From d3be642a803be434990679926e6e206416a634bd Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 19 八月 2020 09:53:30 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/controller/CrnController.java | 251 ++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 222 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 bacf4b6..79d8420 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -1,7 +1,9 @@
package com.zy.asrs.controller;
+import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
+import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.domain.vo.CommandLogVo;
@@ -9,10 +11,15 @@
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.WrkMast;
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.CrnTaskModeType;
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;
@@ -23,9 +30,7 @@
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;
/**
@@ -36,7 +41,7 @@
@RestController
@RequestMapping("/crn")
public class CrnController {
- private static AtomicInteger integer = new AtomicInteger();
+
@Autowired
private SlaveProperties slaveProperties;
@Autowired
@@ -46,12 +51,25 @@
@PostMapping("/command/ongoing")
public R ongoingCommand(){
List<CommandLogVo> list = new ArrayList<>();
- for (int i=1;i<=4;i++){
+ for (CrnSlave crn : slaveProperties.getCrn()) {
CommandLogVo vo = new CommandLogVo();
- vo.setCrnNo(String.valueOf(i));
- vo.setStatus(1);
- vo.setCommand(UUID.randomUUID().toString());
+ vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
+ vo.setStatus(0); // 鐘舵��
list.add(vo);
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ if (crnThread == null) {
+ continue;
+ }
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ vo.setStatus(1); // 鐘舵��
+ Task task = MessageQueue.peek(SlaveType.Crn, crn.getId());
+ if (task != null) {
+ vo.setCommand(JSON.toJSONString((CrnCommand)task.getData()));
+ }
}
return R.ok().add(list);
}
@@ -104,12 +122,10 @@
// 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;
}
// 琛ㄦ牸琛�
@@ -137,9 +153,17 @@
@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);
+ StringBuilder str = new StringBuilder();
+ String s;
+ int i = 0;
+ 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());
}
+
/****************************************************************/
/************************** 鎵嬪姩鎿嶄綔 ******************************/
@@ -148,61 +172,230 @@
@ManagerAuth(memo = "鍏ュ簱")
@PostMapping("/operator/put")
public R crnPut(CrnOperatorParam param){
- return R.ok("鍏ュ簱鎴愬姛");
+ 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.PAKIN); // 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();
}
@ManagerAuth(memo = "鍑哄簱")
@PostMapping("/operator/take")
public R crnTake(CrnOperatorParam param){
- return R.ok("鍑哄簱鎴愬姛");
+ 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.PAKOUT); // 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();
}
@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");
+ 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.LOC_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();
}
@ManagerAuth(memo = "绔欏埌绔�")
@PostMapping("/operator/siteMove")
public R crnSiteMove(CrnOperatorParam param){
- return R.ok("绔欏埌绔欐垚鍔�");
+ 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.SITE_MOVE); // 浠诲姟妯″紡
+ command.setSourcePosX(param.getSourceStaNo()); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ command.setDestinationPosX(param.getStaNo()); // 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�
+ return crnControl(command)?R.ok():R.error();
}
@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");
+ 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){
- return R.ok("鍥炲師鐐规垚鍔�");
+ 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.GO_ORIGIN); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ 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�
+ return crnControl(command)?R.ok():R.error();
+ }
+
+ @ManagerAuth(memo = "鍙嶅師鐐�")
+ @PostMapping("/operator/reverseOrigin")
+ public R reverseOrigin(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.GO_ORIGIN); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ 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 = "浠诲姟瀹屾垚")
@PostMapping("/operator/taskComplete")
public R crnTaskComplete(CrnOperatorParam param){
- return R.ok("浠诲姟瀹屾垚");
+ 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) 1); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.NONE); // 浠诲姟妯″紡
+ command.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ command.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ 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) 0); // 鐩爣搴撲綅灞�
+ return crnControl(command)?R.ok():R.error();
}
- @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 = "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){
+ if (param.getCrnNo() == null) {
+ throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
+ }
+ MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
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�");
+ }
+ 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(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�");
+ }
+ }
+ }
+ return false;
+ }
+
}
--
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