#

1

9 天以前 6fcad8a10aab91b9a0825b0465b7e21d37df2332

 src/main/java/com/zy/asrs/controller/CrnController.java

@@ -26,7 +26,6 @@
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;
@@ -36,6 +35,7 @@
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.RgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
@@ -118,57 +118,20 @@
                continue;
            }
            vo.setWorkNo(crnProtocol.getTaskNo());  //  任务号
//            if (crnProtocol.getTaskNo()>0) {
//                WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
//                if (wrkMast != null) {
//                    vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
//                }
//            } else {
//
//            }
            vo.setStatusType(crnProtocol.modeType.desc);   //  模式状态
            if (crnProtocol.getTaskFinish() == 1) {
                vo.setStatus("等待确认");
            } else {
                vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.PUT_COMPLETE)) {
                    vo.setStatus("正在作业");
                }
            }
            vo.setStatus(crnProtocol.getStatusType().desc);     //  状态
            vo.setLoading(crnProtocol.getLoaded()==1?"有物":"无物");  //  有物
            vo.setBay(crnProtocol.getBay());    //  列
            vo.setLev(crnProtocol.getLevel());  //  层
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            if (crnProtocol.getPlatformHigh()) {
                vo.setSitePos("站台高位");
            }
            if (crnProtocol.getPlatformLow()) {
                vo.setSitePos("站台高位");
            }
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setXLocation(crnProtocol.getWalkPos() == 1?"是":"否");      // 走行定位
            vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"否":"是");      // 升降定位
            if (crnProtocol.getAlarm1() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                vo.setAlarm1(crnError==null?"未知异常":crnError.getErrName());
            }
            if (crnProtocol.getAlarm2() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm2());
                vo.setAlarm2(crnError==null?"未知异常":crnError.getErrName());
            }
            if (crnProtocol.getAlarm3() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm3());
                vo.setAlarm3(crnError==null?"未知异常":crnError.getErrName());
            }
            if (crnProtocol.getAlarm4() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm4());
                vo.setAlarm4(crnError==null?"未知异常":crnError.getErrName());
            }
//            vo.setAlarm1(String.valueOf(crnProtocol.getAlarm1()));
//            vo.setAlarm2(String.valueOf(crnProtocol.getAlarm2()));
//            vo.setAlarm3(String.valueOf(crnProtocol.getAlarm3()));
//            vo.setAlarm4(String.valueOf(crnProtocol.getAlarm4()));

            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setLiftPos(crnProtocol.getLiftPosType().desc);
            vo.setWalkPos(crnProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWarnCode(String.valueOf(crnProtocol.getAlarm()));
            if (crnProtocol.getAlarm() > 0) {
                BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                vo.setAlarm(crnError==null?"未知异常":crnError.getErrName());
            }
        }
        return R.ok().add(list);
    }
@@ -286,6 +249,8 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -303,6 +268,8 @@
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString());
        command.setTraySize(locSts);
        return crnControl(command)?R.ok():R.error();
    }

@@ -324,7 +291,11 @@
                .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ()));
        LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX())
                .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ()));
        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        if (sourceLoc.getLocType1() != loc.getLocType1()){
            return R.error("库位类型不一致");
        }
        command.setTraySize(loc.getLocType1() == 2);
//        VersionUtils.locMoveCheckLocType(sourceLoc, loc);
        return crnControl(command)?R.ok():R.error();
    }

@@ -335,7 +306,7 @@
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式
        command.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceStaNo());     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
@@ -414,6 +385,8 @@
        return crnControl(command)?R.ok():R.error();
    }



//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
@@ -432,8 +405,18 @@
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
        return R.ok("清除命令成功");
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "手动复位")
@@ -458,6 +441,7 @@
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
@@ -528,5 +512,17 @@
        }
    }

    private boolean isLocSts(String row,String bay,String lev){
        String loc = String.format("%2d",row)+String.format("%3d",bay)+String.format("%2d",lev);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc));
        if (Cools.isEmpty(locMast)){
            return false;
        }
        if (locMast.getLocType1() == 2){
            return true;
        }
        return false;
    }


}