From f140f8d9e17f4465f029134b008ec7f644b0e3db Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 14 十一月 2025 11:08:05 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 255 +++++++++++++++++++++++---------------------------
1 files changed, 119 insertions(+), 136 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index da1edef..d3435f5 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,196 +1,179 @@
package com.zy.asrs.controller;
+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.domain.enums.CrnStatusType;
-import com.zy.asrs.domain.param.CrnOperatorParam;
-import com.zy.asrs.domain.vo.CommandLogVo;
-import com.zy.asrs.domain.vo.CrnMsgTableVo;
+import com.zy.asrs.domain.param.CrnCommandTakeParam;
import com.zy.asrs.domain.vo.CrnStateTableVo;
+import com.zy.asrs.entity.BasCrnp;
+import com.zy.asrs.entity.BasCrnpErr;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasCrnpErrService;
+import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.SlaveType;
-import com.zy.core.model.CrnSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.CrnThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import java.util.ArrayList;
-import java.util.Date;
import java.util.List;
-import java.util.UUID;
-import java.util.concurrent.atomic.AtomicInteger;
/**
* 鍫嗗灈鏈烘帴鍙�
- * Created by vincent on 2020-06-01
*/
@Slf4j
@RestController
@RequestMapping("/crn")
public class CrnController {
- private static AtomicInteger integer = new AtomicInteger();
- @Autowired
- private SlaveProperties slaveProperties;
+
@Autowired
private WrkMastService wrkMastService;
-
- @ManagerAuth(memo = "杩涜涓殑鍛戒护")
- @PostMapping("/command/ongoing")
- public R ongoingCommand(){
- List<CommandLogVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
- CommandLogVo vo = new CommandLogVo();
- vo.setCrnNo(String.valueOf(i));
- vo.setStatus(1);
- vo.setCommand(UUID.randomUUID().toString());
- list.add(vo);
- }
- return R.ok().add(list);
- }
+ @Autowired
+ private BasCrnpErrService basCrnpErrService;
+ @Autowired
+ private BasCrnpService basCrnpService;
@PostMapping("/table/crn/state")
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
- public R crnStateTable(){
+ public R crnStateTable() {
List<CrnStateTableVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- if (crnThread == null) {
- log.error("{}鍙峰爢鍨涙満杩炴帴澶辫触", crn.getId());
- continue;
- }
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- log.error("{}鍙峰爢鍨涙満杩炴帴澶辫触", crn.getId());
- continue;
- }
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
// 琛ㄦ牸琛�
CrnStateTableVo vo = new CrnStateTableVo();
- vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
- vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
- if (crnProtocol.getTaskNo()>0) {
- WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
- if (wrkMast != null) {
- vo.setStatusType(CrnStatusType.process(wrkMast.getIoType())); // 妯″紡鐘舵��
- }
- } else {
- vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO: CrnStatusType.UN_AUTO); // 妯″紡鐘舵��
+ 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.getStatus();
+ if (crnProtocol == null) {
+ continue;
+ }
+ vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ vo.setMode(crnProtocol.getModeType().desc); // 妯″紡鐘舵��
vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- vo.setWarn(""); // 鎶ヨ todo
- vo.setLoading(crnProtocol.getLoaded()==1?"Y":"N"); // 鏈夌墿
+ vo.setLoading(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); // 杞借揣鍙颁綅缃�
- list.add(vo);
- }
- return R.ok().add(list);
- }
+ 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.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)
- @PostMapping("/table/crn/msg")
- @ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
- public R crnMsgTable(){
- List<CrnMsgTableVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
- CrnMsgTableVo vo = new CrnMsgTableVo();
- vo.setCrnNo(String.valueOf(i));
- vo.setCommand("28283E23132D23");
- vo.setError("");
- vo.setLocNo("0601812");
- vo.setOrigin("0");
- vo.setSourceLocNo("");
- vo.setSourceStaNo("0");
- vo.setStaNo("2112");
- vo.setStatus("绌洪棽");
- if (integer.get()%5 == 0) {
- vo.setWorkNo("0000");
- } else {
- vo.setWorkNo("9998");
+ if (crnProtocol.getModeType().equals(CrnModeType.AUTO)) {
+ vo.setDeviceStatus("AUTO");
}
- list.add(vo);
+
+ if (crnProtocol.getTaskNo() > 0) {
+ WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
+ if (wrkMast != null) {
+ vo.setSourceStaNo(String.valueOf(wrkMast.getSourceStaNo())); // 婧愮珯
+ vo.setStaNo(String.valueOf(wrkMast.getStaNo())); // 鐩爣绔�
+ vo.setSourceLocNo(wrkMast.getSourceLocNo()); // 婧愬簱浣�
+ vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
+ vo.setDeviceStatus("WORKING");
+ }
+ }
+
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
+ if (crnProtocol.getAlarm() > 0) {
+ BasCrnpErr crnError = basCrnpErrService.selectById(crnProtocol.getAlarm());
+ vo.setAlarm(crnError == null ? "鏈煡寮傚父" : crnError.getErrName());
+ vo.setDeviceStatus("ERROR");
+ }
}
- integer.getAndIncrement();
return R.ok().add(list);
}
@PostMapping("/output/site")
@ManagerAuth(memo = "鍫嗗灈鏈烘姤鏂囨棩蹇楄緭鍑�")
- public R crnOutput(){
- String str = "\n" +new Date().toLocaleString() + "銆�2020-5-29 13:14:22銆戞壂鎻弍lcA 鐩爣绔�--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342";
- return R.ok().add(str);
+ public R crnOutput() {
+ StringBuilder str = new StringBuilder();
+ String s;
+ int i = 0;
+ while ((s = OutputQueue.CRN.poll()) != null && i <= 10) {
+ str.append("\n").append(s);
+ i++;
+ }
+ return R.ok().add(str.toString());
}
- /****************************************************************/
- /************************** 鎵嬪姩鎿嶄綔 ******************************/
- /****************************************************************/
+ @PostMapping("/command/take")
+ public R crnCommandTake(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
- @ManagerAuth(memo = "鍏ュ簱")
- @PostMapping("/operator/put")
- public R crnPut(CrnOperatorParam param){
- return R.ok("鍏ュ簱鎴愬姛");
+ Integer crnNo = param.getCrnNo();
+ String sourceLocNo = param.getSourceLocNo();
+ String targetLocNo = param.getTargetLocNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+
+ CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, targetLocNo, 9999, crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
}
- @ManagerAuth(memo = "鍑哄簱")
- @PostMapping("/operator/take")
- public R crnTake(CrnOperatorParam param){
- return R.ok("鍑哄簱鎴愬姛");
+ @PostMapping("/command/move")
+ public R crnCommandMove(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
+
+ Integer crnNo = param.getCrnNo();
+ String targetLocNo = param.getTargetLocNo();
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
+
+ CrnCommand command = crnThread.getMoveCommand(targetLocNo, 9999, crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
}
- @ManagerAuth(memo = "搴撲綅杞Щ")
- @PostMapping("/operator/stockMove")
- public R crnStockMove(CrnOperatorParam param){
- return R.ok("搴撲綅杞Щ鎴愬姛");
- }
+ @PostMapping("/command/taskComplete")
+ public R crnCommandTaskComplete(@RequestBody CrnCommandTakeParam param) {
+ if (Cools.isEmpty(param)) {
+ return R.error("缂哄皯鍙傛暟");
+ }
- @ManagerAuth(memo = "绔欏埌绔�")
- @PostMapping("/operator/siteMove")
- public R crnSiteMove(CrnOperatorParam param){
- return R.ok("绔欏埌绔欐垚鍔�");
- }
+ Integer crnNo = param.getCrnNo();
- @ManagerAuth(memo = "鍧愭爣绉诲姩")
- @PostMapping("/operator/coorMove")
- public R crnCoorMove(CrnOperatorParam param){
- return R.ok("鍧愭爣绉诲姩鎴愬姛");
- }
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return R.error("绾跨▼涓嶅瓨鍦�");
+ }
- @ManagerAuth(memo = "鍥炲師鐐�")
- @PostMapping("/operator/bacOrigin")
- public R crnBacOrigin(CrnOperatorParam param){
- return R.ok("鍥炲師鐐规垚鍔�");
+ CrnCommand command = crnThread.getResetCommand(crnNo);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ return R.ok();
}
-
- @ManagerAuth(memo = "浠诲姟瀹屾垚")
- @PostMapping("/operator/taskComplete")
- public R crnTaskComplete(CrnOperatorParam param){
- return R.ok("浠诲姟瀹屾垚");
- }
-
- @ManagerAuth(memo = "鏆傚仠")
- @PostMapping("/operator/pause")
- public R crnPause(CrnOperatorParam param){
- return R.ok("鏆傚仠鎴愬姛");
- }
-
- @ManagerAuth(memo = "鍚姩")
- @PostMapping("/operator/boot")
- public R crnBoot(CrnOperatorParam param){
- return R.ok("鍚姩鎴愬姛");
- }
-
- @ManagerAuth(memo = "娓呴櫎鍛戒护")
- @PostMapping("/operator/clearCommand")
- public R crnClearCommand(CrnOperatorParam param){
- return R.ok("娓呴櫎鍛戒护鎴愬姛");
- }
-
}
--
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