提升机配置文件

Junjie

2023-04-04 7b0ede04d77803011d09d28364820b9fe5d60359

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

@@ -30,7 +30,6 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Random;

/**
 * 四向穿梭车接口
@@ -67,17 +66,28 @@
                continue;
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
                vo.setStatus(shuttleProtocol.getBusyStatusType().desc); //  状态
            }
            vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
            vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //四向穿梭车状态
            vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//当前任务状态
            vo.setCurrentCode(shuttleProtocol.getCurrentCode());//当前二维码
            vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//电池电量
            vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "°");//电池温度
            if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
                vo.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode()));
                vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//错误编号
            }
            vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode()));
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//错误信息码
            }
            vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态
            vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//当前的升降伺服负载率
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//当前的行走伺服负载率
        }
        return R.ok().add(list);
    }
@@ -102,18 +112,25 @@
                continue;
            }

            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号
            if (shuttleProtocol.getTaskNo() > 0) {
                WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
                if (wrkMast != null) {
                    //vo.setStatus(CrnStatusType.process(wrkMast.getIoType()).getDesc());   //  模式状态
                    vo.setSourceStaNo(wrkMast.getSourceStaNo$());    //  源站
                    vo.setStaNo(wrkMast.getStaNo$());   //  目标站
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());    //  源库位
                    vo.setLocNo(wrkMast.getLocNo());    //  目标库位
                    vo.setSourceLocNo(wrkMast.getSourceLocNo());//源库位
                    vo.setDistLocNo(wrkMast.getLocNo());//目标库位
                }
            }
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());  // 速度
            if (shuttleProtocol.getProtocolStatusType() != null) {
                vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态
            }
            vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量
            vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量
            vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值
            vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值
            vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度
            vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() == null ? "" : shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率
            vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
        }
        return R.ok().add(list);
@@ -146,9 +163,6 @@
                vo.setShuttleNo(shuttleSlave.getId());
                BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
                if (!Cools.isEmpty(basShuttle)) {
                    vo.setRow(basShuttle.getRow());
                    vo.setBay(basShuttle.getBay());
                    vo.setLev(basShuttle.getLev());
                    vo.setWorkNo(basShuttle.getWrkNo());
                    vo.setPakMk(basShuttle.getPakMk());
                }
@@ -177,23 +191,6 @@
                // 穿梭车异常 -----------

                // 穿梭车提示信息 ----------------------

                // 任务信息 ----------------
                vo.setPakInTask(shuttleProtocol.isPakInTask());
                vo.setPakOutTask(shuttleProtocol.isPakOutTask());
                vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
                vo.setGoHpTask(shuttleProtocol.isGoHpTask());
                vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
                vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
                vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
                vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
                vo.setPakInFinish(shuttleProtocol.isPakInFinish());
                vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
                vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
                vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
                vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
                vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
                vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());

                // 状态信息 -------------

@@ -227,9 +224,6 @@
        } else {
            throw new CoolException("命令下发失败");
        }
        basShuttle.setRow(vo.getRow());
        basShuttle.setBay(vo.getBay());
        basShuttle.setLev(vo.getLev());

        basShuttle.setPakMk(vo.getPakMk());
        basShuttle.setWrkNo(vo.getWorkNo());
@@ -251,6 +245,16 @@
            return R.parse(BaseRes.PARAM);
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2) {
            if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
                return R.parse(BaseRes.PARAM);
            }
            assignCommand.setSourceLocNo(param.getSourceLocNo());
            assignCommand.setLocNo(param.getDistLocNo());
        }

        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
@@ -263,14 +267,12 @@
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                ShuttleAssignCommand command = new ShuttleAssignCommand();
                command.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                command.setTaskMode(shuttleTaskModeType.id.shortValue());
                command.setSourceLocNo(param.getSourceLocNo());
                command.setDistLocNo(param.getDistLocNo());
                command.setTaskNo((short) 9999);
                assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 四向穿梭车编号
                assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
                assignCommand.setTaskNo((short) 9999);
                assignCommand.setAuto(false);//手动模式

                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");