From cbb17cf73f3d5edde489701a4401a36c8c1c6994 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 14 九月 2020 12:53:55 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 84 +++++++++++++++++++++++++++--------------
1 files changed, 55 insertions(+), 29 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 28e4358..b2266ca 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,6 +1,7 @@
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.R;
import com.core.exception.CoolException;
@@ -9,11 +10,16 @@
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
+import com.zy.asrs.entity.BasCrnError;
+import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.BasCrnErrorMapper;
+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.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -45,6 +51,11 @@
private SlaveProperties slaveProperties;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private BasCrnpService basCrnpService;
+
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@PostMapping("/command/ongoing")
@@ -77,21 +88,21 @@
@ManagerAuth(memo = "鍫嗗灈鏈轰俊鎭〃")
public R crnStateTable(){
List<CrnStateTableVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ 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(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, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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;
}
- // 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());
@@ -99,16 +110,19 @@
vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
}
} else {
- vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 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);
+ vo.setXOrigin(crnProtocol.getBay()==1?"鏄�":"鍚�"); // 璧拌鍘熺偣
+ vo.setYOrigin(crnProtocol.getLevel()==1?"鏄�":"鍚�"); // 鍗囬檷鍘熺偣
+ vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
+ vo.setXLocation(crnProtocol.getWalkPos() == 1?"鏄�":"鍚�"); // 璧拌瀹氫綅
+ vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"鍚�":"鏄�"); // 鍗囬檷瀹氫綅
+ vo.setStop(crnProtocol.getCrnError1().controlStop||crnProtocol.getCrnError1().mainStop||crnProtocol.getCrnError1().remoteStop?"鏄�":"鍚�"); // 鎬ュ仠
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm1())); // 寮傚父鐮�
}
return R.ok().add(list);
}
@@ -117,9 +131,14 @@
@ManagerAuth(memo = "鍫嗗灈鏈烘暟鎹〃")
public R crnMsgTable(){
List<CrnMsgTableVo> list = new ArrayList<>();
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
+ for (BasCrnp basCrnp : crnps) {
+ // 琛ㄦ牸琛�
+ CrnMsgTableVo vo = new CrnMsgTableVo();
+ 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, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
if (crnThread == null) {
continue;
}
@@ -127,10 +146,12 @@
if (crnProtocol == null) {
continue;
}
- // 琛ㄦ牸琛�
- CrnMsgTableVo vo = new CrnMsgTableVo();
- vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
+
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+ if (null != crnError) {
+ vo.setError(crnError.getErrName());
+ }
if (crnProtocol.getTaskNo()>0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
@@ -141,10 +162,15 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
- list.add(vo);
-
+ 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(list);
}
@@ -344,10 +370,10 @@
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) {
+ if (crnProtocol.getCrnError3().leftTakeNoneErr
+ || crnProtocol.getCrnError3().rightTakeNoneErr
+ || crnProtocol.getCrnError3().leftTakeThenLoadErr
+ || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
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�
@@ -382,15 +408,15 @@
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 (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, 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�");
- }
+// } else {
+// throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
+// }
}
}
return false;
--
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