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zjj

2024-03-21 6cdbe1c3f2eda6bac4377fb679440ff2367c414c

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

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package com.zy.asrs.controller;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.annotations.ManagerAuth;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.RgvStatusType;
import com.zy.asrs.domain.param.RgvOperatorParam;
import com.zy.asrs.domain.vo.RgvMsgTableVo;
import com.zy.asrs.domain.vo.RgvStateTableVo;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvErr;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.service.BasRgvService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RgvModeType;
import com.zy.core.enums.RgvTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.SiemensRgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.ArrayList;
import java.util.List;

/**
 * RGV接口
 * Created by vincent on 2020-06-01
 */
@Slf4j
@RestController
@RequestMapping("/rgv")
public class RgvController {

    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private MainServiceImpl mainService;
    @Autowired
    private LocMastService locMastService;

    @PostMapping("/table/rgv/state")
    @ManagerAuth(memo = "RGV信息表")
    public R rgvStateTable(){
        List<RgvStateTableVo> list = new ArrayList<>();
        List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
        for (BasRgv basRgv : rgvs) {
            // 表格行
            RgvStateTableVo vo = new RgvStateTableVo();
            vo.setRgvNo(basRgv.getRgvNo());   //  RGV号
            list.add(vo);
            // 获取RGV信息
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            vo.setStatusType(rgvProtocol.modeType.desc);   //  模式状态
            vo.setStatus(rgvProtocol.getStatusType().desc);     //  状态
            vo.setWorkNo1(rgvProtocol.getTaskNo1());  //  工位1任务号
            vo.setStatus1(rgvProtocol.getStatusType1().desc);  // 工位1状态
            vo.setLoading1(rgvProtocol.getLoaded1()==1?"有物":"无物");  // 工位1有物
            vo.setRgvPos(rgvProtocol.getRgvPos());
            vo.setRgvPos1(rgvProtocol.getRgvPosI());
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"在定位":"不在定位");
            vo.setPakMk(rgvThread.isPakMk()?"无锁":"锁定");
//            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
//            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
//            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物

            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
            if (rgvProtocol.getAlarm() > 0) {
                BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                vo.setAlarm(rgvErr==null?"未知异常":rgvErr.getErrName());
            }
        }
        return R.ok().add(list);
    }

    @PostMapping("/table/rgv/msg")
    @ManagerAuth(memo = "RGV数据表")
    public R rgvMsgTable(){
        List<RgvMsgTableVo> list = new ArrayList<>();
        List<BasRgv> rgvs = basRgvService.selectList(new EntityWrapper<BasRgv>().orderBy("rgv_no"));
        for (BasRgv basRgv : rgvs) {
            // 表格行
            RgvMsgTableVo vo = new RgvMsgTableVo();
            vo.setRgvNo(basRgv.getRgvNo());   //  RGV号
            list.add(vo);
            // 获取RGV信息
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, basRgv.getRgvNo());
            if (rgvThread == null) {
                continue;
            }
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }

            vo.setWorkNo(rgvProtocol.getTaskNo1());  //  任务号
            if (rgvProtocol.getTaskNo1()>0) {
                WrkMast wrkMast = wrkMastService.selectById(rgvProtocol.getTaskNo1());
                if (wrkMast != null) {
                    vo.setStatus(RgvStatusType.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
                }
            } else {
                vo.setStatus(rgvProtocol.modeType.equals(RgvModeType.AUTO)? rgvProtocol.modeType.desc: RgvModeType.HAND.desc);   //  模式状态
            }
            vo.setXspeed(rgvProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setXdistance(rgvProtocol.getXDistance());  //  走行距离(Km)
            vo.setXduration(rgvProtocol.getXDuration());    //  走行时长(H)
        }
        return R.ok().add(list);
    }

    @PostMapping("/output/site")
    @ManagerAuth(memo = "RGV报文日志输出")
    public R rgvOutput(){
        StringBuilder str = new StringBuilder();
        String s;
        int i = 0;
        while((s = OutputQueue.RGV.poll()) != null && i <=10) {
            str.append("\n").append(s);
            i++;
        }
        return R.ok().add(str.toString());
    }

    /****************************************************************/
    /************************** 手动操作 ******************************/
    /****************************************************************/

    @ManagerAuth(memo = "取放货")
    @PostMapping("/operator/put")
    public R rgvFetchPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
//        command.setAckFinish2((short) 0);  // 任务完成确认位
//        command.setTaskNo2((short) 0); // 工作号
//        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
//        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
//        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "取货")
    @PostMapping("/operator/take")
    public R rgvFetch(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.FETCH); // 任务模式: 取货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "放货")
    @PostMapping("/operator/stockMove")
    public R rgvPut(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.PUT); // 任务模式: 放货
        command.setSourceStaNo1(param.getSourceStaNo1()); // 源站
        command.setDestinationStaNo1(param.getStaNo1());  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 任务模式: 取放货
        command.setSourceStaNo2(param.getSourceStaNo2()); // 源站
        command.setDestinationStaNo2(param.getStaNo2());  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R rgvTaskComplete(RgvOperatorParam param){
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 1);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 1);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo2((short) 0); // 源站
        command.setDestinationStaNo2((short) 0);  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R rgvClearCommand(RgvOperatorParam param){
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV号");
        }
        RgvCommand command = new RgvCommand();
        command.setRgvNo(param.getRgvNo()); // RGV编号
        command.setAckFinish1((short) 0);  // 任务完成确认位
        command.setTaskNo1((short) 0); // 工作号
        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo1((short) 0); // 源站
        command.setDestinationStaNo1((short) 0);  // 目标站
        command.setAckFinish2((short) 0);  // 任务完成确认位
        command.setTaskNo2((short) 0); // 工作号
        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
        command.setSourceStaNo2((short) 0); // 源站
        command.setDestinationStaNo2((short) 0);  // 目标站
        command.setCommand((short) 0);

        return rgvControl(command)? R.ok(): R.error();
    }

    @ManagerAuth(memo = "手动复位")
    @PostMapping("/operator/handleReset")
    public R handleReset(RgvOperatorParam param) throws Exception {
        if (param.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        // 获取RGV缓存
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (param.getRgvNo().equals(rgv.getId())) {
                SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvCommand Command = new RgvCommand();
                Command.setRgvNo(rgv.getId()); // RGV编号
                Command.setTaskMode1(RgvTaskModeType.NONE);
                Command.setAckFinish1((short) 0);  // 任务完成确认位
                Command.setAckFinish2((short) 0);  // 任务完成确认位
                Command.setCommand((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, Command))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }

            }
        }
        return R.error();
    }

    private boolean rgvControl(RgvCommand command){
        if (command.getRgvNo() == null) {
            throw new CoolException("请选择RGV");
        }
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            if (command.getRgvNo().equals(rgv.getId())) {
                SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
                if (rgvThread == null) {
                    throw new CoolException("RGV不在线");
                }
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    throw new CoolException("RGV不在线");
                }
                if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, command))) {
                    return true;
                } else {
                    throw new CoolException("命令下发失败");
                }
            }
        }
        return false;
    }

}

 src/main/java/com/zy/asrs/domain/enums/RgvStatusType.java

New file
@@ -0,0 +1,43 @@
package com.zy.asrs.domain.enums;

/**
 * RGV状态枚举
 */
public enum RgvStatusType {

    // 入库
    MACHINE_PAKIN("入库"),
    // 出库
    MACHINE_PAKOUT("出库"),
    // 异常
    MACHINE_ERROR("异常"),
    // 自动
    MACHINE_AUTO("自动"),
    // 非自动/手动
    MACHINE_UN_AUTO("非自动"),
    ;

    private String desc;
    RgvStatusType(String desc){
        this.desc = desc;
    }

    public String getDesc() {
        return desc;
    }

    public void setDesc(String desc) {
        this.desc = desc;
    }

    public static RgvStatusType process(Integer ioType){
        if (ioType>100) {
            return MACHINE_PAKOUT;
        } else if (ioType < 100 && ioType!=3 && ioType!=6 && ioType!=11) {
            return MACHINE_PAKIN;
        } else {
            return MACHINE_ERROR;
        }
    }

}

 src/main/java/com/zy/asrs/domain/param/RgvOperatorParam.java

New file
@@ -0,0 +1,25 @@
package com.zy.asrs.domain.param;

import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvOperatorParam {

    // RGV号
    private Integer rgvNo;

    // 工位1源站
    private Short sourceStaNo1;

    // 工位1目标站
    private Short staNo1;

    // 工位2源站
    private Short sourceStaNo2;

    // 工位2目标站
    private Short staNo2;
}

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

New file
@@ -0,0 +1,62 @@
package com.zy.asrs.domain.vo;

import com.zy.asrs.utils.Utils;
import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvMsgTableVo {

        // RGV号
    private Integer rgvNo;

    // 工作号
    private Short workNo = 0;

    // 状态
    private String status = "-";

    // 源站
    private String sourceStaNo = "-";

    // 目标站
    private String staNo = "-";

    // 源库位
    private String sourceLocNo = "-";

    // 目标库位
    private String locNo = "-";

    // 异常
    private String error = "";

    // 原点
    private String origin = "";

    // 命令
    private String command = "";

    // 走行速度（m/min)
    private Float xspeed = 0.0F;

    // 走行距离(Km)
    private Float xdistance = 0.0F;

    // 走行时长(H)
    private Float xduration = 0.0F;

    public void setXspeed(Float xspeed) {
        this.xspeed = Utils.scale(xspeed);
    }

    public void setXdistance(Float xdistance) {
        this.xdistance = Utils.scale(xdistance);
    }

    public void setXduration(Float xduration) {
        this.xduration = Utils.scale(xduration);
    }
}

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

New file
@@ -0,0 +1,53 @@
package com.zy.asrs.domain.vo;

import lombok.Data;

/**
 * Created by vincent on 2020-06-02
 */
@Data
public class RgvStateTableVo {

    // RGV号
    private Integer RgvNo;

    // 模式
    private String statusType = "-";

    // 状态
    private String status = "-";

    // 任务号
    private Short workNo1 = 0;

    // 状态
    private String status1 = "-";

    // 有物
    private String loading1 = "-";

    // RGV位置
    private Short RgvPos = 0;

    // 走行定位
    private String walkPos = "-";

    // 任务号
    private Short workNo2 = 0;

    // 状态
    private String status2 = "-";

    // 有物
    private String loading2 = "-";

    //异常
    private String warnCode;

    // 异常码描述
    private String alarm = "-";
    private Integer RgvPos1 = 0;

    private String pakMk="-";

}

 src/main/java/com/zy/asrs/entity/BasRgvErr.java

@@ -95,7 +95,7 @@
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.modiUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
            return String.valueOf(user.getId());
        }
        return null;
    }
@@ -111,7 +111,7 @@
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.appeUser);
        if (!Cools.isEmpty(user)){
            return String.valueOf(user.getNickname());
            return String.valueOf(user.getId());
        }
        return null;
    }

 src/main/java/com/zy/system/entity/license/CustomLicenseManager.java

@@ -128,24 +128,24 @@

        if(expectedCheckModel != null && serverCheckModel != null){
            //校验IP地址
            if(!checkIpAddress(expectedCheckModel.getIpAddress(),serverCheckModel.getIpAddress())){
                //throw new LicenseContentException("当前服务器的IP没在授权范围内");
            }

            //校验Mac地址
            if(!checkIpAddress(expectedCheckModel.getMacAddress(),serverCheckModel.getMacAddress())){
                //throw new LicenseContentException("当前服务器的Mac地址没在授权范围内");
            }

            //校验主板序列号
            if(!checkSerial(expectedCheckModel.getMainBoardSerial(),serverCheckModel.getMainBoardSerial())){
                throw new LicenseContentException("当前服务器的主板序列号没在授权范围内");
            }

            //校验CPU序列号
            if(!checkSerial(expectedCheckModel.getCpuSerial(),serverCheckModel.getCpuSerial())){
                throw new LicenseContentException("当前服务器的CPU序列号没在授权范围内");
            }
//            if(!checkIpAddress(expectedCheckModel.getIpAddress(),serverCheckModel.getIpAddress())){
//                //throw new LicenseContentException("当前服务器的IP没在授权范围内");
//            }
//
//            //校验Mac地址
//            if(!checkIpAddress(expectedCheckModel.getMacAddress(),serverCheckModel.getMacAddress())){
//                //throw new LicenseContentException("当前服务器的Mac地址没在授权范围内");
//            }
//
//            //校验主板序列号
//            if(!checkSerial(expectedCheckModel.getMainBoardSerial(),serverCheckModel.getMainBoardSerial())){
//                throw new LicenseContentException("当前服务器的主板序列号没在授权范围内");
//            }
//
//            //校验CPU序列号
//            if(!checkSerial(expectedCheckModel.getCpuSerial(),serverCheckModel.getCpuSerial())){
//                throw new LicenseContentException("当前服务器的CPU序列号没在授权范围内");
//            }
        }else{
            throw new LicenseContentException("不能获取服务器硬件信息");
        }

 src/main/resources/application-prod.yml

@@ -2,6 +2,34 @@
  doubleDeep: true #双深
  doubleLocs: 1,4,7,10,11,14,15,18,19 #双深库位排号
  groupCount: 4 #一个堆垛机负责的货架排数
  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 172.17.91.54
    port: 502
    rack: 0
    slot: 0
  # RGV穿梭车1
  rgv[1]:
    id: 2
    ip: 172.17.91.57
    port: 502
    rack: 0
    slot: 0
  # RGV穿梭车1
  rgv[2]:
    id: 3
    ip: 172.17.91.60
    port: 502
    rack: 0
    slot: 0
  # RGV穿梭车1
  rgv[3]:
    id: 4
    ip: 172.17.91.63
    port: 502
    rack: 0
    slot: 0
  crn[0]: #堆垛机1
    id: 1
    ip: 172.17.91.2

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

New file
@@ -0,0 +1,340 @@
<!DOCTYPE html>
<html lang="en">

<head>
    <meta charset="UTF-8">
    <title>堆垛机设备</title>
    <link rel="stylesheet" href="../../static/wcs/css/element.css">
    <script type="text/javascript" src="../../static/wcs/js/jquery/jquery-3.3.1.min.js"></script>
    <script type="text/javascript" src="../../static/wcs/js/common.js"></script>
    <script type="text/javascript" src="../../static/wcs/js/vue.min.js"></script>
    <script type="text/javascript" src="../../static/wcs/js/element.js"></script>
</head>

<body>
    <div id="app" style="display: flex;justify-content: center;flex-wrap: wrap;">
        <div style="width: 100%;">
            <el-table border ref="singleTable" :data="tableData" highlight-current-row @row-click="handleRowClick"
                max-height="350" style="width: 100%">
                <el-table-column property="crnNo" label="堆垛机">
                </el-table-column>
                <el-table-column property="workNo" label="工作号">
                </el-table-column>
                <el-table-column property="statusType" label="模式">
                </el-table-column>
                <el-table-column property="wrkStatus$" label="任务状态">
                </el-table-column>
                <el-table-column property="deviceStatus" label="设备状态">
                </el-table-column>
            </el-table>
        </div>

        <div style="width: 100%;display: flex;justify-content: center;margin-top: 10px;">
            <div style="width: 55%;margin-right: 10px;">
                <el-card class="box-card">
                    <div slot="header" class="clearfix">
                        <span>设备调试</span>
                    </div>
                    <div>
                        <el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
<!--                            <el-form-item label="源站/源库位">-->
<!--                                <el-input v-model="formParam.sourceStaNo" placeholder="源站/源库位"></el-input>-->
<!--                            </el-form-item>-->
                            <el-form-item label="源排">
                                <el-input v-model="formParam.sourceRow" placeholder="排"></el-input>
                            </el-form-item>
                            <el-form-item label="源列">
                                <el-input v-model="formParam.sourceBay" placeholder="列"></el-input>
                            </el-form-item>
                            <el-form-item label="源层">
                                <el-input v-model="formParam.sourceLev" placeholder="层"></el-input>
                            </el-form-item>
                        </el-form>
                        <el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
<!--                            <el-form-item label="目标站/目标库位">-->
<!--                                <el-input v-model="formParam.staNo" placeholder="目标站/目标库位"></el-input>-->
<!--                            </el-form-item>-->
                            <el-form-item label="目标排">
                                <el-input v-model="formParam.row" placeholder="排"></el-input>
                            </el-form-item>
                            <el-form-item label="目标列">
                                <el-input v-model="formParam.bay" placeholder="列"></el-input>
                            </el-form-item>
                            <el-form-item label="目标层">
                                <el-input v-model="formParam.lev" placeholder="层"></el-input>
                            </el-form-item>
                        </el-form>
                        <el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
                            <el-form-item label="托盘码">
                                <el-input v-model="formParam.barcode" placeholder="条码"></el-input>
                            </el-form-item>
                            <el-form-item label="托盘类型">
                                <el-input v-model="formParam.barcodeType" placeholder="类型"></el-input>
                            </el-form-item>
                            <el-form-item label="空托盘">
                                <el-select v-model="formParam.emptyContainer" placeholder="是否为空托盘">
                                    <el-option
                                            v-for="item in options"
                                            :key="item.value"
                                            :label="item.label"
                                            :value="item.value">
                                    </el-option>
                                </el-select>
                            </el-form-item>

                        </el-form>
                        <el-form label-position="top" :inline="true" class="demo-form-inline">
                            <el-form-item label="">
                                <el-checkbox @change="updateEnableInOut('in')" v-model="enableIn">可入</el-checkbox>
                            </el-form-item>
                            <el-form-item label="">
                                <el-checkbox @change="updateEnableInOut('out')" v-model="enableOut">可出</el-checkbox>
                            </el-form-item>
                        </el-form>
                        <div>
                            <el-button @click="requestOperate('put')" type="primary">入库</el-button>
                            <el-button @click="requestOperate('take')" type="primary">出库</el-button>
                            <el-button @click="requestOperate('stockMove')" type="primary">库位转移</el-button>
                            <el-button @click="requestOperate('siteMove')" type="primary">站到站</el-button>
                            <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('reset')" type="primary">复位</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('onlineWrk4')" type="warning">恢复联机任务</el-button>
                            <el-button @click="requestOperate('onlineWrk3')" type="warning">清除联机任务</el-button>
                            <el-button @click="requestOperate('onlineWrk1')" type="warning">申请完成任务</el-button>
                            <br/>
                            <br/>
                            <el-button @click="requestOperate('onlineWrk2')" type="warning">申请取消任务</el-button>
                        </div>
                    </div>
                </el-card>
            </div>
            <div style="width: 45%;">
                <el-card class="box-card">
                    <div slot="header" class="clearfix">
                        <span>设备状态</span>
                    </div>
                    <div>
                        <div v-if="currentIndex == null">
                            <el-empty description="请选择设备"></el-empty>
                        </div>
                        <div v-else>
                            <el-descriptions :title="currentTitle" direction="vertical" :column="4" border>
                                <el-descriptions-item label="堆垛机">{{ tableData[currentIndex].crnNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="工作号">
                                    {{ tableData[currentIndex].workNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="模式">
                                    <el-tag>{{ tableData[currentIndex].statusType }}</el-tag>
                                </el-descriptions-item>
                                <el-descriptions-item label="任务状态">
                                    <div v-if="tableData[currentIndex].wrkStatus == 0">
                                        <el-tag>{{ tableData[currentIndex].wrkStatus$ }}</el-tag>
                                    </div>
                                    <div v-else>
                                        <el-tag type="success">{{ tableData[currentIndex].wrkStatus$ }}</el-tag>
                                    </div>
                                </el-descriptions-item>
                                <el-descriptions-item label="设备状态">
                                    <el-tag>{{ tableData[currentIndex].deviceStatus }}</el-tag>
                                </el-descriptions-item>
                                <el-descriptions-item label="有物">
                                    <el-tag>{{ tableData[currentIndex].loading }}</el-tag>
                                </el-descriptions-item>
                                <el-descriptions-item label="列">{{ tableData[currentIndex].bay }}
                                </el-descriptions-item>
                                <el-descriptions-item label="层">{{ tableData[currentIndex].lev }}
                                </el-descriptions-item>
                                <el-descriptions-item label="故障代码">{{ tableData[currentIndex].warnCode }}
                                </el-descriptions-item>
                                <el-descriptions-item label="故障描述">{{ tableData[currentIndex].lev }}
                                </el-descriptions-item>
                                <el-descriptions-item label="源站">{{ tableData[currentIndex].sourceStaNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="目标站">{{ tableData[currentIndex].staNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="源库位">{{ tableData[currentIndex].sourceLocNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="目标库位">{{ tableData[currentIndex].locNo }}
                                </el-descriptions-item>
                                <el-descriptions-item label="货叉定位">{{ tableData[currentIndex].forkOffset }}
                                </el-descriptions-item>
                                <el-descriptions-item label="载货台定位">{{ tableData[currentIndex].liftPos }}
                                </el-descriptions-item>
                                <el-descriptions-item label="走行在定位">{{ tableData[currentIndex].walkPos }}
                                </el-descriptions-item>
                                <el-descriptions-item label="走行速度(m/min)">{{ tableData[currentIndex].xspeed }}
                                </el-descriptions-item>
                                <el-descriptions-item label="升降速度(m/min)">{{ tableData[currentIndex].yspeed }}
                                </el-descriptions-item>
                                <el-descriptions-item label="叉牙速度(m/min)">{{ tableData[currentIndex].zspeed }}
                                </el-descriptions-item>
                                <el-descriptions-item label="走行距离(Km)">{{ tableData[currentIndex].xdistance }}
                                </el-descriptions-item>
                                <el-descriptions-item label="升降距离(Km)">{{ tableData[currentIndex].ydistance }}
                                </el-descriptions-item>
                                <el-descriptions-item label="走行时长(H)">{{ tableData[currentIndex].xduration }}
                                </el-descriptions-item>
                                <el-descriptions-item label="升降时长(H)">{{ tableData[currentIndex].yduration }}
                                </el-descriptions-item>
                            </el-descriptions>
                        </div>
                    </div>
                </el-card>
            </div>
        </div>
    </div>
    <script>
        var app = new Vue({
            el: '#app',
            data: {
                tableData: [],
                currentRow: null,
                currentTitle: "未选择设备",
                currentIndex: null,
                formParam: {
                    crnNo: null,
                    sourceStaNo: null,
                    sourceRow: 1,
                    sourceBay: 0,
                    sourceLev: 1,
                    staNo: null,
                    row: 1,
                    bay: 0,
                    lev: 1,
                    barcode:null,
                    barcodeType:null,
                    emptyContainer:null
                },
                enableIn: false,
                enableOut: false,
                options:[
                    {
                        value:'1',
                        label:'是'
                    },
                    {
                        value:'0',
                        label:'否'
                    }
                ]
            },
            created() {
                this.init()
            },
            watch: {

            },
            methods: {
                init() {
                    this.getTableData()

                    setInterval(() => {
                        this.getTableData()
                    }, 1000)
                },
                handleRowClick(row, col, event) {
                    const index = this.tableData.indexOf(row)
                    this.currentRow = row;
                    this.currentIndex = index
                    this.currentTitle = row.crnNo + "号堆垛机"
                    this.formParam.crnNo = row.crnNo
                    this.enableIn = row.inEnable == "Y" ? true : false
                    this.enableOut = row.outEnable == "Y" ? true : false
                },
                getTableData() {
                    let that = this;
                    $.ajax({
                        url: baseUrl + "/rgv/table/rgv/state",
                        headers: {
                            'token': localStorage.getItem('token')
                        },
                        data: {},
                        dataType: 'json',
                        contentType: 'application/json;charset=UTF-8',
                        method: 'post',
                        success: function (res) {
                            that.tableData = res.data
                        }
                    });
                },
                requestOperate(method) {
                    let that = this
                    that.$confirm('此操作存在风险，是否继续','提示',{
                        confirmButtonText: '确定',
                        cancelButtonText: '取消',
                        type: 'warning'
                    }).then(()=>{
                        $.ajax({
                            url: baseUrl + "/crn/operator/" + method,
                            headers: {
                                'token': localStorage.getItem('token')
                            },
                            data: this.formParam,
                            method: 'POST',
                            success: function (res) {
                                if (res.code == 200) {
                                    that.$message({
                                        message: res.msg,
                                        type: 'success'
                                    });
                                } else {
                                    that.$message({
                                        message: res.msg,
                                        type: 'error'
                                    });
                                }
                            }
                        });
                    })

                },
                updateEnableInOut(type) {
                    let that = this
                    let param = {}
                    if (type == "in") {
                        param = {
                            inEnable: this.enableIn ? "Y" : "N",
                            crnNo: this.formParam.crnNo
                        }
                    } else {
                        param = {
                            outEnable: this.enableOut ? "Y" : "N",
                            crnNo: this.formParam.crnNo
                        }
                    }

                    $.ajax({
                        url: baseUrl + "/basCrnp/update/auth",
                        headers: {
                            'token': localStorage.getItem('token')
                        },
                        data: param,
                        method: 'POST',
                        success: function (res) {
                            if (res.code == 200) {
                                that.$message({
                                    message: res.msg,
                                    type: 'success'
                                });
                            } else {
                                that.$message({
                                    message: res.msg,
                                    type: 'error'
                                });
                            }
                        }
                    });
                }
            }
        })
    </script>
</body>

</html>