四向穿梭车地图显示优化，车辆增加实时移动

Junjie

2023-04-06 07fda5932802ec084cde49bd74dd0788306fca16

四向穿梭车地图显示优化，车辆增加实时移动

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

@@ -9,9 +9,14 @@
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.common.utils.NavigateUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -45,6 +50,8 @@
    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")
@@ -69,6 +76,12 @@
            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());
            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())) {

 src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java

@@ -33,6 +33,26 @@
    private Short currentCode;

    /**
     * 当前库位号
     */
    private String locNo;

    /**
     * 库位号-X
     */
    private int locNoX;

    /**
     * 库位号-Y
     */
    private int locNoY;

    /**
     * 当前库位层高
     */
    private int locNoLev;

    /**
     * 电池电量
     */
    public String batteryPower = "-";

 src/main/webapp/views/console.html

@@ -20,13 +20,14 @@
            <button class="floorBtn  btn-16" onclick="changFloor(1)" style="margin-top: 150px">1F</button>
            <button class="floorBtn  btn-16" onclick="changFloor(2)" style="margin-top: 200px">2F</button>
            <button class="floorBtn  btn-16" onclick="changFloor(3)" style="margin-top: 250px">3F</button>
            <button class="floorBtn  btn-16" onclick="testMove()" style="margin-top: 250px">测试移动小车</button>
            <button class="floorBtn  btn-16" onclick="changFloor(4)" style="margin-top: 300px">4F</button>
            <button class="floorBtn  btn-16" onclick="testMove()" style="margin-top: 350px">测试移动车</button>

        <!-- 货架 + 堆垛机 + 入库站点 -->
        <div class="main-part">
            <!-- 第一组 -->
            <div class="lane" id="mapDataId" style="margin-bottom: 280px">
                <div class="sxcar" id="sxcar-1"></div>

            </div>
        </div>
    </main>
@@ -340,6 +341,7 @@
    var tData2 = []
    var tData3 = []
    var mapData = [] //地图数据
    var currentLev = 1;//当前地图楼层
    function getCodeData(){
        $.ajax({
            url:baseUrl +'/console/barcode/output/site',
@@ -395,8 +397,32 @@


    $(function (){
        initMap()
        initMap(1)
    })

    setInterval(() => {
        getShuttleStateInfo()
    },1000)

    // 四向穿梭车信息表获取
    function getShuttleStateInfo() {
        $.ajax({
            url: baseUrl+ "/shuttle/table/shuttle/state",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                res.data.forEach((item,index) => {
                    if(item.locNoLev != currentLev){
                        //四向穿梭车楼层和当前地图楼层不一致，删除该车辆
                        $("#sxcar-" + item.shuttleNo).remove()
                    }else {
                        //移动四向穿梭车
                        moveCar(item.shuttleNo,item.locNoX,item.locNoY)
                    }
                })
            }
        });
    }

    //计算四向穿梭车图标位置
    function getCarPosition(x,y) {
@@ -415,10 +441,10 @@
    }

    //初始化地图
    function initMap() {
    function initMap(lev) {
        //母轨道第一次索引，用于定位小车
        let firstMotherIndex = [0,0];

        $("#mapDataId").empty()
        $.ajax({
            type:"get",
            url: baseUrl + "/static/js/map.json",
@@ -447,8 +473,18 @@
                                        break;
                                    case 4:
                                        //站点
                                        let data = colData.data
                                        col = '<div id="site-' + data + '" class="site">' + data + '(9991)</div>';
                                        if (lev == 1) {
                                            let data = colData.data;
                                            col = '<div id="site-' + data + '" class="site">' + data + '(9991)</div>';
                                        }else {
                                            //其他楼层只有提升机能显示
                                            let data = colData.data;
                                            if (data == 109) {//其他楼层只有提升机能显示
                                                col = '<div id="site-' + data + '" class="site">' + data + '(9991)</div>';
                                            }else {
                                                col = '<div style="visibility: hidden" id="site-' + data + '" class="site">' + data + '(9991)</div>';
                                            }
                                        }
                                        break;
                                    default:
                                        col = '<button class="item">' + idx + '</button>';
@@ -466,10 +502,23 @@
                    }
                })

                moveCar(1, firstMotherIndex[0], firstMotherIndex[1]);
                $("#mapDataId").append(content)
            }
        })

        $.ajax({
            url: baseUrl+ "/shuttle/table/shuttle/state",
            headers: {'token': localStorage.getItem('token')},
            method: 'POST',
            success: function (res) {
                res.data.forEach((item,index) => {
                    if(lev == item.locNoLev){
                        let carBox = '<div class="sxcar" id="sxcar-' + item.shuttleNo + '"></div>'
                        $("#mapDataId").append(carBox)
                    }
                })
            }
        });
    }

    //将地图数据转换成int二维数组(后续用于请求计算路径时携带地图数据参数使用)
@@ -933,74 +982,6 @@
        }
    }

    // 页面点击事件监听 ---------------------------------------------------------

    // 输送设备点击事件
    // $('.site').on('click', function () {
    //     var id = this.id.split("-")[1];
    //     if (id === undefined) {
    //         return;
    //     }
    //     layer.open({
    //         title: id + " 站点信息详情",
    //         closeBtn: 0,
    //         skin: 'layui-layer-lan',
    //         offset: '180px',
    //         type: 1,
    //         shadeClose: true,
    //         content: $('#siteWindow'),
    //         area: ['35rem', '18rem'],
    //         btn: ['确定', '关闭'],
    //         success: function(layero, index){
    //             http.post(baseUrl+"/console/site/detail", {siteId: id}, function (res) {
    //                 for (var val in res.data) {
    //                     var find = $("#siteWindow").find(":input[name='" + val + "']");
    //                     if (find[0].type==='text') {
    //                         find.val(res.data[val]);
    //                     } else if (find[0].type === 'checkbox') {
    //                         find.attr("checked", res.data[val] === 'Y');
    //                     }
    //                 }
    //             })
    //         },
    //         end: function () {
    //             $(':input', $("#siteWindow")).val('').removeAttr('checked').removeAttr('selected');
    //         }
    //     });
    // });

    // 堆垛机点击事件
    // $('.machine').on('click', function () {
    //     var id = this.id.split("-")[1];
    //     layer.open({
    //         title: id+"号堆垛机",
    //         skin: 'layui-layer-lan',
    //         closeBtn: 0,
    //         type: 1,
    //         offset: '150px',
    //         shadeClose: true,
    //         content: $("#crnWindow"),
    //         area: ['40rem', '20rem'],
    //         btn: ['确定', '关闭'],
    //         success: function(layero, index){
    //             http.post(baseUrl+"/console/crn/detail", {crnNo: id}, function (res) {
    //                 for (var val in res.data) {
    //                     var find = $("#crnWindow").find(":input[name='" + val + "']");
    //                     if (find[0].type==='text') {
    //                         find.val(res.data[val]);
    //                     } else if (find[0].type === 'checkbox') {
    //                         find.attr("checked", res.data[val] === 'Y');
    //                     }
    //                 }
    //             })
    //         },
    //         end: function () {
    //             $(':input', $("#crnWindow")).val('').removeAttr('checked').removeAttr('selected');
    //         }
    //     });
    // });


    // 小车偏移动画
    function carAnimate(id, target) {
        var targetTop = 122;
@@ -1030,29 +1011,10 @@
        $("#site-" + id).animate({top: targetTop+'px'}, 1000);
    }


     //楼层切换按钮
    function changFloor(x) {
        switch (x) {
            case 1:
                $('#fool1').css("display","block")
                $('#fool2').css("display","none")
                $('#fool3').css("display","none")
                return
            case 2:
                $('#fool1').css("display","none")
                $('#fool2').css("display","block")
                $('#fool3').css("display","none")
                return
            case 3:
                $('#fool1').css("display","none")
                $('#fool2').css("display","none")
                $('#fool3').css("display","block")
                return
            default:
                return;

        }
        currentLev = x
        initMap(currentLev)
    }

</script>