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

@@ -6,31 +6,27 @@
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.param.SteModeParam;
import com.zy.asrs.domain.param.SteOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasSte;
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;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.properties.SystemProperties;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -53,6 +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")
@@ -70,24 +68,57 @@
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                continue;
            }
            vo.setTaskNo(shuttleProtocol.getTaskNo().intValue());  //  任务号
            if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) {
                vo.setStatus(shuttleProtocol.getBusyStatusType().desc); //  状态
            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.setRow(shuttleProtocol.getRow());
            vo.setBay(shuttleProtocol.getBay());
            vo.setLev(shuttleProtocol.getLev());
            vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%");
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());
            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());//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.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() * 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
            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);
    }
@@ -112,21 +143,38 @@
                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
            vo.setPakMk(shuttleProtocol.getPakMk());    // 作业标记
            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
            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);
    }

    @PostMapping("/latest/data/shuttle")
    @ManagerAuth(memo = "四向穿梭车实时数据")
    public R shuttleLatestData(){
        return R.ok();
    }

    @PostMapping("/output/shuttle")
@@ -150,9 +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());
                }
@@ -182,23 +227,6 @@

                // 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 -------------

                break;
@@ -226,20 +254,33 @@
//            }
//        }
        ShuttleCommand shuttleCommand = new ShuttleCommand();
        shuttleCommand.setTaskNo(vo.getWorkNo());
        shuttleCommand.setTaskNo(vo.getWorkNo().shortValue());
        if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) {
        } 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();
    }
@@ -255,6 +296,16 @@
            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()) {
            if (param.getShuttleNo().equals(shuttleSlave.getId())) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
@@ -265,23 +316,14 @@
                if (shuttleProtocol == null) {
                    throw new CoolException("四向穿梭车不在线");
                }

                ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
                ShuttleCommand shuttleCommand = new ShuttleCommand();
                shuttleCommand.setShuttleNo(shuttleSlave.getId()); // 四向穿梭车编号
//                if (param.getShuttleTaskMode() == 16) {
//                    steCommand.setComplete(true);
//                } else if (param.getSteTaskMode() == 99) {
//                    steCommand.setControlMode((short) 1);
//                } else if (param.getSteTaskMode() == 100) {
//                    steCommand.setControlMode((short) 0);
//                } else {
//                    if (steTaskModeType == null) {
//                        throw new CoolException("任务类型错误");
//                    }
//                    steCommand.setTaskNo(param.getTaskNo()); // 工作号
//                    steCommand.setTaskMode(steTaskModeType);
//                }
                if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(2, shuttleCommand))) {
                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, assignCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");