From c2652b7c1d372b26020063132642ce06184960f8 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 19 八月 2020 10:06:35 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 83 ++++++++++++++++++++++++++++++-----------
1 files changed, 61 insertions(+), 22 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index ee847a6..28e4358 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -31,7 +31,6 @@
import java.util.ArrayList;
import java.util.List;
-import java.util.concurrent.atomic.AtomicInteger;
/**
* 鍫嗗灈鏈烘帴鍙�
@@ -41,7 +40,7 @@
@RestController
@RequestMapping("/crn")
public class CrnController {
- private static AtomicInteger integer = new AtomicInteger();
+
@Autowired
private SlaveProperties slaveProperties;
@Autowired
@@ -156,11 +155,10 @@
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++;
}
-// str = new StringBuilder("\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.toString());
}
@@ -237,23 +235,6 @@
return crnControl(command)?R.ok():R.error();
}
- @ManagerAuth(memo = "鍧愭爣绉诲姩")
- @PostMapping("/operator/coorMove")
- public R crnCoorMove(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.OFFSET_MOVE); // 浠诲姟妯″紡
- command.setSourcePosX((short) 0); // 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((short) 0); // 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�
- return crnControl(command)?R.ok():R.error();
- }
-
@ManagerAuth(memo = "鍥炲師鐐�")
@PostMapping("/operator/bacOrigin")
public R crnBacOrigin(CrnOperatorParam param){
@@ -267,7 +248,7 @@
command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
command.setDestinationPosX((short) 0); // 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�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
return crnControl(command)?R.ok():R.error();
}
@@ -285,6 +266,23 @@
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();
+ }
+
+ @ManagerAuth(memo = "鍧愭爣绉诲姩")
+ @PostMapping("/operator/coorMove")
+ public R crnCoorMove(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.OFFSET_MOVE); // 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�
return crnControl(command)?R.ok():R.error();
}
@@ -327,6 +325,47 @@
return R.ok("娓呴櫎鍛戒护鎴愬姛");
}
+ @ManagerAuth(memo = "鎵嬪姩澶嶄綅")
+ @PostMapping("/operator/handleReset")
+ public R handleReset(CrnOperatorParam param) throws Exception {
+ if (param.getCrnNo() == null) {
+ throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
+ }
+ // 鑾峰彇鍫嗗灈鏈虹紦瀛�
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ if (param.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");
+ }
+ // 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
+ if (crnProtocol.getCrnError2().leftTakeNoneErr
+ || crnProtocol.getCrnError2().rightTakeNoneErr
+ || crnProtocol.getCrnError2().leftPutLoadErr
+ || crnProtocol.getCrnError2().rightPutLoadErr) {
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ // 寤舵椂鍙戦��
+ Thread.sleep(3000L);
+ if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
+ return R.ok();
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ }
+
+ return R.error();
+ }
+
private boolean crnControl(CrnCommand command){
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
--
Gitblit v1.9.1