#堆垛机出入库

zjj

2023-11-22 69a038efa3f87afa1eaf465cfb05d7d226fc206e

#堆垛机出入库

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

@@ -598,6 +598,44 @@

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换半手动模式")
    @PostMapping("/crn/operator/semiAutomatic")
    public R crnsemiAutomatic(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setAuto((short)2);

        return crnControl2(command)?R.ok():R.error();
    }
    @ManagerAuth(memo = "切换手动模式")
    @PostMapping("/crn/operator/hand")
    public R crnHand(CrnOperatorParam param){
        short[] array = new short[9];
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
        command.setAuto((short)3);

        return crnControl2(command)?R.ok():R.error();
    }
    private boolean crnControl2(CrnCommand command){
        if (command.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -343,12 +343,13 @@
                    crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                    crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                    crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位排
                    crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位列
                    crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getBay().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getLev().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getRow().shortValue());     // 目标库位层
                    crnCommand.setCommand((short)1);
                    if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
@@ -438,7 +439,7 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
                if (taskWrk == null) {
@@ -446,7 +447,7 @@
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
                if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2)) {
                    taskWrk.setWrkSts(4);
                } else {
                    continue;

 src/main/java/com/zy/core/enums/CrnStatusType.java

@@ -19,14 +19,16 @@
//    ;

    IDLE(0, "空闲，无任务"),
    NONE_MOVING(1, "无货行走"),
    FETCHING(2, "检查任务数据"),
    MOVING(3, "定位到取货位"),
    //PUTTING(4, "放货"),
    PUT_COMPLETE(7, "取货完成"),
    MOVE_THE_SHIPPING_LOCATION(8, "移动到放货位置"),
    PUTTING(9, "放货中"),
    HANDLING_COMPLETED(10, "搬运完成"),
    NONE_MOVING(1, "取货定位"),
    FETCHING(2, "取货中"),
    MOVING(3, "取货完成，放货定位中"),
    PUTTING(4, "放货中"),
    HOMING(5, "回原点"),
    ANTI_ORIGIN(6, "反原点"),
    PUT_COMPLETE(7, "库位移载"),
//    MOVE_THE_SHIPPING_LOCATION(8, "移动到放货位置"),
//    PUTTING(9, "放货中"),
    HANDLING_COMPLETED(10, "搬运完成等待WCS确认"),
    EMPTY_AVOIDANCE(11, "空载避让"),
    SOS(99, "报警"),
    OTHER(100, "其他"),

 src/main/java/com/zy/core/thread/SiemensCrnThread.java

@@ -274,80 +274,80 @@
            if (err15[5]) { crnProtocol.setAlarm4(72); }
            if (err15[6]) { crnProtocol.setAlarm4(73); }

            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
            crnProtocol.setConnStatus(bool1[0]);
            crnProtocol.setCorrection(bool1[3]);
            crnProtocol.setTuError(bool1[4]);
            crnProtocol.setNoneError(bool1[5]);
            crnProtocol.setStockError(bool1[6]);
            crnProtocol.setJobInvalid(bool1[7]);
            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
            crnProtocol.setIdle(bool2[0]);
            crnProtocol.setControl(bool2[1]);
            crnProtocol.setStopQuasi(bool2[2]);
            crnProtocol.setRunning(bool2[3]);
            crnProtocol.setFault(bool2[4]);
            crnProtocol.setForkHome(bool2[5]);
            crnProtocol.setForkSingleLeft(bool2[6]);
            crnProtocol.setForkSingleRight(bool2[7]);
            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
            crnProtocol.setForkDoubleLeft(bool3[0]);
            crnProtocol.setForkDoubleRight(bool3[1]);
            crnProtocol.setSingleHigh(bool3[2]);
            crnProtocol.setSingleLow(bool3[3]);
            crnProtocol.setDoubleHigh(bool3[4]);
            crnProtocol.setDoubleLow(bool3[5]);
            crnProtocol.setPlatformHigh(bool3[6]);
            crnProtocol.setPlatformLow(bool3[7]);
            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物
//            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
//            crnProtocol.setConnStatus(bool1[0]);
//            crnProtocol.setCorrection(bool1[3]);
//            crnProtocol.setTuError(bool1[4]);
//            crnProtocol.setNoneError(bool1[5]);
//            crnProtocol.setStockError(bool1[6]);
//            crnProtocol.setJobInvalid(bool1[7]);
//            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
//            crnProtocol.setIdle(bool2[0]);
//            crnProtocol.setControl(bool2[1]);
//            crnProtocol.setStopQuasi(bool2[2]);
//            crnProtocol.setRunning(bool2[3]);
//            crnProtocol.setFault(bool2[4]);
//            crnProtocol.setForkHome(bool2[5]);
//            crnProtocol.setForkSingleLeft(bool2[6]);
//            crnProtocol.setForkSingleRight(bool2[7]);
//            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
//            crnProtocol.setForkDoubleLeft(bool3[0]);
//            crnProtocol.setForkDoubleRight(bool3[1]);
//            crnProtocol.setSingleHigh(bool3[2]);
//            crnProtocol.setSingleLow(bool3[3]);
//            crnProtocol.setDoubleHigh(bool3[4]);
//            crnProtocol.setDoubleLow(bool3[5]);
//            crnProtocol.setPlatformHigh(bool3[6]);
//            crnProtocol.setPlatformLow(bool3[7]);
//            boolean[] bool4 = siemensNet.getByteTransform().TransBool(result.Content, 64, 1);    // 66
//            crnProtocol.setLoaded((short) (bool4[4]?1:0));  // 有物

            // 速度
            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
            // 累计里程、时长
            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102
//            crnProtocol.setXSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 22));    // 24
//            crnProtocol.setYSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 24));    // 26
//            crnProtocol.setZSpeed((float) siemensNet.getByteTransform().TransInt16(result.Content, 26));    // 28
//            // 累计里程、时长
//            crnProtocol.setXDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 88));    // 90
//            crnProtocol.setYDistance((float) siemensNet.getByteTransform().TransInt32(result.Content, 92));    // 94
//            crnProtocol.setXDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 96));    // 98
//            crnProtocol.setYDuration((float) siemensNet.getByteTransform().TransInt32(result.Content, 100));    // 102

            // 增强
            if (crnProtocol.getForkHome()) {
                crnProtocol.setForkPos(CrnForkPosType.HOME);
            }
            if (crnProtocol.getForkSingleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType.LEFT);
            }
            if (crnProtocol.getForkSingleRight()) {
                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
            }
            if (crnProtocol.getForkDoubleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType._LEFT);
            }
            if (crnProtocol.getForkDoubleRight()) {
                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
            }
            if (crnProtocol.getSingleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType.UP);
            }
            if (crnProtocol.getSingleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
            }
            if (crnProtocol.getDoubleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType._UP);
            }
            if (crnProtocol.getDoubleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
            }
            if (crnProtocol.getIdle()) {
                crnProtocol.setStatus(CrnStatusType.IDLE);
            }
//            // 增强
//            if (crnProtocol.getForkHome()) {
//                crnProtocol.setForkPos(CrnForkPosType.HOME);
//            }
//            if (crnProtocol.getForkSingleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType.LEFT);
//            }
//            if (crnProtocol.getForkSingleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
//            }
//            if (crnProtocol.getForkDoubleLeft()) {
//                crnProtocol.setForkPos(CrnForkPosType._LEFT);
//            }
//            if (crnProtocol.getForkDoubleRight()) {
//                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
//            }
//            if (crnProtocol.getSingleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.UP);
//            }
//            if (crnProtocol.getSingleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
//            }
//            if (crnProtocol.getDoubleHigh()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._UP);
//            }
//            if (crnProtocol.getDoubleLow()) {
//                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
//            }
//            if (crnProtocol.getIdle()) {
//                crnProtocol.setStatus(CrnStatusType.IDLE);
//            }

            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 复位信号
            if (crnProtocol.getTaskFinish() == 1) {
            if (crnProtocol.getTaskFinish() == 0) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
@@ -448,7 +448,7 @@
//        }

        // 日志记录
        try {
//        try {
            if (command.getAckFinish() != 1) {
                BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class);
                BasCrnOpt basCrnOpt = new BasCrnOpt(
@@ -470,14 +470,29 @@
                );
                bean.insert(basCrnOpt);
            }
        } catch (Exception ignore) {}
//        } catch (Exception ignore) {}

        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);
        CommandInfoLog commandInfoLog = new CommandInfoLog();
        if (commandInfo != null) {
            commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
            commandInfoLog.setId(null);
        }else {
            Date now = new Date();
            commandInfoLog.setCommand(JSON.toJSONString(command));
            commandInfoLog.setCommandStatus(3);
            commandInfoLog.setStartTime(now);
            commandInfoLog.setExecuteTime(now);
            commandInfoLog.setCompleteTime(now);
            commandInfoLog.setDevice(SlaveType.Devp.toString());
            commandInfoLog.setWrkNo(9999);
            commandInfoLog.setTaskNo("9999");
            commandInfoLog.setCommandDesc("手动命令");
        }


        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));

 src/main/webapp/views/deviceOperate/crnOperate.html

@@ -80,7 +80,17 @@
                            <el-button @click="requestOperate('taskComplete')" type="primary">任务完成</el-button>
                            <el-button @click="requestOperate('clearCommand')" type="primary">清除命令</el-button>
                            <el-button @click="requestOperate('handleReset')" type="primary">复位</el-button>
                            <el-button @click="requestOperate('auto')" type="primary">联机</el-button>
                            <br/>
                            <br/>
                            <el-button @click="requestOperate('auto')" type="warning">联机</el-button>
                            <el-button @click="requestOperate('semiAutomatic')" type="warning">半自动</el-button>
                            <el-button @click="requestOperate('hand')" type="warning">手动</el-button>
                            <el-button @click="requestOperate('restoreOnlineWrk')" type="warning">恢复联机任务</el-button>
                            <el-button @click="requestOperate('cancelOnlineWrk')" type="warning">取消联机任务</el-button>
                            <el-button @click="requestOperate('finishWrk')" type="warning">申请完成任务</el-button>
                            <br/>
                            <br/>
                            <el-button @click="requestOperate('cancelWrk')" type="warning">申请取消任务</el-button>
                        </div>
                    </div>
                </el-card>