From ccc39836716ba323c946cddc78a62049731ebb46 Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期二, 07 十月 2025 08:43:33 +0800
Subject: [PATCH] 联调
---
src/main/java/com/zy/asrs/controller/CrnController.java | 182 +++++++++++++++++++++++---------------------
1 files changed, 95 insertions(+), 87 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 387ea02..dd1ec9d 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -21,7 +21,6 @@
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
-import com.zy.asrs.utils.VersionUtils;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,7 +34,6 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
-import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -73,7 +71,7 @@
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@PostMapping("/command/ongoing")
- public R ongoingCommand(){
+ public R ongoingCommand() {
List<CommandLogVo> list = new ArrayList<>();
for (CrnSlave crn : slaveProperties.getCrn()) {
CommandLogVo vo = new CommandLogVo();
@@ -92,7 +90,7 @@
vo.setStatus(1); // 鐘舵��
Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
if (task != null) {
- vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
+ vo.setCommand(JSON.toJSONString((CrnCommand) task.getData()));
}
}
return R.ok().add(list);
@@ -100,7 +98,7 @@
@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) {
@@ -120,20 +118,22 @@
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
vo.setStatusType(crnProtocol.modeType.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.setLoadTwoing(crnProtocol.getLoadedTwo() == 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�");
- if(crnProtocol.getAlarm() == 10){
+ vo.setWalkPos(crnProtocol.getWalkPos() == 1 ? "涓嶅湪瀹氫綅" : "鍦ㄥ畾浣�");
+ if (crnProtocol.getAlarm() == 10) {
crnProtocol.setAlarm((short) 0);
}
vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
if (crnProtocol.getAlarm() > 0) {
BasCrnError crnError = basCrnErrorMapper.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());
}
}
return R.ok().add(list);
@@ -141,7 +141,7 @@
@PostMapping("/table/crn/msg")
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(){
+ public R crnMsgTable() {
List<CrnMsgTableVo> list = new ArrayList<>();
List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
for (BasCrnp basCrnp : crnps) {
@@ -160,7 +160,7 @@
}
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
+ if (crnProtocol.getTaskNo() > 0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
@@ -170,8 +170,21 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
+
+ if (crnProtocol.getTaskNoTwo() > 0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNoTwo());
+ if (wrkMast != null) {
+ vo.setSourceStaNo2(wrkMast.getSourceStaNo$()); // 婧愮珯
+ vo.setStaNo2(wrkMast.getStaNo$()); // 鐩爣绔�
+ vo.setSourceLocNo2(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo2(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ }
+ } else {
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO) ? CrnStatusType.MACHINE_AUTO.getDesc() : CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ }
+
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)
@@ -185,11 +198,11 @@
@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++;
}
@@ -198,7 +211,7 @@
@GetMapping("/demo/status")
- public R demoStatus(){
+ public R demoStatus() {
List<Map<String, Object>> res = new ArrayList<>();
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
Map<String, Object> map = new HashMap<>();
@@ -213,13 +226,13 @@
@PostMapping("/demo/switch")
@ManagerAuth(memo = "鍫嗗灈鏈烘紨绀�")
public R crnDemo(CrnDemoParam param) throws InterruptedException {
- if (Cools.isEmpty(param.getCrnId())){
+ if (Cools.isEmpty(param.getCrnId())) {
return R.error();
}
- if (Cools.isEmpty(param.getPassword())){
+ if (Cools.isEmpty(param.getPassword())) {
return R.error("璇疯緭鍏ュ彛浠�");
}
- if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)){
+ if (!param.getPassword().equals(SystemProperties.WCS_PASSWORD)) {
return R.error("鍙ｄ护閿欒");
}
Thread.sleep(200L);
@@ -233,52 +246,50 @@
}
-
/****************************************************************/
/************************** 鎵嬪姩鎿嶄綔 ******************************/
/****************************************************************/
- @ManagerAuth(memo = "鍏ュ簱")
- @PostMapping("/operator/put")
- public R crnPut(CrnOperatorParam param){
- CrnCommand command = new CrnCommand();
- command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
- command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
- command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
- command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
- command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
- command.setTraySize(locSts);
- return crnControl(command)?R.ok():R.error();
- }
+// @ManagerAuth(memo = "鍏ュ簱")
+// @PostMapping("/operator/put")
+// public R crnPut(CrnOperatorParam param){
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
+// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
+// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
+// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
+// boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
+// command.setTraySize(locSts);
+// return crnControl(command)?R.ok():R.error();
+// }
- @ManagerAuth(memo = "鍑哄簱")
- @PostMapping("/operator/take")
- public R crnTake(CrnOperatorParam param){
- CrnCommand command = new CrnCommand();
- command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- command.setTaskNo((short) 0); // 宸ヤ綔鍙�
- command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
- command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
- command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
- command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
- command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
- command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
- command.setTraySize(locSts);
- return crnControl(command)?R.ok():R.error();
- }
-
+// @ManagerAuth(memo = "鍑哄簱")
+// @PostMapping("/operator/take")
+// public R crnTake(CrnOperatorParam param){
+// CrnCommand command = new CrnCommand();
+// command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+// command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// command.setTaskMode(CrnTaskModeType.PAKOUT); // 浠诲姟妯″紡
+// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
+// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
+// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
+// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
+// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
+// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
+// boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
+// command.setTraySize(locSts);
+// return crnControl(command)?R.ok():R.error();
+// }
@ManagerAuth(memo = "搴撲綅杞Щ")
@PostMapping("/operator/stockMove")
- public R crnStockMove(CrnOperatorParam param){
+ public R crnStockMove(CrnOperatorParam param) {
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -294,17 +305,17 @@
.eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
.eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
- if (sourceLoc.getLocType1() != loc.getLocType1()){
+ if (sourceLoc.getLocType1() != loc.getLocType1()) {
return R.error("搴撲綅绫诲瀷涓嶄竴鑷�");
}
command.setTraySize(loc.getLocType1() == 2);
// VersionUtils.locMoveCheckLocType(sourceLoc, loc);
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "绔欏埌绔�")
@PostMapping("/operator/siteMove")
- public R crnSiteMove(CrnOperatorParam param){
+ public R crnSiteMove(CrnOperatorParam param) {
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -316,12 +327,12 @@
command.setDestinationPosX(param.getStaNo()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍥炲師鐐�")
@PostMapping("/operator/bacOrigin")
- public R crnBacOrigin(CrnOperatorParam param){
+ public R crnBacOrigin(CrnOperatorParam param) {
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -333,12 +344,12 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鍙嶅師鐐�")
@PostMapping("/operator/reverseOrigin")
- public R reverseOrigin(CrnOperatorParam param){
+ public R reverseOrigin(CrnOperatorParam param) {
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
@@ -350,7 +361,7 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 34); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 5); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
// @ManagerAuth(memo = "鍧愭爣绉诲姩")
@@ -373,8 +384,9 @@
@ManagerAuth(memo = "浠诲姟瀹屾垚")
@PostMapping("/operator/taskComplete")
- public R crnTaskComplete(CrnOperatorParam param){
+ public R crnTaskComplete(CrnOperatorParam param) {
CrnCommand command = new CrnCommand();
+ command.setPltType(param.getC());
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
@@ -385,9 +397,8 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
-
// @ManagerAuth(memo = "鏆傚仠")
@@ -404,7 +415,7 @@
@ManagerAuth(memo = "娓呴櫎鍛戒护")
@PostMapping("/operator/clearCommand")
- public R crnClearCommand(CrnOperatorParam param){
+ public R crnClearCommand(CrnOperatorParam param) {
if (param.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -419,7 +430,7 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- return crnControl(command)?R.ok():R.error();
+ return crnControl(command) ? R.ok() : R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@@ -460,7 +471,7 @@
return R.error();
}
- private boolean crnControl(CrnCommand command){
+ private boolean crnControl(CrnCommand command) {
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
}
@@ -476,22 +487,19 @@
throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
// 绌洪棽鍒ゆ柇
-// if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
- if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
- return true;
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
- }
-// } else {
-// throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
-// }
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
+ return true;
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+
}
}
return false;
}
- private void staNoProcess(CrnOperatorParam param, CrnCommand command){
- if (param.getSourceStaNo()!=null) {
+ private void staNoProcess(CrnOperatorParam param, CrnCommand command) {
+ if (param.getSourceStaNo() != null) {
if (param.getSourceStaNo() == 5) {
command.setSourcePosX((short) 2); // 婧愬簱浣嶆帓
command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
@@ -502,7 +510,7 @@
command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
}
}
- if (param.getStaNo()!=null) {
+ if (param.getStaNo() != null) {
if (param.getStaNo() == 5) {
command.setDestinationPosX((short) 2); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
@@ -515,16 +523,16 @@
}
}
- private boolean isLocSts(String row,String bay,String lev){
+ private boolean isLocSts(String row, String bay, String lev) {
int rowInt = Integer.parseInt(row);
int bayInt = Integer.parseInt(bay);
int levInt = Integer.parseInt(lev);
- String loc = String.format("%2d",rowInt)+String.format("%3d",bayInt)+String.format("%2d",levInt);
+ String loc = String.format("%2d", rowInt) + String.format("%3d", bayInt) + String.format("%2d", levInt);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
- if (Cools.isEmpty(locMast)){
+ if (Cools.isEmpty(locMast)) {
return false;
}
- if (locMast.getLocType1() == 2){
+ if (locMast.getLocType1() == 2) {
return true;
}
return false;
--
Gitblit v1.9.1