From a3cd273234d56c5a36bd0a793a67e533a2141d6d Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期五, 25 四月 2025 08:23:47 +0800
Subject: [PATCH] 初步调试
---
src/main/java/com/zy/asrs/controller/LiftController.java | 331 ++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 253 insertions(+), 78 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/LiftController.java b/src/main/java/com/zy/asrs/controller/LiftController.java
index f88ea21..baec8b3 100644
--- a/src/main/java/com/zy/asrs/controller/LiftController.java
+++ b/src/main/java/com/zy/asrs/controller/LiftController.java
@@ -1,24 +1,29 @@
package com.zy.asrs.controller;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
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.param.LiftOperatorParam;
-import com.zy.asrs.domain.vo.*;
+import com.zy.asrs.domain.vo.LiftDataVo;
+import com.zy.asrs.domain.vo.LiftMsgTableVo;
+import com.zy.asrs.domain.vo.LiftSensorDataVo;
import com.zy.asrs.entity.BasLift;
import com.zy.asrs.service.BasLiftService;
-import com.zy.asrs.service.WrkMastService;
-import com.zy.core.cache.MessageQueue;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.action.LiftAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
-import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
+import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.protocol.LiftProtocol;
+import com.zy.core.model.protocol.LiftStaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.LiftThread;
import lombok.extern.slf4j.Slf4j;
@@ -41,51 +46,34 @@
@Autowired
private BasLiftService basLiftService;
@Autowired
- private WrkMastService wrkMastService;
+ private CommonService commonService;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private LiftAction liftAction;
@PostMapping("/table/lift/state")
@ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
public R liftStateTable(){
- List<LiftStateTableVo> list = new ArrayList<>();
- List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
- for (BasLift basLift : lifts) {
+ ArrayList<JSONObject> list = new ArrayList<>();
+ for (LiftSlave slave : slaveProperties.getLift()) {
// 琛ㄦ牸琛�
- LiftStateTableVo vo = new LiftStateTableVo();
- vo.setLiftNo(basLift.getLiftNo()); //鎻愬崌鏈哄彿
- list.add(vo);
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("shuttleNo", slave.getId());
+ list.add(baseObj);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
if (liftThread == null) {
continue;
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null || liftProtocol.getLiftNo()==null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
continue;
}
- vo.setTaskNo(liftProtocol.getTaskNo()); // 浠诲姟鍙�
- vo.setProtocolStatus(liftProtocol.getProtocolStatusType().desc);
- vo.setLiftLock(liftProtocol.getLiftLock());
- vo.setPositionArrivalFeedback(liftProtocol.getPositionArrivalFeedback());
- vo.setReady(liftProtocol.getReady());
- vo.setRunning(liftProtocol.getRunning());
- vo.setMode(liftProtocol.getMode());
- vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- vo.setReverseFeedback(liftProtocol.getReverseFeedback());
- vo.setMotorOverload(liftProtocol.getMotorOverload());
- vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
- vo.setPlatPositionDeviationAlarm(liftProtocol.getPlatPositionDeviationAlarm());
- vo.setPlatTorqueDeviationAlarm(liftProtocol.getPlatTorqueDeviationAlarm());
- vo.setPlatShuttleCheck(liftProtocol.getPlatShuttleCheck());
- vo.setNotReady(liftProtocol.getNotReady());
- vo.setServoError1(liftProtocol.getServoError1());
- vo.setServoError2(liftProtocol.getServoError2());
- vo.setServoError3(liftProtocol.getServoError3());
- vo.setServoError4(liftProtocol.getServoError4());
- vo.setLiftActualSpeed(liftProtocol.getLiftActualSpeed());
- vo.setPakMk(liftProtocol.getPakMk());
+ JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol));
+ List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
+ data.put("liftStaProtocols", liftStaProtocols);
+ baseObj.putAll(data);
}
return R.ok().add(list);
}
@@ -94,31 +82,26 @@
@ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃")
public R liftMsgTable(){
List<LiftMsgTableVo> list = new ArrayList<>();
- List<BasLift> lifts = basLiftService.selectList(new EntityWrapper<BasLift>().orderBy("lift_no"));
- for (BasLift basLift : lifts) {
+ for (LiftSlave slave : slaveProperties.getLift()) {
// 琛ㄦ牸琛�
LiftMsgTableVo vo = new LiftMsgTableVo();
- vo.setLiftNo(basLift.getLiftNo()); // 鎻愬崌鏈哄彿
+ vo.setLiftNo(slave.getId()); // 鎻愬崌鏈哄彿
list.add(vo);
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basLift.getLiftNo());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
if (liftThread == null) {
continue;
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ LiftProtocol liftProtocol = liftThread.getStatus();
if (liftProtocol == null) {
continue;
}
- vo.setWorkNo(liftProtocol.getTaskNo().intValue());//浠诲姟鍙�
+ vo.setWorkNo(liftProtocol.getTaskNo());//浠诲姟鍙�
vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
- vo.setLineFrontHasStock(liftProtocol.getLineFrontHasStock());
- vo.setForwardRotationFeedback(liftProtocol.getForwardRotationFeedback());
- vo.setReverseFeedback(liftProtocol.getReverseFeedback());
- vo.setMotorOverload(liftProtocol.getMotorOverload());
- vo.setLineEndHasStock(liftProtocol.getLineEndHasStock());
- vo.setInConveyLineCardTrayAlarm(liftProtocol.getInConveyLineCardTrayAlarm());
- vo.setOutConveyLineCardTrayAlarm(liftProtocol.getOutConveyLineCardTrayAlarm());
+ vo.setLiftStaProtocols(liftThread.getLiftStaProtocols());
+ vo.setCompleteTaskNo(Integer.parseInt(liftProtocol.getCompleteTaskNo()));
+ vo.setLev(liftProtocol.getLev());
}
return R.ok().add(list);
}
@@ -164,7 +147,7 @@
if (liftThread == null) {
return R.error("璁惧涓嶅湪绾�");
}
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ LiftProtocol liftProtocol = liftThread.getStatus();
if (liftProtocol == null) {
return R.error("璁惧涓嶅湪绾�");
}
@@ -186,31 +169,223 @@
return R.parse(BaseRes.PARAM);
}
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- if (param.getLiftNo().equals(liftSlave.getId())) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- if (liftThread == null) {
- throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
- }
-
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setLiftNo(liftSlave.getId().shortValue()); // 鎻愬崌鏈虹紪鍙�
- assignCommand.setTaskNo((short) 9999);
- assignCommand.setTaskMode(param.getLiftTaskMode().shortValue());
- assignCommand.setAuto(false);//鎵嬪姩妯″紡
-
- if (MessageQueue.offer(SlaveType.Lift, liftSlave.getId(), new Task(3, assignCommand))) {
- return R.ok();
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
- }
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo());
+ if (liftThread == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
}
- return R.error();
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
+ }
+
+ if (param.getLiftTaskMode() == 1) {
+
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 5) {
+ //鎵樼洏鍏�
+ int workNo = commonService.getWorkNo(8);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommand = liftThread.getPalletInCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 6) {
+ //鎵樼洏鍏�
+ int workNo = commonService.getWorkNo(8);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommand = liftThread.getPalletOutCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 7) {
+ //绉诲姩
+ int workNo = commonService.getWorkNo(8);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 8) {
+ //绉诲姩
+ int workNo = commonService.getWorkNo(8);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommand = liftThread.getMoveWithShuttleCommand(workNo, startSta, targetSta, LiftCommandModeType.MOVE);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo((short) workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 3) {
+ //绛夊緟纭
+ liftThread.setProtocolStatus(LiftProtocolStatusType.WAITING);
+ return R.ok();
+ } else if (param.getLiftTaskMode() == 0) {
+ //鎻愬崌鏈哄浣�
+ liftThread.setSyncTaskNo(0);
+ liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
+ }
}
+// @PostMapping("/detl/update")
+// @ManagerAuth(memo = "淇敼鏁版嵁")
+// public R liftUpdate(@RequestParam Integer liftNo,
+// @RequestParam Short workNo,
+// @RequestParam String pakMk,
+// @RequestParam Integer token) {
+// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+// if (liftThread == null) {
+// return R.error("plc宸叉帀绾�");
+// }
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null) {
+// return R.error("plc宸叉帀绾�");
+// }
+// if (workNo != null) {
+// liftProtocol.setTaskNo(workNo);
+// }
+// if (pakMk != null) {
+// liftProtocol.setPakMk(pakMk.equals("Y"));
+// }
+// if (token != null) {
+// liftProtocol.setToken(token);
+// }
+// return R.ok();
+// }
+//
+// @RequestMapping(value = "/command/query")
+// public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return R.error();
+// }
+// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+// return R.ok().add(redisCommand);
+// }
+//
+// //鍥為��鍛戒护
+// @RequestMapping(value = "/command/rollback")
+// public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+// , @RequestParam("commandStep") Integer commandStep) {
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return R.error();
+// }
+// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+// redisCommand.setCommandStep(commandStep);
+// redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+// return R.ok();
+// }
+//
+// //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+// @RequestMapping(value = "/command/completeSwitch")
+// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+// , @RequestParam("commandStep") Integer commandStep
+// , @RequestParam("complete") Integer complete) {
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return R.error();
+// }
+// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+// LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+// List<NyLiftCommand> commands = assignCommand.getCommands();
+// NyLiftCommand command = commands.get(commandStep);
+// command.setComplete(complete != 0);
+// redisUtil.set(RedisKeyType.LIFT.key + wrkNo, JSON.toJSONString(redisCommand));
+// return R.ok();
+// }
+//
+// //閲嶅惎浠诲姟(鍛戒护)
+// @RequestMapping(value = "/command/restart")
+// public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return R.error();
+// }
+// LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+// Short liftNo = redisCommand.getLiftNo();
+// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+// if (liftThread == null) {
+// return R.error();
+// }
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null) {
+// return R.error();
+// }
+// if (!liftProtocol.isIdle()) {
+// return R.error();
+// }
+// //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+// liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+// return R.ok();
+// }
+//
+// //鍒犻櫎浠诲姟(鍛戒护)
+// @RequestMapping(value = "/command/del")
+// public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
+// Object o = redisUtil.get(RedisKeyType.LIFT.key + wrkNo);
+// if (o == null) {
+// return R.error();
+// }
+// redisUtil.del(RedisKeyType.LIFT.key + wrkNo);
+// return R.ok();
+// }
+
}
--
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