From 6e02d92c3b9c240fa78a343b67ddf0db12d840e6 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 22 八月 2025 17:00:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/LiftController.java | 361 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 361 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/LiftController.java b/src/main/java/com/zy/asrs/controller/LiftController.java
new file mode 100644
index 0000000..c3552dc
--- /dev/null
+++ b/src/main/java/com/zy/asrs/controller/LiftController.java
@@ -0,0 +1,361 @@
+package com.zy.asrs.controller;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.annotations.ManagerAuth;
+import com.core.common.BaseRes;
+import com.core.common.Cools;
+import com.core.common.R;
+import com.core.exception.CoolException;
+import com.zy.asrs.domain.param.LiftOperatorParam;
+import com.zy.asrs.domain.vo.LiftDataVo;
+import com.zy.asrs.domain.vo.LiftMsgTableVo;
+import com.zy.asrs.domain.vo.LiftSensorDataVo;
+import com.zy.asrs.entity.BasLift;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.service.BasLiftService;
+import com.zy.asrs.service.DeviceConfigService;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.action.LiftAction;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.*;
+import com.zy.core.model.command.LiftAssignCommand;
+import com.zy.core.model.command.LiftCommand;
+import com.zy.core.model.command.LiftRedisCommand;
+import com.zy.core.model.protocol.LiftProtocol;
+import com.zy.core.model.protocol.LiftStaProtocol;
+import com.zy.core.thread.LiftThread;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 鎻愬崌鏈烘帴鍙�
+ */
+@Slf4j
+@RestController
+@RequestMapping("/lift")
+public class LiftController {
+
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private BasLiftService basLiftService;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private LiftAction liftAction;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
+
+ @PostMapping("/table/lift/state")
+ @ManagerAuth(memo = "鎻愬崌鏈轰俊鎭〃")
+ public R liftStateTable(){
+ ArrayList<JSONObject> list = new ArrayList<>();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ // 琛ㄦ牸琛�
+ JSONObject baseObj = new JSONObject();
+ baseObj.put("liftNo", device.getDeviceNo());
+ list.add(baseObj);
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
+ JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol));
+ List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
+ data.put("liftStaProtocols", liftStaProtocols);
+ baseObj.putAll(data);
+ }
+ return R.ok().add(list);
+ }
+
+ @PostMapping("/table/lift/msg")
+ @ManagerAuth(memo = "鎻愬崌鏈烘暟鎹〃")
+ public R liftMsgTable(){
+ List<LiftMsgTableVo> list = new ArrayList<>();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ // 琛ㄦ牸琛�
+ LiftMsgTableVo vo = new LiftMsgTableVo();
+ vo.setLiftNo(device.getDeviceNo()); // 鎻愬崌鏈哄彿
+ list.add(vo);
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ vo.setWorkNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 浣滀笟鏍囪
+ vo.setLiftStaProtocols(liftThread.getLiftStaProtocols());
+ }
+ return R.ok().add(list);
+ }
+
+ @PostMapping("/output/lift")
+ @ManagerAuth
+ public R liftOutput(){
+ StringBuilder str = new StringBuilder();
+ String s;
+ int i = 0;
+ while((s = OutputQueue.LIFT.poll()) != null && i <=10) {
+ str.append("\n").append(s);
+ i++;
+ }
+ return R.ok().add(str.toString());
+ }
+
+ @GetMapping("/detl/{liftNo}")
+ public R liftDetl(@PathVariable("liftNo") Integer liftNo){
+ LiftDataVo vo = new LiftDataVo();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ if (liftNo.equals(device.getDeviceNo())) {
+ vo.setLiftNo(device.getDeviceNo());
+ BasLift basLift = basLiftService.selectById(device.getDeviceNo());
+ if (!Cools.isEmpty(basLift)) {
+ vo.setWorkNo(basLift.getWrkNo());
+ vo.setPakMk(basLift.getPakMk());
+ }
+ break;
+ }
+ }
+ return R.ok().add(vo);
+ }
+
+ @GetMapping("/sensor/detl/{liftNo}")
+ public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){
+ LiftSensorDataVo vo = new LiftSensorDataVo();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ if (liftNo.equals(device.getDeviceNo())) {
+ vo.setLiftNo(device.getDeviceNo());
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if (liftThread == null) {
+ return R.error("璁惧涓嶅湪绾�");
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return R.error("璁惧涓嶅湪绾�");
+ }
+
+ break;
+ }
+ }
+ return R.ok().add(vo);
+ }
+
+ @PostMapping("/detl/update")
+ @ManagerAuth(memo = "淇敼鏁版嵁")
+ public R liftUpdate(@RequestParam Integer liftNo,
+ @RequestParam Integer workNo) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return R.error("plc宸叉帀绾�");
+ }
+ if (workNo != null) {
+ liftThread.setSyncTaskNo(workNo);
+ }
+ return R.ok();
+ }
+
+ @RequestMapping(value = "/command/query")
+ public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ return R.ok().add(redisCommand);
+ }
+
+ //鍥為��鍛戒护
+ @RequestMapping(value = "/command/rollback")
+ public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ redisCommand.setCommandStep(commandStep);
+ redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //鍛戒护瀹屾垚鐘舵�佸垏鎹�
+ @RequestMapping(value = "/command/completeSwitch")
+ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
+ , @RequestParam("commandStep") Integer commandStep
+ , @RequestParam("complete") Integer complete) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
+ List<LiftCommand> commands = assignCommand.getCommands();
+ LiftCommand command = commands.get(commandStep);
+ command.setComplete(complete != 0);
+ redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand));
+ return R.ok();
+ }
+
+ //閲嶅惎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/restart")
+ public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
+ Integer liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return R.error();
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return R.error();
+ }
+ if (!liftThread.isIdle()) {
+ return R.error();
+ }
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftThread.setSyncTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ return R.ok();
+ }
+
+ //鍒犻櫎浠诲姟(鍛戒护)
+ @RequestMapping(value = "/command/del")
+ public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
+ Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ if (o == null) {
+ return R.error();
+ }
+ redisUtil.del(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo);
+ return R.ok();
+ }
+
+ /****************************************************************/
+ /************************** 鎵嬪姩鎿嶄綔 ******************************/
+ /****************************************************************/
+
+ @ManagerAuth(memo = "鎵嬪姩鎿嶄綔")
+ @PostMapping("/operator/lift")
+ public R liftOperator(LiftOperatorParam param){
+ if (Cools.isEmpty(param.getLiftNo())) {
+ return R.parse(BaseRes.PARAM);
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo());
+ if (liftThread == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ throw new CoolException("鎻愬崌鏈轰笉鍦ㄧ嚎");
+ }
+
+ if (param.getLiftTaskMode().equals(LiftTaskModeType.SHUTTLE_SWITCH.id)) {
+ //灏忚溅鎹㈠眰
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.PICK_PUT.id)) {
+ //绉诲姩鎵樼洏
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.MOVE.id)) {
+ //绉诲姩
+ int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//鑾峰彇浠诲姟鍙�
+
+ Integer startSta = param.getSourceStaNo();
+ Integer targetSta = param.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(workNo);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
+ assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
+
+ liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand);
+ return R.ok();
+ } else if (param.getLiftTaskMode().equals(LiftTaskModeType.RESET.id)) {
+ //鎻愬崌鏈哄浣�
+ liftThread.setSyncTaskNo(0);
+ liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ return R.ok();
+ } else {
+ throw new CoolException("鏈煡鍛戒护");
+ }
+ }
+
+}
--
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