);
+ }
}
vos.add(vo);
@@ -143,9 +166,29 @@
List<BarcodeDataVo> list = new ArrayList<>();
for (Slave barcode : slaveProperties.getBarcode()) {
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcode.getId());
+ if (null == barcodeThread) {
+ continue;
+ }
BarcodeDataVo vo = new BarcodeDataVo();
vo.setBarcodeId(barcode.getId());
vo.setCodeValue(barcodeThread.getBarcode());
+ list.add(vo);
+ }
+ return R.ok().add(list);
+ }
+
+ @PostMapping("/latest/data/scale")
+ @ManagerAuth(memo = "纾呯Г瀹炴椂鏁版嵁")
+ public R scaleLatestData(){
+ List<ScaleDataVo> list = new ArrayList<>();
+ for (Slave scale : slaveProperties.getScale()) {
+ ScaleThread scaleThread = (ScaleThread) SlaveConnection.get(SlaveType.Scale, scale.getId());
+ if (null == scaleThread) {
+ continue;
+ }
+ ScaleDataVo vo = new ScaleDataVo();
+ vo.setScaleId(scale.getId());
+ vo.setValue(String.valueOf(Arith.multiplys(1, scaleThread.getScale(), 1)));
list.add(vo);
}
return R.ok().add(list);
@@ -209,7 +252,7 @@
CrnDetailVo vo = new CrnDetailVo();
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
if (crnSlave.getId().equals(crnNo)) {
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+ SiemensCrnThread crnThread = (SiemensCrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
vo.setCrnNo(crnNo);
vo.setWorkNo(crnProtocol.getTaskNo());
@@ -246,4 +289,54 @@
return R.ok();
}
+ @GetMapping("/barcode/output/site")
+ public R crnOutput(){
+// StringBuilder str = new StringBuilder();
+// String s;
+// int i = 0;
+// while((s = OutputQueue.CRN.poll()) != null && i <=32) {
+// str.append("\n").append(s);
+// i++;
+// }
+// return R.ok().add(str.toString());
+ return R.ok().add(JSON.toJSONString(new ArrayList<>(OutputQueue.BARCODE)));
+ }
+
+ /**
+ * 鑾峰彇鍦板浘鏁版嵁
+ */
+ @GetMapping("/map/{lev}/auth")
+ @ManagerAuth
+ public R getMapFromRedis(@PathVariable Integer lev) {
+ Object data = redisUtil.get("realtimeBasMap_" + lev);
+ if (data == null) {
+ return R.error();
+ }
+
+ BasMap basMap = JSON.parseObject(data.toString(), BasMap.class);
+ //瑙ｆ瀽json鍦板浘鏁版嵁
+ ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
+ NavigateMapData navigateMapData = new NavigateMapData(lev);
+ List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null);//杩囨护鍦板浘鏁版嵁
+ return R.ok().add(lists);
+ }
+
+ /**
+ * 閲嶇疆redis涓殑鍦板浘锛屽皢鍗犵敤鐨勫簱浣嶅叏閮ㄨВ闄�
+ */
+ @GetMapping("/map/resetMap/auth")
+ @ManagerAuth
+ public R resetMapToRedis() {
+ for (int i = 1; i <= 4; i++) {
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {
+ continue;
+ }
+
+ redisUtil.del("realtimeBasMap_" + i);
+ basMapService.deleteByLev(i);
+ }
+ return R.ok();
+ }
+
}
--
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