From f0c9d5aa9ab3baf86251db02d553f4d5d78aa411 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 27 十一月 2023 15:11:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 228 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 228 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 1dbe9c2..e7b9991 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,6 +1,8 @@
package com.zy.asrs.controller;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
@@ -11,6 +13,7 @@
import com.zy.asrs.domain.param.CrnDemoParam;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
+import com.zy.asrs.domain.vo.CrnListVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
@@ -20,6 +23,7 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -35,8 +39,10 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;
+import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -49,6 +55,13 @@
@Slf4j
@RestController
public class CrnController {
+
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.movePath}")
+ private String movePath;
+
+
@Autowired
private SlaveProperties slaveProperties;
@@ -203,6 +216,107 @@
vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
+ }
+ return R.ok().add(list);
+ }
+
+ @PostMapping("/crn/table/crn/{id}/msg")
+ @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
+ public R crnMsgTable(@PathVariable("id") Integer id){
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", id).orderBy("crn_no"));
+ // 琛ㄦ牸琛�
+ CrnMsgTableVo vo = new CrnMsgTableVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ return R.error();
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ return R.error();
+ }
+
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ if (crnProtocol.getTaskNo()>0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
+ vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
+ vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ 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.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)
+ vo.setXdistance(crnProtocol.getXDistance()); // 璧拌璺濈(Km)
+ vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
+ vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
+ vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
+ return R.ok().add(vo);
+ }
+
+ @GetMapping("/crn/list/auth")
+ @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
+ public R crnList(){
+ List<CrnListVo> list = new ArrayList<>();
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnListVo vo = new CrnListVo();
+ vo.setCrnNo(basCrnp.getCrnNo()); // 鍫嗗灈鏈哄彿
+ list.add(vo);
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ continue;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ if (crnProtocol.getTaskNo()>0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setDeviceStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
+ vo.setSourceStaNo(wrkMast.getSourceStaNo$()); // 婧愮珯
+ vo.setStaNo(wrkMast.getStaNo$()); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ }
+ } else {
+ vo.setDeviceStatus(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)
+ vo.setXdistance(crnProtocol.getXDistance()); // 璧拌璺濈(Km)
+ vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
+ vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
+ vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
+
+ vo.setStatusType(crnProtocol.modeType.desc); // 妯″紡鐘舵��
+ vo.setWrkStatus(crnProtocol.getStatusType().id); // 浠诲姟鐘舵��
+ vo.setLoading((crnProtocol.getLoaded() != null && crnProtocol.getLoaded() == 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�");
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1()));
+ if (crnProtocol.getAlarm1() > 0) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ vo.setAlarm(crnError==null?"鏈煡寮傚父":crnError.getErrName());
+ }
+ vo.setInEnable(basCrnp.getInEnable());
+ vo.setOutEnable(basCrnp.getOutEnable());
}
return R.ok().add(list);
}
@@ -474,6 +588,120 @@
return R.error();
}
+ @ManagerAuth(memo = "鍒囨崲鑱旀満妯″紡")
+ @PostMapping("/crn/operator/auto")
+ public R crnAuto(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鍒囨崲鍗婃墜鍔ㄦā寮�")
+ @PostMapping("/crn/operator/semiAutomatic")
+ public R crnsemiAutomatic(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short)2);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鍒囨崲鎵嬪姩妯″紡")
+ @PostMapping("/crn/operator/hand")
+ public R onlineWrk1(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short)3);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鐢宠瀹屾垚浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk1")
+ public R onlineWrk2(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk1((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鐢宠鍙栨秷浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk2")
+ public R onlineWrk3(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk2((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "娓呴櫎鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk3")
+ public R onlineWrk4(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk3((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鎭㈠鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk4")
+ public R crnHand(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk4((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+
+
+
+ private boolean crnControl2(CrnCommand command){
+ if (command.getCrnNo() == null) {
+ throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
+ }
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (command.getCrnNo().equals(crn.getId())) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ 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(4, 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�");
+// }
+ }
+ }
+ return false;
+ }
+
+
+
+
+
private boolean crnControl(CrnCommand command){
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
--
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