| src/main/java/com/zy/asrs/controller/CrnController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/MainProcess.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/CrnTaskModeType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/command/CrnCommand.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/SiemensCrnThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/webapp/views/crn.html | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/controller/CrnController.java
@@ -307,58 +307,60 @@ return crnControl(command)?R.ok():R.error(); } @ManagerAuth(memo = "回原点") @PostMapping("/operator/bacOrigin") public R crnBacOrigin(CrnOperatorParam param){ 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.GO_ORIGIN); // 任务模式 command.setSourcePosX((short) 0); // 源库位排 command.setSourcePosY((short) 0); // 源库位列 command.setSourcePosZ((short) 0); // 源库位层 command.setDestinationPosX((short) 0); // 目标库位排 command.setDestinationPosY((short) 0); // 目标库位列 command.setDestinationPosZ((short) 0); // 目标库位层 return crnControl(command)?R.ok():R.error(); } @ManagerAuth(memo = "反原点") @PostMapping("/operator/reverseOrigin") public R reverseOrigin(CrnOperatorParam param){ 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.GO_ORIGIN); // 任务模式 command.setSourcePosX((short) 0); // 源库位排 command.setSourcePosY((short) 0); // 源库位列 command.setSourcePosZ((short) 0); // 源库位层 command.setDestinationPosX((short) 0); // 目标库位排 command.setDestinationPosY((short) 34); // 目标库位列 command.setDestinationPosZ((short) 5); // 目标库位层 return crnControl(command)?R.ok():R.error(); } // @ManagerAuth(memo = "坐标移动") // @PostMapping("/operator/coorMove") // public R crnCoorMove(CrnOperatorParam param){ // @ManagerAuth(memo = "回原点") // @PostMapping("/operator/bacOrigin") // public R crnBacOrigin(CrnOperatorParam param){ // 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.OFFSET_MOVE); // 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 // staNoProcess(param, command); // command.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 0); // 目标库位排 // command.setDestinationPosY((short) 0); // 目标库位列 // command.setDestinationPosZ((short) 0); // 目标库位层 // return crnControl(command)?R.ok():R.error(); // } // @ManagerAuth(memo = "反原点") // @PostMapping("/operator/reverseOrigin") // public R reverseOrigin(CrnOperatorParam param){ // 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.GO_ORIGIN); // 任务模式 // command.setSourcePosX((short) 0); // 源库位排 // command.setSourcePosY((short) 0); // 源库位列 // command.setSourcePosZ((short) 0); // 源库位层 // command.setDestinationPosX((short) 0); // 目标库位排 // command.setDestinationPosY((short) 34); // 目标库位列 // command.setDestinationPosZ((short) 5); // 目标库位层 // return crnControl(command)?R.ok():R.error(); // } @ManagerAuth(memo = "坐标移动") @PostMapping("/operator/crnMove") public R crnCoorMove(CrnOperatorParam param){ CrnCommand command = new CrnCommand(); command.setCrnNo(param.getCrnNo()); // 堆垛机编号 command.setTaskNo((short) 9999); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.CRN_MOVE); // 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 staNoProcess(param, command); boolean offer = MessageQueue.offer(SlaveType.Crn, param.getCrnNo(), new Task(4, command)); return offer?R.ok():R.error(); } @ManagerAuth(memo = "任务完成") @PostMapping("/operator/taskComplete") public R crnTaskComplete(CrnOperatorParam param){ src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -631,59 +631,52 @@ } /** * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点 * 堆垛机无任务两分钟，回入库口待机 */ public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) { // for (CrnSlave crn : slaveProperties.getCrn()) { // // 获取堆垛机信息 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { // continue; // } // BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); // if (basCrnp == null) { // log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); // continue; // } public synchronized void crnMove() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) { return; continue; } // 已经存在吊车执行任务时，则过滤3,12 if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) { return; List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .eq("crn_no", crn.getId())); if (!wrkMasts.isEmpty()) { continue; } //堆垛机有执行中任务，过滤3,4,11,12 if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) { return; } //输送线没有入库任务，过滤2 if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) { return; } News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点 crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式: 堆垛机移动 crnCommand.setSourcePosX((short) 0); // 源库位排 crnCommand.setSourcePosY((short) 0); // 源库位列 crnCommand.setSourcePosZ((short) 0); // 源库位层 crnCommand.setSourcePosY((short) 1); // 源库位列 crnCommand.setSourcePosZ((short) 1); // 源库位层 crnCommand.setDestinationPosX((short) 0); // 目标库位排 crnCommand.setDestinationPosY((short) 0); // 目标库位列 crnCommand.setDestinationPosZ((short) 0); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(4, crnCommand))) { News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); } crnThread.setBackHpFlag(true); } // } } } /** src/main/java/com/zy/core/MainProcess.java
@@ -73,6 +73,9 @@ // RGV ===>> 执行对RGV工作档的完成操作 mainService.rgvFinished(12); //堆垛机无任务两分钟，回入库口待机 mainService.crnMove(); } catch (Exception e) { e.printStackTrace(); } src/main/java/com/zy/core/enums/CrnTaskModeType.java
@@ -9,7 +9,7 @@ X_MOVE(4), // 站位移转 Y_MOVE(5), // 站位移转 XY_MOVE(6), // 站位移转 GO_ORIGIN(7), // 回原点 CRN_MOVE(7), // 堆垛机移动XYZ BACK_ORIGIN(8), // 回反原点 CLEAR(9), // 清错 ; src/main/java/com/zy/core/model/command/CrnCommand.java
@@ -32,7 +32,7 @@ * 4 = 站位移转 源和目标都发 * 5 = 回原点 不用发 * 6 = 去反原点 目标发 * 7 = 坐标移行 目标发 * 7 = 坐标移行 取货发 * 90 = 设置时间 * 99 = 取消当前任务 */ src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -92,6 +92,9 @@ command.setDestinationPosZ((short)0); // 目标库位层 write(command); break; case 4://堆垛机移动 writeMove((CrnCommand) task.getData()); break; default: break; } @@ -349,6 +352,117 @@ } } /** * 写入数据 */ private boolean writeMove(CrnCommand command) throws InterruptedException { if (null == command) { News.error("SiemensCrn"+" - 6"+" - 堆垛机写入命令为空"); return false; } int writeAck = 0; do { OperateResult resultAck = siemensNet.Write("DB100.0", (short) 0); if (resultAck.IsSuccess){ Thread.sleep(200); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 2); short ack = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (ack != 0) { writeAck++; }else { News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), "ack复位完成"); break; } } }while (writeAck <5); // convertRow(command); command.setCrnNo(slave.getId()); short[] array = new short[10]; array[0] = command.getAckFinish(); array[1] = command.getTaskNo(); array[2] = command.getTaskMode(); array[3] = command.getSourcePosX(); array[4] = command.getSourcePosY(); array[5] = command.getSourcePosZ(); array[6] = command.getDestinationPosX(); array[7] = command.getDestinationPosY(); array[8] = command.getDestinationPosZ(); // array[9] = command.getSourceStaNo(); // array[10] = command.getDestinationStaNo(); array[9] = command.getCommand(); OperateResult result = null; int idx = 0; do { OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4); if (resultRead.IsSuccess) { short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2); if(taskNo == 0) { result = siemensNet.Write("DB100.0", array); }else { break; } } idx++; Thread.sleep(500L); } while (idx < 5); if (command.getAckFinish() == 0) { short commandFinish = 1; int i = 0; do { OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 4); OperateResultExOne<byte[]> resultReadConfirm = siemensNet.Read("DB100.22", (short) 2); if (resultRead.IsSuccess && resultReadConfirm.IsSuccess) { short taskNo = siemensNet.getByteTransform().TransInt16(resultRead.Content, 2); short confirm = siemensNet.getByteTransform().TransInt16(resultReadConfirm.Content, 0); if(taskNo != 0 && confirm == 0) { result = siemensNet.Write("DB100.22", commandFinish); } } i++; Thread.sleep(500L); } while (i < 5); } try { // 日志记录 BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); BasCrnOpt basCrnOpt = new BasCrnOpt( command.getTaskNo().intValue(), // 任务号 command.getCrnNo(), // 堆垛机[非空] new Date(), // 下发时间 command.getTaskModeType().toString(), // 模式 command.getSourcePosX().intValue(), // 源排 command.getSourcePosY().intValue(), // 源列 command.getSourcePosZ().intValue(), // 源层 null, // 源站 command.getDestinationPosX().intValue(), // 目标排 command.getDestinationPosY().intValue(), // 目标列 command.getDestinationPosZ().intValue(), // 目标层 null, // 目标站 null, // 响应结果 null, // 修改时间 null // 修改人员 ); bean.insert(basCrnOpt); } catch (Exception ignore) {} if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); News.info("SiemensCrn"+" - 7"+" - 堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("SiemensCrn"+" - 8"+" - 写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } @Override public void close() { src/main/webapp/views/crn.html
@@ -219,7 +219,7 @@ <button class="item" onclick="siteMove()">站到站</button> <!-- <button class="item" onclick="bacOrigin()">回原点</button>--> <!-- <button class="item" onclick="reverseOrigin()">反原点</button>--> <!-- <button class="item" onclick="coorMove()">坐标移行</button>--> <button class="item" onclick="coorMove()">堆垛机移动</button> <button class="item" onclick="taskComplete()">任务完成</button> <!-- <button class="item" onclick="pause()">暂停</button>--> <!-- <button class="item" onclick="boot()">启动</button>--> @@ -432,7 +432,7 @@ // 坐标移动 function coorMove() { http.post(baseUrl+"/crn/operator/coorMove", getReqParam(), function (res) { http.post(baseUrl+"/crn/operator/crnMove", getReqParam(), function (res) { layer.msg(res.msg); }); }
