zy-asrs-flow/src/pages/device/shuttle/index.jsx
@@ -1,66 +1,18 @@ import React, { useEffect, useRef, useState } from "react"; import { getToken } from '@/utils/token-util' import { Badge, Descriptions } from 'antd'; import Http from '@/utils/http'; import { Badge, Button, Descriptions, Drawer, Input, Card, Select, message } from 'antd'; import { PageContainer, } from '@ant-design/pro-components'; let items = [ { key: '1', label: '任务号', children: '1', }, { key: '2', label: '工作状态', children: <Badge status="processing" text="Running" />, }, { key: '3', label: '设备状态', children: <Badge status="processing" text="Running" />, }, { key: '4', label: '坐标码', children: '1,2,3', }, { key: '5', label: '电量', children: '50%', }, { key: '6', label: '错误码', children: '0', }, { key: '7', label: '顶升状态', children: 'Y', }, { key: '8', label: '充电状态', children: 'Y', }, { key: '9', label: '作业标记', children: 'Y', }, { key: '10', label: '跑库开关', children: 'Y', }, ]; import './index.less' const Main = () => { const [deviceInfos, setDeviceInfos] = useState([]); const [ws, setWs] = useState(null); const [openOpera, setOpenOpera] = useState(false); const [currentData, setCurrentData] = useState(null); const [targetLoc, setTargetLoc] = useState(""); useEffect(() => { var newWs = new WebSocket("ws://127.0.0.1:9090/wcs/ws/shuttle/websocket"); @@ -74,7 +26,6 @@ }, []) useEffect(() => { if (ws) { ws.onopen = function () { console.log("open"); @@ -122,8 +73,48 @@ })) } return ( <PageContainer const showOpera = (data) => { setOpenOpera(true); console.log(data); setCurrentData(data); }; const closeOpera = () => { setOpenOpera(false); }; const targetLocChange = (e) => { setTargetLoc(e.target.value) } const shuttleOperator = async (type) => { if (type == 'moveLoc') { if (targetLoc == '') { message.warning('请输入目标位置'); return; } } try { const resp = await Http.doPost('api/basShuttle/operator/shuttle', { shuttleNo: currentData.shuttleNo, shuttleTaskMode: type, targetLocNo: targetLoc }); if (resp.code === 200) { message.success("请求成功"); return true; } else { message.warning(resp.msg); return false; } } catch (error) { message.warning("请求失败"); return false; } } let codeContent = (<PageContainer header={{ breadcrumb: {}, }} @@ -197,12 +188,69 @@ }, ]; return <div key={item.id} style={{ width: '45%' }}> <Descriptions size="small" title={tmpTitle} bordered items={tmpData} /> <div style={{ marginBottom: '10px' }}> <span style={{ marginRight: '10px' }}>{tmpTitle}</span> <Button type="primary" onClick={() => showOpera(item)}>操作</Button> </div> <Descriptions size="small" bordered items={tmpData} /> </div> })} </div> </PageContainer> </PageContainer>); if (currentData) { codeContent = ( <> {codeContent} <Drawer title="操作面板" onClose={closeOpera} open={openOpera}> <h2 style={{ marginBottom: '15px' }}>{currentData.shuttleNo}号四向车</h2> <div style={{ marginBottom: '15px' }}> <Card title="移动指令" style={{ width: 300 }}> <p> <Input addonBefore="目标位置" defaultValue="1-1-1" onChange={targetLocChange} /> </p> <p> <Button onClick={() => shuttleOperator('moveLoc')}>移动到目标位置</Button> </p> </Card> </div> <div style={{ marginBottom: '15px' }}> <Card title="相关指令" style={{ width: 300 }}> <div className="commandItem"> <Button onClick={() => shuttleOperator('palletLift')}>托盘顶升</Button> <Button onClick={() => shuttleOperator('palletDown')}>托盘下降</Button> <Button onClick={() => shuttleOperator('chargeOpen')}>充电开</Button> <Button onClick={() => shuttleOperator('chargeClose')}>充电关</Button> <Button onClick={() => shuttleOperator('reset')}>复位</Button> </div> </Card> </div> <div style={{ marginBottom: '15px' }}> <Card title="跑库系统" style={{ width: 300 }}> <div className="commandItem"> <div><Input addonBefore="X起点" defaultValue="1" /></div> <div><Input addonBefore="X终点" defaultValue="1" /></div> <div><Input addonBefore="Y起点" defaultValue="1" /></div> <div><Input addonBefore="Y终点" defaultValue="1" /></div> <div> <Select defaultValue="0" style={{ width: 120 }} options={[{ value: '0', label: '跑轨道' }, { value: '1', label: '跑库位' }, { value: '2', label: '母轨道循环跑' }, { value: '3', label: '子轨道循环跑' }]} /> </div> <Button>跑库</Button> </div> </Card> </div> </Drawer> </> ) } return (codeContent); } export default Main; zy-asrs-flow/src/pages/device/shuttle/index.less
New file @@ -0,0 +1,15 @@ .commandItem { display: flex; justify-content: space-between; flex-wrap: wrap; } .commandItem > Button { width: 120px; margin-bottom: 10px; } .commandItem > div { width: 120px; margin-bottom: 10px; } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
@@ -2,25 +2,36 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.plugins.pagination.Page; import com.zy.asrs.framework.common.BaseRes; import com.zy.asrs.framework.common.Cools; import com.zy.asrs.framework.common.R; import com.zy.asrs.framework.common.SnowflakeIdWorker; import com.zy.asrs.wcs.common.annotation.OperationLog; import com.zy.asrs.wcs.common.domain.BaseParam; import com.zy.asrs.wcs.common.domain.KeyValVo; import com.zy.asrs.wcs.common.domain.PageParam; import com.zy.asrs.wcs.core.domain.param.ShuttleOperatorParam; import com.zy.asrs.wcs.core.entity.BasShuttle; import com.zy.asrs.wcs.core.entity.Motion; import com.zy.asrs.wcs.core.entity.Task; import com.zy.asrs.wcs.core.entity.TaskCtg; import com.zy.asrs.wcs.core.kernel.AnalyzeService; import com.zy.asrs.wcs.core.model.enums.TaskStsType; import com.zy.asrs.wcs.core.service.BasShuttleService; import com.zy.asrs.wcs.core.service.MotionService; import com.zy.asrs.wcs.core.service.TaskCtgService; import com.zy.asrs.wcs.core.service.TaskService; import com.zy.asrs.wcs.core.utils.Utils; import com.zy.asrs.wcs.rcs.News; import com.zy.asrs.wcs.system.controller.BaseController; import com.zy.asrs.wcs.utils.ExcelUtil; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.security.access.prepost.PreAuthorize; import org.springframework.transaction.annotation.Transactional; import org.springframework.web.bind.annotation.*; import javax.servlet.http.HttpServletResponse; import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.Map; import java.util.*; @RestController @RequestMapping("/api") @@ -28,6 +39,16 @@ @Autowired private BasShuttleService basShuttleService; @Autowired private TaskCtgService taskCtgService; @Autowired private SnowflakeIdWorker snowflakeIdWorker; @Autowired private TaskService taskService; @Autowired private AnalyzeService analyzeService; @Autowired private MotionService motionService; @PreAuthorize("hasAuthority('core:basShuttle:list')") @PostMapping("/basShuttle/page") @@ -99,4 +120,65 @@ ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response); } @PreAuthorize("hasAuthority('core:basShuttle:operator')") @PostMapping("/basShuttle/operator/shuttle") @Transactional public R shuttleOperator(@RequestBody ShuttleOperatorParam param) { if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) { return R.error("参数为空"); } Integer shuttleNo = param.getShuttleNo(); //获取迁移任务类型 TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>() .eq(TaskCtg::getFlag, "MANUAL") .eq(TaskCtg::getStatus, 1)); if (taskCtg == null) { return R.error(); } String targetLoc = null;//任务目标(借用字段) String targetSite = param.getShuttleTaskMode();//任务类型(借用字段) if (param.getShuttleTaskMode().equals("moveLoc")) { //迁移任务 targetLoc = param.getTargetLocNo(); } Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL"))); task.setTaskSts(TaskStsType.NEW_MANUAL.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); task.setOriginLoc(null); task.setDestSite(targetSite); task.setDestLoc(targetLoc); task.setIoTime(new Date()); task.setStartTime(new Date()); task.setStatus(1); task.setMemo("manual"); task.setShuttleNo(param.getShuttleNo()); boolean result = taskService.save(task); if (!result) { return R.error(); } // generate motion list List<Motion> motionList = analyzeService.generateShuttleManualMotion(task); if (Cools.isEmpty(motionList)) { News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo); return R.error(); } motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo())); task.setTaskSts(TaskStsType.ANALYZE_MANUAL.getId()); if (!taskService.updateById(task)) { News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo); return R.error(); } return R.ok(); } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/ShuttleOperatorParam.java
New file @@ -0,0 +1,17 @@ package com.zy.asrs.wcs.core.domain.param; import lombok.Data; @Data public class ShuttleOperatorParam { // 四向穿梭车号 private Integer shuttleNo; // 命令类型 private String shuttleTaskMode; // 目标库位 private String targetLocNo; } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -4,6 +4,7 @@ import com.zy.asrs.framework.common.Cools; import com.zy.asrs.wcs.core.domain.dto.MotionDto; import com.zy.asrs.wcs.core.entity.Task; import com.zy.asrs.wcs.core.model.enums.DeviceCtgType; import com.zy.asrs.wcs.core.model.enums.MotionCtgType; import com.zy.asrs.wcs.core.model.enums.TaskStsType; import com.zy.asrs.wcs.core.model.enums.WorkZoneType; @@ -982,6 +983,98 @@ return motionList; } /** * 生成小车手动动作 */ public List<Motion> generateShuttleManualMotion(Task task) { List<Motion> motionList = new ArrayList<>(); if (task.getTaskSts() != TaskStsType.NEW_MOVE.getId()) { return motionList; } String targetLoc = task.getDestLoc();//任务目标(借用字段) String targetSite = task.getDestSite();//任务类型(借用字段) //获取穿梭车类型 DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>() .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle)) .eq(DeviceType::getStatus, 1)); if (deviceType == null) { return motionList; } Device device = deviceService.getOne(new LambdaQueryWrapper<Device>() .eq(Device::getDeviceNo, task.getShuttleNo()) .eq(Device::getDeviceType, deviceType.getId()) .eq(Device::getHostId, task.getHostId()) .eq(Device::getStatus, 1)); if (device == null) { return motionList; } ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue()); if (shuttleThread == null) { return motionList; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { return motionList; } if (targetSite.equals("moveLoc")) {//移动 String shuttleLocNo = shuttleProtocol.getCurrentLocNo(); // 判断穿梭车是否在目标层 if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) { // 穿梭车走行至目标库位 motionList.addAll(kernelService.shuttleMove( MotionDto.build((dto -> { dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue()); dto.setLocNo(shuttleLocNo); })), MotionDto.build((dto -> { dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue()); dto.setLocNo(targetLoc); })), MotionCtgType.SHUTTLE_MOVE )); } } else if (targetSite.equals("palletLift")) { //托盘顶升 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val()); })); } else if (targetSite.equals("palletDown")) { //托盘下降 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val()); })); } else if (targetSite.equals("chargeOpen")) { //充电开 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val()); })); } else if (targetSite.equals("chargeClose")) { //充电关 motionList.add(Motion.build(motion -> { motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val()); motion.setDevice(String.valueOf(task.getShuttleNo())); motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val()); })); } else if (targetSite.equals("reset")) { //复位 } return motionList; } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -203,164 +203,24 @@ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; break; // case SHUTTLE_MOVE_FROM_CONVEYOR: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; // break; // case SHUTTLE_MOVE_TO_CONVEYOR: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; // break; // case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://穿梭车出提升机去输送线 // // 判断提升机状态 // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 // if (!liftProtocol.getMode() // || liftProtocol.getRunning() // || !liftProtocol.getReady() // || liftProtocol.getForwardRotationFeedback() // || liftProtocol.getReverseFeedback() // || liftProtocol.getNotReady().intValue() != 0 // ) { // return false; // } // // if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 // return false; // } // // //判断提升机是否被锁定 // if (!liftProtocol.getLiftLock()) { // //锁定提升机 // LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令 // lockCommand.setLiftNo(liftProtocol.getLiftNo()); // lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号 // liftThread.assignWork(lockCommand); // return false;//等待下一次轮询 // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; // break; // case SHUTTLE_TRANSPORT: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // // shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); // shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_TRANSPORT_FROM_LIFT://穿梭车载货出提升机 // // 判断提升机状态 // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 // if (!liftProtocol.getMode() // || liftProtocol.getRunning() // || !liftProtocol.getReady() // || liftProtocol.getForwardRotationFeedback() // || liftProtocol.getReverseFeedback() // || liftProtocol.getNotReady().intValue() != 0 // ) { // return false; // } // // if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 // return false; // } // // //判断提升机是否被锁定 // if (!liftProtocol.getLiftLock()) { // //锁定提升机 // LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令 // lockCommand.setLiftNo(liftProtocol.getLiftNo()); // lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号 // liftThread.assignWork(lockCommand); // return false;//等待下一次轮询 // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); //// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_TRANSPORT_TO_LIFT://穿梭车载货进提升机 // // 判断提升机状态 // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 // if (!liftProtocol.getMode() // || liftProtocol.getRunning() // || !liftProtocol.getReady() // || liftProtocol.getForwardRotationFeedback() // || liftProtocol.getReverseFeedback() // || liftProtocol.getNotReady().intValue() != 0 // ) { // return false; // } // // if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 // return false; // } // // //判断提升机是否被锁定 // if (!liftProtocol.getLiftLock()) { // //锁定提升机 // LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令 // lockCommand.setLiftNo(liftProtocol.getLiftNo()); // lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号 // liftThread.assignWork(lockCommand); // return false;//等待下一次轮询 // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; //// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); // shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_TRANSPORT_FROM_CONVEYOR: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // // shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); // shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_TRANSPORT_TO_CONVEYOR: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // // shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); // shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_CHARGE_ON: // shuttleTaskModeType = ShuttleTaskModeType.CHARGE; // shuttleCommands.add(shuttleThread.getChargeSwitchCommand((short) 1)); // assignCommand.setCharge(Boolean.TRUE); // break; case SHUTTLE_CHARGE_ON://充电开 shuttleTaskModeType = ShuttleTaskModeType.CHARGE; shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true)); assignCommand.setCharge(Boolean.TRUE); break; case SHUTTLE_CHARGE_OFF://充电关 shuttleTaskModeType = ShuttleTaskModeType.CHARGE; shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false)); assignCommand.setCharge(Boolean.TRUE); break; case SHUTTLE_PALLET_LIFT://托盘顶升 shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT; shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true)); break; case SHUTTLE_PALLET_DOWN://托盘下降 shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN; shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false)); break; default: throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！"); } @@ -417,8 +277,8 @@ return false; } // SiemensLiftThread liftThread = null; // LiftProtocol liftProtocol = null; LiftThread liftThread = null; LiftProtocol liftProtocol = null; switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){ case SHUTTLE_MOVE: @@ -430,21 +290,21 @@ return false; } break; // case SHUTTLE_MOVE_TO_LIFT: // case SHUTTLE_MOVE_FROM_LIFT: // case SHUTTLE_TRANSPORT_FROM_LIFT: // case SHUTTLE_TRANSPORT_TO_LIFT: // case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR: // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) { // return false; // } // case SHUTTLE_MOVE_TO_LIFT: case SHUTTLE_MOVE_FROM_LIFT: case SHUTTLE_TRANSPORT_FROM_LIFT: case SHUTTLE_TRANSPORT_TO_LIFT: case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR: liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); if (liftThread == null) { return false; } liftProtocol = liftThread.getStatus(); if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) { return false; } // //判断提升机是否被锁定 // if (liftProtocol.getLiftLock()) { // //解锁提升机 @@ -454,18 +314,18 @@ // liftThread.assignWork(lockCommand); // return false; // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // if (liftProtocol.getTaskNo().intValue() != 0) { //判断提升机工作号是否和当前任务相同 if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { return false; } // if (liftProtocol.getTaskNo() != 0) { // //清空提升机号 // liftThread.setTaskNo(0); // } // // break; break; default: break; } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java
@@ -18,6 +18,10 @@ List<Task> selectByExecuteSts(); List<Task> selectManualByAnalyzeSts(); List<Task> selectManualByExecuteSts(); List<Task> selectWaitAnalyzeInBoundTask(); List<Task> selectPakOut(); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java
@@ -51,6 +51,9 @@ SHUTTLE_CHARGE_ON(SHUTTLE), SHUTTLE_CHARGE_OFF(SHUTTLE), SHUTTLE_PALLET_LIFT(SHUTTLE),//托盘顶升 SHUTTLE_PALLET_DOWN(SHUTTLE),//托盘下降 // AGV ---------------------------------------------- AGV_TRANSPORT(AGV),
@@ -1,6 +1,10 @@ package com.zy.asrs.wcs.core.model.enums; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.asrs.framework.common.SpringUtils; import com.zy.asrs.framework.exception.CoolException; import com.zy.asrs.wcs.core.entity.TaskSts; import com.zy.asrs.wcs.core.service.TaskStsService; public enum TaskStsType { @@ -51,4 +55,24 @@ throw new CoolException("TaskStsType Error!!!"); } public static TaskStsType queryById(Long id) { TaskStsService taskStsService = SpringUtils.getBean(TaskStsService.class); TaskSts taskSts = taskStsService.getById(id); if (taskSts == null) { throw new CoolException("TaskStsType Error!!!"); } return query(Long.valueOf(taskSts.getUuid())); } public Long getId() { TaskStsService taskStsService = SpringUtils.getBean(TaskStsService.class); TaskSts taskSts = taskStsService.getOne(new LambdaQueryWrapper<TaskSts>() .eq(TaskSts::getUuid, sts) .eq(TaskSts::getStatus, 1)); if (taskSts == null) { throw new CoolException("TaskStsType Error!!!"); } return taskSts.getId(); } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java
@@ -16,6 +16,10 @@ List<Task> selectByExecuteSts(); List<Task> selectManualByAnalyzeSts(); List<Task> selectManualByExecuteSts(); List<Task> selectWaitAnalyzeInBoundTask(); List<Task> selectPakOut(); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -268,7 +268,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE"))); task.setTaskSts(TaskStsType.NEW_CHARGE.sts); task.setTaskSts(TaskStsType.NEW_CHARGE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); @@ -365,7 +365,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE"))); task.setTaskSts(TaskStsType.NEW_MOVE.sts); task.setTaskSts(TaskStsType.NEW_MOVE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java
@@ -66,6 +66,16 @@ } @Override public List<Task> selectManualByAnalyzeSts() { return this.baseMapper.selectManualByAnalyzeSts(); } @Override public List<Task> selectManualByExecuteSts() { return this.baseMapper.selectManualByExecuteSts(); } @Override public List<Task> selectWaitAnalyzeInBoundTask() { return this.baseMapper.selectWaitAnalyzeInBoundTask(); } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
@@ -45,7 +45,7 @@ private ShuttleCommandService shuttleCommandService; // @Scheduled(cron = "0/1 * * * * ? ") public synchronized void executeWrkMast() { public synchronized void executeTask() { Date now = new Date(); // ANALYZE_INBOUND for (Task task : taskService.selectByAnalyzeSts()) { @@ -61,13 +61,13 @@ continue; } // 更新wrkMast switch (TaskStsType.query(task.getTaskSts())) { // 更新Task switch (TaskStsType.queryById(task.getTaskSts())) { case ANALYZE_INBOUND: task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts); task.setTaskSts(TaskStsType.EXECUTE_INBOUND.getId()); break; case ANALYZE_OUTBOUND: task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts); task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.getId()); break; } task.setUpdateTime(now); @@ -90,13 +90,13 @@ continue; } // 更新wrkMast switch (TaskStsType.query(task.getTaskSts())) { // 更新Task switch (TaskStsType.queryById(task.getTaskSts())) { case EXECUTE_INBOUND: task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts); task.setTaskSts(TaskStsType.COMPLETE_INBOUND.getId()); break; case EXECUTE_OUTBOUND: task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts); task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.getId()); break; } task.setUpdateTime(now); @@ -171,6 +171,63 @@ // } // } // @Scheduled(cron = "0/1 * * * * ? ") public synchronized void executeManualTask() { Date now = new Date(); // ANALYZE_MANUAL for (Task task : taskService.selectByAnalyzeSts()) { Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()); if (executingMotion != null) {//存在正在执行的motion continue; } Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId()); if (null != motion) { boolean result = this.executeMotion(motion); if (!result) { continue; } // 更新Task switch (TaskStsType.queryById(task.getTaskSts())) { case ANALYZE_MANUAL: task.setTaskSts(TaskStsType.EXECUTE_MANUAL.getId()); break; } task.setUpdateTime(now); if (!taskService.updateById(task)) { log.error("{}其他工作档更新状态失败！", task.getTaskNo()); } } } // EXECUTE_MANUAL for (Task task : taskService.selectManualByExecuteSts()) { if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) { Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId()); if (null != motion) { boolean result = this.executeMotion(motion); if (!result) { continue; } } else { if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) { continue; } // 更新Task switch (TaskStsType.queryById(task.getTaskSts())) { case EXECUTE_MANUAL: task.setTaskSts(TaskStsType.COMPLETE_MANUAL.getId()); break; } task.setUpdateTime(now); if (!taskService.updateById(task)) { log.error("{}他工作档更新状态失败！", task.getTaskNo()); } } } } } @Scheduled(cron = "0/1 * * * * ? ") public void scanMotionByExecuting() { List<Motion> motionList = motionService.selectBySts(MotionStsType.EXECUTING.val()); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -177,7 +177,7 @@ Task task = new Task(); task.setUuid(String.valueOf(snowflakeIdWorker.nextId())); task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE"))); task.setTaskSts(TaskStsType.NEW_MOVE.sts); task.setTaskSts(TaskStsType.NEW_MOVE.getId()); task.setTaskCtg(taskCtg.getId()); task.setPriority(10); task.setOriginSite(null); zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml
@@ -13,14 +13,28 @@ <select id="selectByAnalyzeSts" resultType="com.zy.asrs.wcs.core.entity.Task"> select * from wcs_task where 1=1 and task_sts in (2, 102, 202, 302) and task_sts in (2, 102) order by priority desc,start_time,task_no asc </select> <select id="selectByExecuteSts" resultType="com.zy.asrs.wcs.core.entity.Task"> select * from wcs_task where 1=1 and task_sts in (3, 103, 203, 303) and task_sts in (3, 103) order by priority desc,start_time,task_no asc </select> <select id="selectManualByAnalyzeSts" resultType="com.zy.asrs.wcs.core.entity.Task"> select * from wcs_task where 1=1 and task_sts in (402) order by priority desc,start_time,task_no asc </select> <select id="selectManualByExecuteSts" resultType="com.zy.asrs.wcs.core.entity.Task"> select * from wcs_task where 1=1 and task_sts in (403) order by priority desc,start_time,task_no asc </select>
