From e35abc495e50cfb3cfabed23a7d0d4c942c6dde9 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 25 七月 2023 10:09:22 +0800
Subject: [PATCH] 捡料
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 238 +++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 174 insertions(+), 64 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 69f6996..035c9f6 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -1,5 +1,6 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
@@ -9,9 +10,15 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.NavigatePositionConvert;
+import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -20,6 +27,7 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.command.ShuttleRedisCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.ShuttleThread;
@@ -28,9 +36,7 @@
import org.springframework.web.bind.annotation.*;
import java.util.ArrayList;
-import java.util.Date;
import java.util.List;
-import java.util.Random;
/**
* 鍥涘悜绌挎杞︽帴鍙�
@@ -46,6 +52,12 @@
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private LocMastService locMastService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private RedisUtil redisUtil;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
@@ -60,6 +72,8 @@
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
if (shuttleThread == null) {
+ vo.setStatus(ShuttleProtocolStatusType.OFFLINE.id);//璁惧绂荤嚎
+ vo.setBusyStatus(ShuttleProtocolStatusType.OFFLINE.desc);
continue;
}
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
@@ -68,16 +82,41 @@
}
vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 浠诲姟鍙�
vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //鍥涘悜绌挎杞︾姸鎬�
- vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//褰撳墠浠诲姟鐘舵��
+ vo.setStatus(shuttleProtocol.getProtocolStatusType().id);//褰撳墠浠诲姟鐘舵��
vo.setCurrentCode(shuttleProtocol.getCurrentCode());//褰撳墠浜岀淮鐮�
- vo.setBatteryPower(shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
- vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ if (currentLocMast == null) {
+ vo.setLocNo("");//鑾峰彇褰撳墠搴撲綅鍙�
+ vo.setLocNoX(0);
+ vo.setLocNoY(0);
+ vo.setLocNoLev(0);//褰撳墠搴撲綅灞傞珮
+ }else {
+ vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
+ int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
+ vo.setLocNoX(locNoXY[0]);
+ vo.setLocNoY(locNoXY[1]);
+ vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+ }
+ vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
+ vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
- vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//閿欒缂栧彿
+ vo.setErrorCode(shuttleProtocol.getErrorCodeType());//閿欒缂栧彿
}
vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc杈撳嚭鐘舵�両O
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
+ vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
+ vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
+ vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
+ vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
+ }
if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
- vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//閿欒淇℃伅鐮�
+ vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//閿欒淇℃伅鐮�
}
vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC杈撳叆鐘舵��
vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
@@ -112,6 +151,9 @@
if (shuttleProtocol == null) {
continue;
}
+ if (shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//浠诲姟鍙�
if (shuttleProtocol.getTaskNo() > 0) {
@@ -129,10 +171,14 @@
vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//褰撳墠鐨勭數鍘嬪��
vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//褰撳墠鐨勬ā鎷熼噺鍊�
vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//褰撳墠鐨勮璧颁己鏈嶉�熷害
- vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() + "%");//褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() + "%");//褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+ vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
+ vo.setLocNo(shuttleProtocol.getLocNo());//鍥涘悜绌挎杞﹀綋鍓嶅簱浣嶅彿
+ vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//鍥涘悜绌挎杞﹀綋鍓嶅眰楂�
+ vo.setRunSpeed(basShuttle.getRunSpeed());//鍥涘悜绌挎杞﹁繍琛岄�熷害(璁剧疆)
+ vo.setChargeLine(basShuttle.getChargeLine());//鍏呯數闃堝��
}
return R.ok().add(list);
}
@@ -164,9 +210,6 @@
vo.setShuttleNo(shuttleSlave.getId());
BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
if (!Cools.isEmpty(basShuttle)) {
- vo.setRow(basShuttle.getRow());
- vo.setBay(basShuttle.getBay());
- vo.setLev(basShuttle.getLev());
vo.setWorkNo(basShuttle.getWrkNo());
vo.setPakMk(basShuttle.getPakMk());
}
@@ -196,23 +239,6 @@
// 绌挎杞︽彁绀轰俊鎭� ----------------------
- // 浠诲姟淇℃伅 ----------------
- vo.setPakInTask(shuttleProtocol.isPakInTask());
- vo.setPakOutTask(shuttleProtocol.isPakOutTask());
- vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
- vo.setGoHpTask(shuttleProtocol.isGoHpTask());
- vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
- vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
- vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
- vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
- vo.setPakInFinish(shuttleProtocol.isPakInFinish());
- vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
- vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
- vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
- vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
- vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
- vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());
-
// 鐘舵�佷俊鎭� -------------
break;
@@ -221,40 +247,82 @@
return R.ok().add(vo);
}
- @PostMapping("/detl/update")
- @ManagerAuth
- public R steUpdate(ShuttleDataVo vo){
- BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo());
- if (basShuttle == null) {
+ @RequestMapping(value = "/command/query")
+ public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
return R.error();
}
- // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo());
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ return R.ok().add(redisCommand);
+ }
+
+ //鍥為��鍛戒护
+ @RequestMapping(value = "/command/rollback")
+ public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ redisCommand.setCommandStep(commandStep);
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ ShuttleCommand command = commands.get(commandStep);
+ command.setComplete(complete != 0);
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //閲嶅惎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/restart")
+ public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ Short shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ if (shuttleThread == null) {
+ return R.error();
+ }
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
- throw new CoolException(vo.getShuttleNo() + "鍙峰洓鍚戠┛姊溅涓嶅湪绾匡紝鏃犳硶淇濆瓨");
+ return R.error();
}
-// if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) {
-// if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) {
-// throw new CoolException("鏈嶅姟鍣ㄩ敊璇�");
-// }
-// }
- ShuttleCommand shuttleCommand = new ShuttleCommand();
- shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
- if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
- } else {
- throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ if (!shuttleProtocol.isIdle()) {
+ return R.error();
}
- basShuttle.setRow(vo.getRow());
- basShuttle.setBay(vo.getBay());
- basShuttle.setLev(vo.getLev());
+ //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ return R.ok();
+ }
- basShuttle.setPakMk(vo.getPakMk());
- basShuttle.setWrkNo(vo.getWorkNo());
- basShuttle.setUpdateTime(new Date());
- if (!basShuttleService.updateById(basShuttle)) {
- throw new CoolException("淇敼澶辫触");
+ //鍒犻櫎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/del")
+ public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return R.error();
}
+ redisUtil.del("shuttle_wrk_no_" + wrkNo);
return R.ok();
}
@@ -269,8 +337,14 @@
return R.parse(BaseRes.PARAM);
}
- if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
- return R.parse(BaseRes.PARAM);
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
+ if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
+ return R.parse(BaseRes.PARAM);
+ }
+ assignCommand.setSourceLocNo(param.getSourceLocNo());
+ assignCommand.setLocNo(param.getDistLocNo());
}
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
@@ -285,14 +359,12 @@
}
ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- ShuttleAssignCommand command = new ShuttleAssignCommand();
- command.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
- command.setTaskMode(shuttleTaskModeType.id.shortValue());
- command.setSourceLocNo(param.getSourceLocNo());
- command.setDistLocNo(param.getDistLocNo());
- command.setTaskNo((short) 9999);
+ assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
+ assignCommand.setTaskNo((short) commonService.getWorkNo(3));//鑾峰彇浠诲姟鍙�
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
+ if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
return R.ok();
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
@@ -302,4 +374,42 @@
return R.error();
}
+ @PostMapping("/detl/update")
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R shuttleUpdate(@RequestParam Integer shuttleNo,
+ @RequestParam Short workNo,
+ @RequestParam String pakMk){
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ if (shuttleThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ shuttleProtocol.setTaskNo(workNo);
+ }
+ if (pakMk != null) {
+ shuttleProtocol.setPakMk(pakMk.equals("Y"));
+ }
+ return R.ok();
+ }
+
+ @PostMapping("/runSpeed/{shuttleNo}")
+ @ManagerAuth
+ public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {
+
+ BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
+ if (basShuttle == null) {
+ return R.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ }
+ basShuttle.setRunSpeed(runSpeed);
+ basShuttle.setChargeLine(chargeLine);
+ if (!basShuttleService.updateById(basShuttle)) {
+ return R.error();
+ }
+ return R.ok();
+ }
+
}
--
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