From c1ef2d1fc4c0dae2bc8452924dcd77a0ff3a1ef5 Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期四, 19 六月 2025 15:02:52 +0800
Subject: [PATCH] #改造
---
src/main/java/com/zy/asrs/controller/RgvController.java | 196 +++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 167 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index 9566a08..112568f 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -2,9 +2,11 @@
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.entity.BasDevpPosition;
import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.core.cache.RgvErrCache;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.cache.TaskProtocolCache;
@@ -46,29 +48,77 @@
map2.put("rgvPos", rgvProtocol.getRgvPos());
map2.put("rgvPosDestination", rgvProtocol.getRgvPosDestination());
map2.put("loaded", rgvProtocol.getLoaded().equals((short)-1)? "鏈煡":rgvProtocol.getLoaded()==1? "鏈夌墿":"鏃犵墿");
+ map2.put("errorRgv", RgvErrCache.getErrorDev(rgvProtocol.getRgvNo()));
res.add(map2);
}
return R.ok().add(res);
}
- @PostMapping("/run/walk")//Take Put Walk
- @ManagerAuth(memo = "灏忚溅琛岃蛋")
- public R rgvRunWalk(@RequestParam Integer rgvNo,
- @RequestParam Integer taskNo,
- @RequestParam Integer rgvStaNo,
- @RequestParam Long rgvPosDestination
+ @PostMapping("/task/cache/all")
+ @ManagerAuth(memo = "鍏ㄩ儴淇℃伅")
+ public R allTaskCache(@RequestParam(defaultValue = "0") Integer rgvNo){
+ List<Map<String, Object>> res = new ArrayList<>();
+ try{
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ Map<String, Object> map2 = new HashMap<>();
+ map2.put("rgvNo", rgvNo);
+ map2.put("taskNo", taskProtocol.getTaskNo());
+ map2.put("targetPosition", taskProtocol.getTargetPosition());
+ map2.put("isRunning", taskProtocol.getIsRunning());
+ map2.put("taskStatus", taskProtocol.getTaskStatus());
+ map2.put("direction", taskProtocol.isDirection());
+ res.add(map2);
+ }
+ } catch (Exception e){
+// return R.error("寮傚父"+e.getMessage());
+ }
+ return R.ok().add(res);
+ }
+
+ @PostMapping("/run/del")//Take Put Walk
+ @ManagerAuth(memo = "娓呯┖浠诲姟")
+ public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo
) {
if (rgvNo==null || rgvNo==0){
return R.error("璇烽�夋嫨灏忚溅");
}
- if (taskNo==null || taskNo==0){
- return R.error("浣滀笟鍙疯濉啓");
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ try {
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+ }
+
+ } catch (Exception e) {
+ return R.error("浠诲姟鍒犻櫎澶辫触"+e.getMessage());
}
- if ((rgvStaNo == null || rgvStaNo == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
+
+ return R.ok("浠诲姟娓呯┖鎴愬姛");
+ }
+
+ @PostMapping("/run/walk")//Take Put Walk
+ @ManagerAuth(memo = "灏忚溅琛岃蛋")
+ public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
+ @RequestParam(defaultValue = "9999") Integer taskNo,
+ @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
+ @RequestParam(defaultValue = "0") Long rgvPosDestination
+ ) {
+ if (rgvNo==null || rgvNo==0){
+ return R.error("璇烽�夋嫨灏忚溅");
+ }
+ if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
return R.error("鐩爣绔欑偣璇峰～鍐�");
}
if (rgvPosDestination == null || rgvPosDestination == 0){
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+ if (Cools.isEmpty(basDevpPosition)){
+ return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+ }
rgvPosDestination = basDevpPosition.getPlcPosition();
}
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -101,18 +151,15 @@
@PostMapping("/run/put")//Take Put Walk
@ManagerAuth(memo = "灏忚溅鏀捐揣")
- public R rgvPutWalk(@RequestParam Integer rgvNo,
- @RequestParam Integer taskNo,
- @RequestParam Integer rgvStaNo,
- @RequestParam Long rgvPosDestination
+ public R rgvPutWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
+ @RequestParam(defaultValue = "9999") Integer taskNo,
+ @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
+ @RequestParam(defaultValue = "0") Long rgvPosDestination
) {
if (rgvNo==null || rgvNo==0){
return R.error("璇烽�夋嫨灏忚溅");
}
- if (taskNo==null || taskNo==0){
- return R.error("浣滀笟鍙疯濉啓");
- }
- if (rgvStaNo == null || rgvStaNo == 0){
+ if (rgvStaNoPut == null || rgvStaNoPut == 0){
return R.error("鐩爣绔欑偣璇峰～鍐�");
}
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
@@ -126,10 +173,15 @@
return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
}
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+ if (Cools.isEmpty(basDevpPosition)){
+ return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+ }
//鎵ц
issuedPut.setTaskNo(Long.valueOf(taskNo));
issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPosition.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
issuedPut.setTargetPosition(basDevpPosition.getPlcPosition());
issuedPut.setIsRunning(1);
@@ -145,19 +197,16 @@
@PostMapping("/run/take")//Take Put Walk
@ManagerAuth(memo = "灏忚溅鍙栬揣")
- public R rgvTakeWalk(@RequestParam Integer rgvNo,
- @RequestParam Integer taskNo,
- @RequestParam Integer rgvStaNo,
- @RequestParam Long rgvPosDestination
+ public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
+ @RequestParam(defaultValue = "9999") Integer taskNo,
+ @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
+ @RequestParam(defaultValue = "0") Long rgvPosDestination
) {
if (rgvNo==null || rgvNo==0){
return R.error("璇烽�夋嫨灏忚溅");
}
- if (taskNo==null || taskNo==0){
- return R.error("浣滀笟鍙疯濉啓");
- }
- if (rgvStaNo == null || rgvStaNo == 0){
- return R.error("鐩爣绔欑偣璇峰～鍐�");
+ if (rgvStaNoTake == null || rgvStaNoTake == 0){
+ return R.error("鍙栬揣绔欑偣璇峰～鍐�");
}
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
@@ -169,10 +218,15 @@
return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
}
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNo));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
+ if (Cools.isEmpty(basDevpPosition)){
+ return R.error("鍙栬揣绔欑偣涓嶅瓨鍦�");
+ }
//鎵ц
issuedTake.setTaskNo(Long.valueOf(taskNo));
issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPosition.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPosition.getPlcId());
issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
issuedTake.setTargetPosition(basDevpPosition.getPlcPosition());
issuedTake.setIsRunning(1);
@@ -185,4 +239,88 @@
return R.ok("浠诲姟鐢熸垚鎴愬姛");
}
+
+ @PostMapping("/run/TakeAndPut")//Take Put Walk
+ @ManagerAuth(memo = "灏忚溅鍙栬揣")
+ public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
+ @RequestParam(defaultValue = "9999") Integer taskNo,
+ @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
+ @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
+ @RequestParam(defaultValue = "0") Long rgvPosDestination
+ ) {
+ if (rgvNo==null || rgvNo==0){
+ return R.error("璇烽�夋嫨灏忚溅");
+ }
+ if (rgvStaNoTake == null || rgvStaNoTake == 0){
+ return R.error("鍙栬揣绔欑偣璇峰～鍐�");
+ }
+ if (rgvStaNoPut == null || rgvStaNoPut == 0){
+ return R.error("鏀捐揣绔欑偣璇峰～鍐�");
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ TaskProtocol issuedTake = new TaskProtocol();
+ TaskProtocol issuedPut = new TaskProtocol();
+ try {
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (allTaskProtocol.size() > 0) {
+ return R.error("瀛樺湪鎵ц涓换鍔★紝璇峰厛澶勭悊锛侊紒锛�");
+ }
+
+ BasDevpPosition basDevpPositionTake = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoTake));
+ if (Cools.isEmpty(basDevpPositionTake)){
+ return R.error("鍙栬揣绔欑偣涓嶅瓨鍦�");
+ }
+ //鎵ц
+ issuedTake.setTaskNo(Long.valueOf(taskNo));
+ issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPositionTake.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPositionTake.getPlcId());
+ issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
+ issuedTake.setTargetPosition(basDevpPositionTake.getPlcPosition());
+ issuedTake.setIsRunning(1);
+ issuedTake.setDirection(basDevpPositionTake.getRgvSign()==1);
+
+ BasDevpPosition basDevpPositionPut = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStaNoPut));
+ if (Cools.isEmpty(basDevpPositionPut)){
+ return R.error("鐩爣绔欑偣涓嶅瓨鍦�");
+ }
+ //鎵ц
+ issuedPut.setTaskNo(Long.valueOf(taskNo));
+ issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPositionPut.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPositionPut.getPlcId());
+ issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
+ issuedPut.setTargetPosition(basDevpPositionPut.getPlcPosition());
+ issuedPut.setIsRunning(1);
+ issuedPut.setDirection(basDevpPositionPut.getRgvSign()==1);
+
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+
+ } catch (Exception e) {
+ return R.error("浠诲姟鐢熸垚澶辫触"+e.getMessage());
+ }
+
+ return R.ok("浠诲姟鐢熸垚鎴愬姛");
+ }
+
+ @PostMapping("/run/delRgvTask")//Take Put Walk
+ @ManagerAuth(memo = "灏忚溅鍙栬揣")
+ public R rgvDelRgvTask(@RequestParam(defaultValue = "0") Integer rgvNo
+ ) {
+ if (rgvNo==null || rgvNo==0){
+ return R.error("璇烽�夋嫨灏忚溅");
+ }
+
+ try {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ rgvThread.setDelRgvTask();
+ } catch (Exception e) {
+ return R.error("浠诲姟鐢熸垚澶辫触"+e.getMessage());
+ }
+
+ return R.ok("浠诲姟鐢熸垚鎴愬姛");
+ }
}
--
Gitblit v1.9.1