src/main/java/com/zy/asrs/controller/CrnController.java
@@ -81,6 +81,7 @@ vo.setYdistance(crnProtocol.getYDistance()); // 升降距离(Km) vo.setXduration(crnProtocol.getXDuration()); // 走行时长(H) vo.setYduration(crnProtocol.getYDuration()); // 升降时长(H) vo.setTaskReceive(crnProtocol.getTaskReceive()); if (crnProtocol.getModeType().equals(CrnModeType.AUTO)) { vo.setDeviceStatus("AUTO"); src/main/java/com/zy/asrs/domain/vo/CrnStateTableVo.java
@@ -104,6 +104,8 @@ // 升降时长(H) private Double yduration = 0D; private Integer taskReceive; // 设备状态-用于前端显示 private String deviceStatus = "OFFLINE";
@@ -8,11 +8,7 @@ import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.SlaveType; import com.zy.core.thread.impl.ZySiemensCrnThread; import com.zy.core.thread.impl.ZySiemensDualCrnThread; import com.zy.core.thread.impl.ZyStationThread; import com.zy.core.thread.impl.ZyStationV3Thread; import com.zy.core.thread.impl.ZyRgvThread; import com.zy.core.thread.impl.*; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; @@ -95,6 +91,8 @@ ThreadHandler thread = null; if (deviceConfig.getThreadImpl().equals("ZySiemensCrnThread")) { thread = new ZySiemensCrnThread(deviceConfig, redisUtil); } else if (deviceConfig.getThreadImpl().equals("ZySiemensCrnV2Thread")) { thread = new ZySiemensCrnV2Thread(deviceConfig, redisUtil); } else { throw new CoolException("未知的线程实现"); } src/main/java/com/zy/core/enums/CrnStatusType.java
@@ -13,7 +13,7 @@ ORIGIN_GO(7, "回原点"), ORIGIN_BACK(8, "回反原点"), MOVING(9, "走行中"), WAITING(90, "任务完成等待WCS确认"), WAITING(10, "任务完成等待WCS确认"), PAUSE(11, "任务暂停"), SOS(99, "报警"), UNKNOW(100, "其他"), src/main/java/com/zy/core/enums/CrnTaskModeType.java
@@ -10,7 +10,7 @@ CRN_MOVE(4), // 堆垛机移动XYZ BACK_ORIGIN(8), // 回反原点 CLEAR(9), // 清错 RESET(5), // 復位 RESET(5), // 复位 ; public Integer id; src/main/java/com/zy/core/model/protocol/CrnProtocol.java
@@ -159,6 +159,11 @@ private String barcode; /** * 任务接收 */ public Integer taskReceive; /** * 日志采集时间 */ private Long deviceDataLog = System.currentTimeMillis(); src/main/java/com/zy/core/network/entity/ZyCrnStatusEntity.java
@@ -114,6 +114,11 @@ */ public Double yDuration; /** * 任务接收 */ public Integer taskReceive; private Integer temp1; private Integer temp2; src/main/java/com/zy/core/network/real/ZyCrnV2RealConnect.java
@@ -51,7 +51,7 @@ @Override public ZyCrnStatusEntity getStatus() { try { OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56); OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 62); if (result.IsSuccess) { ZyCrnStatusEntity crnStatus = new ZyCrnStatusEntity(); crnStatus.setCrnNo(deviceConfig.getDeviceNo()); @@ -74,6 +74,37 @@ crnStatus.setYDistance((double) siemensNet.getByteTransform().TransSingle(result.Content, 44)); crnStatus.setXDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 48)); crnStatus.setYDuration((double) siemensNet.getByteTransform().TransSingle(result.Content, 52)); crnStatus.setTaskReceive((int) siemensNet.getByteTransform().TransInt16(result.Content, 60)); if (crnStatus.getStatus() == 0 && crnStatus.getTaskReceive() == 0) { OperateResultExOne<byte[]> taskResult = siemensNet.Read("DB100.0", (short) 20); if (taskResult.IsSuccess) { short taskNo = siemensNet.getByteTransform().TransInt16(taskResult.Content, 2); short taskMode = siemensNet.getByteTransform().TransInt16(taskResult.Content, 4); short sourcePosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 6); short sourcePosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 8); short sourcePosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 10); short destinationPosX = siemensNet.getByteTransform().TransInt16(taskResult.Content, 12); short destinationPosY = siemensNet.getByteTransform().TransInt16(taskResult.Content, 14); short destinationPosZ = siemensNet.getByteTransform().TransInt16(taskResult.Content, 16); short confirm = siemensNet.getByteTransform().TransInt16(taskResult.Content, 18); if(taskNo != 0 || taskMode != 0 || sourcePosX != 0 || sourcePosY != 0 || sourcePosZ != 0 || destinationPosX != 0 || destinationPosY != 0 || destinationPosZ != 0 || confirm != 0) { short[] array = new short[10]; array[0] = (short) 0; array[1] = (short) 0; array[2] = (short) 0; array[3] = (short) 0; array[4] = (short) 0; array[5] = (short) 0; array[6] = (short) 0; array[7] = (short) 0; array[8] = (short) 0; array[9] = (short) 0; OperateResult taskClearResult = siemensNet.Write("DB100.0", array); } } } return crnStatus; } else { src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java
@@ -138,7 +138,7 @@ } // 条码扫描器 OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.0", (short) (barcodeOriginList.size() * 16)); OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.16", (short) (barcodeOriginList.size() * 16)); if (result2.IsSuccess) { for (int i = 0; i < barcodeOriginList.size(); i++) { ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1); @@ -152,7 +152,7 @@ } // 称重 OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.0", (short) (barcodeOriginList.size() * 4)); OperateResultExOne<byte[]> result3 = siemensNet.Read("DB102.4", (short) (barcodeOriginList.size() * 4)); if (result3.IsSuccess) { for (int i = 0; i < barcodeOriginList.size(); i++) { ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1); @@ -165,7 +165,7 @@ } // 报警信息 OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.0", (short) (barcodeOriginList.size() * 2)); OperateResultExOne<byte[]> result4 = siemensNet.Read("DB103.2", (short) (barcodeOriginList.size() * 2)); if (result4.IsSuccess) { for (int i = 0; i < barcodeOriginList.size(); i++) { ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1); src/main/java/com/zy/core/plugin/XiaosongProcess.java
New file @@ -0,0 +1,248 @@ package com.zy.core.plugin; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.zy.asrs.domain.param.CreateInTaskParam; import com.zy.asrs.entity.BasDevp; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasDevpService; import com.zy.asrs.service.WrkMastService; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.enums.StationCommandType; import com.zy.core.enums.WrkIoType; import com.zy.core.model.StationObjModel; import com.zy.core.model.Task; import com.zy.core.model.command.StationCommand; import com.zy.core.model.protocol.StationProtocol; import com.zy.core.plugin.api.MainProcessPluginApi; import com.zy.core.thread.StationThread; import com.zy.core.utils.CrnOperateProcessUtils; import com.zy.core.utils.StationOperateProcessUtils; import com.zy.core.utils.WmsOperateUtils; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.HashMap; import java.util.List; import java.util.Map; @Slf4j @Component public class XiaosongProcess implements MainProcessPluginApi { @Autowired private CrnOperateProcessUtils crnOperateUtils; @Autowired private StationOperateProcessUtils stationOperateProcessUtils; @Autowired private CommonService commonService; @Autowired private BasDevpService basDevpService; @Autowired private WrkMastService wrkMastService; @Autowired private RedisUtil redisUtil; @Autowired private WmsOperateUtils wmsOperateUtils; @Override public void run() { //检测入库站是否有任务生成，并启动入库 checkInStationHasTask(); //请求生成入库任务 generateStoreWrkFile(); //执行堆垛机任务 crnOperateUtils.crnIoExecute(); //堆垛机任务执行完成-具备仿真能力 crnOperateUtils.crnIoExecuteFinish(); //执行输送站点入库任务 stationOperateProcessUtils.stationInExecute(); //执行输送站点出库任务 stationOperateProcessUtils.stationOutExecute(); //检测输送站点出库任务执行完成 stationOperateProcessUtils.stationOutExecuteFinish(); } /** * 请求生成入库任务 * 入库站，根据条码扫描生成入库工作档 */ public synchronized void generateStoreWrkFile() { try { Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key); if (systemConfigMapObj == null) { return; } HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj; int conveyorStationTaskLimit = 30; String conveyorStationTaskLimitStr = systemConfigMap.get("conveyorStationTaskLimit"); if (conveyorStationTaskLimitStr != null) { conveyorStationTaskLimit = Integer.parseInt(conveyorStationTaskLimitStr); } int currentStationTaskCount = stationOperateProcessUtils.getCurrentStationTaskCount(); if (currentStationTaskCount > conveyorStationTaskLimit) { News.error("输送站点任务已达到上限，上限值：{}，站点任务数：{}", conveyorStationTaskLimit, currentStationTaskCount); return; } List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if (stationThread == null) { continue; } Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap(); List<StationObjModel> list = basDevp.getBarcodeStationList$(); for (StationObjModel entity : list) { Integer stationId = entity.getStationId(); if (!stationMap.containsKey(stationId)) { continue; } StationProtocol stationProtocol = stationMap.get(stationId); if (stationProtocol == null) { continue; } // 满足自动、有物、有工作号，生成入库数据 if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() > 0) { if (Cools.isEmpty(stationProtocol.getBarcode())) { continue; } // 检测任务是否生成 List<WrkMast> wrkMasts = wrkMastService .selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode())); if (!wrkMasts.isEmpty()) { continue; } Object lock = redisUtil.get(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId); if (lock != null) { continue; } String barcode = stationProtocol.getBarcode(); Integer stationIdVal = stationProtocol.getStationId(); // 1. 首先查询是否有已完成的异步响应 String response = wmsOperateUtils.queryAsyncInTaskResponse(barcode, stationIdVal); if (response != null) { // 2. 有响应结果，处理响应 if (response.equals("FAILED") || response.startsWith("ERROR:")) { // 请求失败，重新发起异步请求 News.error("WMS入库请求失败，重新发起请求，barcode={}，stationId={}，response={}", barcode, stationIdVal, response); wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal, stationProtocol.getPalletHeight()); redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2); continue; } // 解析响应 JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); CreateInTaskParam taskParam = new CreateInTaskParam(); taskParam.setTaskNo(dto.getTaskNo()); taskParam.setLocNo(dto.getLocNo()); taskParam.setTaskPri(dto.getTaskPri()); taskParam.setBarcode(barcode); WrkMast wrkMast = commonService.createInTask(taskParam); StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, wrkMast.getWrkNo(), stationId, stationId, 0); if (command == null) { News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败"); continue; } MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command)); } else { // 接口返回非200，重新发起请求 News.error("WMS入库接口返回非200，重新发起请求，barcode={}，stationId={}，response={}", barcode, stationIdVal, response); wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal, stationProtocol.getPalletHeight()); redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2); } } else { // 3. 没有响应结果，检查是否有请求正在进行中 if (!wmsOperateUtils.isAsyncRequestInProgress(barcode, stationIdVal)) { // 没有请求进行中，发起新的异步请求 News.info("发起异步WMS入库请求，barcode={}，stationId={}", barcode, stationIdVal); wmsOperateUtils.applyInTaskAsync(barcode, stationIdVal, stationProtocol.getPalletHeight()); redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2); } // 如果有请求进行中，等待下次循环再检查 } } } } } catch (Exception e) { e.printStackTrace(); } } //检测入库站是否有任务生成，并启动入库 private synchronized void checkInStationHasTask() { List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if(stationThread == null){ continue; } Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap(); List<StationObjModel> list = basDevp.getInStationList$(); for (StationObjModel entity : list) { Integer stationId = entity.getStationId(); if(!stationMap.containsKey(stationId)){ continue; } StationProtocol stationProtocol = stationMap.get(stationId); if (stationProtocol == null) { continue; } Object lock = redisUtil.get(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId); if(lock != null){ continue; } //满足自动、无物、工作号0，生成入库数据 if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() == 0 && stationProtocol.isEnableIn() ) { StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.ENABLE_IN.id), stationId, entity.getBarcodeStation().getStationId(), 0); MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command)); redisUtil.set(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 15); News.info("{}站点启动入库成功，数据包:{}", stationId, JSON.toJSONString(command)); } } } } } src/main/java/com/zy/core/thread/impl/ZySiemensCrnV2Thread.java
@@ -174,6 +174,7 @@ crnProtocol.setYDistance(crnStatus.getYDistance()); crnProtocol.setXDuration(crnStatus.getXDuration()); crnProtocol.setYDuration(crnStatus.getYDuration()); crnProtocol.setTaskReceive(crnStatus.getTaskReceive()); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo())); @@ -287,7 +288,7 @@ crnCommand.setCrnNo(crnNo); // 堆垛机编号 crnCommand.setTaskNo(0); // 工作号 crnCommand.setAckFinish(1); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 任务模式 crnCommand.setTaskMode(CrnTaskModeType.RESET.id); // 任务模式 crnCommand.setSourcePosX(0); // 源库位排 crnCommand.setSourcePosY(0); // 源库位列 crnCommand.setSourcePosZ(0); // 源库位层 src/main/webapp/components/WatchCrnCard.js
@@ -41,6 +41,7 @@ <el-descriptions-item label="源库位">{{ item.sourceLocNo }}</el-descriptions-item> <el-descriptions-item label="目标库位">{{ item.locNo }}</el-descriptions-item> <el-descriptions-item label="是否有物">{{ item.loading }}</el-descriptions-item> <el-descriptions-item label="任务接收">{{ item.taskReceive }}</el-descriptions-item> <el-descriptions-item label="列">{{ item.bay }}</el-descriptions-item> <el-descriptions-item label="层">{{ item.lev }}</el-descriptions-item> <el-descriptions-item label="货叉定位">{{ item.forkOffset }}</el-descriptions-item> @@ -51,7 +52,7 @@ <el-descriptions-item label="叉牙速度（m/min)">{{ item.zspeed }}</el-descriptions-item> <el-descriptions-item label="走行距离(Km)">{{ item.xdistance }}</el-descriptions-item> <el-descriptions-item label="升降距离(Km)">{{ item.ydistance }}</el-descriptions-item> <el-descriptions-item label="走行时长(H)">{{ item.xDuration }}</el-descriptions-item> <el-descriptions-item label="走行时长(H)">{{ item.xduration }}</el-descriptions-item> <el-descriptions-item label="升降时长(H)">{{ item.yduration }}</el-descriptions-item> <el-descriptions-item label="称重数据">{{ item.weight }}</el-descriptions-item> <el-descriptions-item label="条码数据">{{ item.barcode }}</el-descriptions-item>
