穿梭车、提升机、主控界面优化

Junjie

2023-04-14 f27968397dd2d37add528bf7937ebd6905762a09

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

@@ -9,9 +9,13 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -30,7 +34,6 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Random;

/**
 * 四向穿梭车接口
@@ -46,6 +49,8 @@
    private BasShuttleService basShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
@@ -70,20 +75,45 @@
            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
            LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
            if (currentLocMast == null) {
                vo.setLocNo("");//获取当前库位号
                vo.setLocNoX(0);
                vo.setLocNoY(0);
                vo.setLocNoLev(0);//当前库位层高
            }else {
                vo.setLocNo(currentLocMast.getLocNo());//获取当前库位号
                int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//获取库位号XY坐标
                vo.setLocNoX(locNoXY[0]);
                vo.setLocNoY(locNoXY[1]);
                vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//当前库位层高
            }
            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.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//错误编号
                vo.setErrorCode(shuttleProtocol.getErrorCodeType());//错误编号
            }
            vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
                vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
                vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
                vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
            }
            if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
                vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
            }
            if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
                vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//错误信息码
                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.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//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
@@ -133,6 +163,10 @@
            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
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
            vo.setRunSpeed(basShuttle.getRunSpeed());//四向穿梭车运行速度(设置)
            vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
        }
        return R.ok().add(list);
    }
@@ -164,9 +198,6 @@
                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());
                }
@@ -195,23 +226,6 @@
                // 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 -------------

@@ -245,15 +259,28 @@
        } 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());
        basShuttle.setUpdateTime(new Date());
        if (!basShuttleService.updateById(basShuttle)) {
            throw new CoolException("修改失败");
        }
        return R.ok();
    }

    @PostMapping("/runSpeed/{shuttleNo}")
    @ManagerAuth
    public R setRunSpeed(@PathVariable("shuttleNo") String shuttleNo, @RequestParam("runSpeed") Integer runSpeed, @RequestParam("chargeLine") Integer chargeLine) {

        BasShuttle basShuttle = basShuttleService.selectById(shuttleNo);
        if (basShuttle == null) {
            return R.error("四向穿梭车不存在");
        }
        basShuttle.setRunSpeed(runSpeed);
        basShuttle.setChargeLine(chargeLine);
        if (!basShuttleService.updateById(basShuttle)) {
            return R.error();
        }
        return R.ok();
    }
@@ -269,8 +296,14 @@
            return R.parse(BaseRes.PARAM);
        }

        if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
            return R.parse(BaseRes.PARAM);
        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();

        if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
            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()) {
@@ -285,14 +318,12 @@
                }

                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");