| src/main/java/com/zy/asrs/controller/ShuttleController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/ShuttleTaskModeType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/ShuttleThread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/webapp/views/shuttle.html | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -67,16 +67,27 @@ continue; } vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 任务号 if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) { vo.setStatus(shuttleProtocol.getBusyStatusType().desc); // 状态 } vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%"); vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); 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 vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() + "°");//电池温度 vo.setBatteryPower(shuttleProtocol.getBatteryPower$() + "%");//电池电量 vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc输出状态IO vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC输入状态 vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//当前或者之前读到的二维码值 vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//读到的二维码X方向偏移量 vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//读到的二维码Y方向偏移量 vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//当前的电压值 vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//当前的模拟量值 vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度 vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//移动速度 vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad());//当前的升降伺服负载率 vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad());//当前的行走伺服负载率 if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) { vo.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode())); vo.setErrorCode(shuttleProtocol.getErrorCode());//错误编号 } if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) { vo.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode())); vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//错误信息码 } } return R.ok().add(list); @@ -102,18 +113,21 @@ continue; } vo.setWorkNo(shuttleProtocol.getTaskNo().intValue()); // 任务号 vo.setWorkNo(shuttleProtocol.getTaskNo().intValue());//任务号 if (shuttleProtocol.getTaskNo() > 0) { WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo()); if (wrkMast != null) { //vo.setStatus(CrnStatusType.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 vo.setSourceLocNo(wrkMast.getSourceLocNo());//源库位 vo.setDistLocNo(wrkMast.getLocNo());//目标库位 } } vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); // 速度 if (shuttleProtocol.getProtocolStatusType() != null) { vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//状态 } vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//当前的行走伺服速度 vo.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad() + "%");//当前的行走伺服负载率 vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() + "%");//当前的升降伺服负载率 vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//当前的升降伺服速度 vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N"); // 作业标记 } return R.ok().add(list); @@ -251,6 +265,10 @@ return R.parse(BaseRes.PARAM); } if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) { return R.parse(BaseRes.PARAM); } for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { if (param.getShuttleNo().equals(shuttleSlave.getId())) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java
@@ -14,31 +14,36 @@ // 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 = ""; private String distLocNo = "-"; // 命令 private String command = ""; // 速度 private Short speed = 0; // 作业标记 private String pakMk = "-"; /** * 当前的升降伺服速度 */ private Short currentLiftServoSpeed; /** * 当前的行走伺服速度 */ private Short currentMoveServoSpeed; /** * 当前的升降伺服负载率 */ private String currentLiftServoLoad; /** * 当前的行走伺服负载率 */ private String currentMoveServoLoad; } src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
@@ -1,5 +1,7 @@ package com.zy.asrs.domain.vo; import com.zy.core.enums.ShuttleErrorCodeType; import com.zy.core.enums.ShuttleStatusType; import lombok.Data; @Data @@ -11,34 +13,24 @@ // 状态 private String status = "-"; // 有物 private String loading = "-"; //四向穿梭车忙装填 private String busyStatus = "-"; /** * 小车忙状态位枚举 */ private ShuttleStatusType busyStatusType; /** * 任务号 */ public Integer taskNo; // 正在执行任务 private String execute; // 任务完成，等待WCS确认 private String waiting; // 排 private Short row; // 列 private Short bay; // 层 private Short lev; // 异常码1 private String alarm1 = "-"; // 异常码2 private String alarm2 = "-"; /** * 当前二维码 * 0为空 */ private Short currentCode; /** * 电池电量 @@ -46,9 +38,79 @@ public String batteryPower = "-"; /** * 当前速度 * 电池温度 */ public Short speed; public String batteryTemp = "-"; /** * 错误编号 */ private Short errorCode; /** * Plc输出状态IO */ private Short plcOutputStatusIO; /** * 错误信息码 */ private Short statusErrorCode; /** * 错误信息码枚举 */ private ShuttleErrorCodeType statusErrorCodeType; /** * PLC输入状态 */ private Short plcInputStatus; /** * 当前或者之前读到的二维码值 */ private Short currentOrBeforeCode; /** * 读到的二维码X方向偏移量 */ private Short codeOffsetX; /** * 读到的二维码Y方向偏移量 */ private Short codeOffsetY; /** * 当前的电压值 */ private Short currentVoltage; /** * 当前的模拟量值 */ private Short currentAnalogValue; /** * 当前的升降伺服速度 */ private Short currentLiftServoSpeed; /** * 当前的行走伺服速度 */ private Short currentMoveServoSpeed; /** * 当前的升降伺服负载率 */ private Short currentLiftServoLoad; /** * 当前的行走伺服负载率 */ private Short currentMoveServoLoad; /** * 充电状态 @@ -60,4 +122,19 @@ */ public String loca = "-"; public String getStatusErrorCode$() { if(this.statusErrorCodeType == null) return null; return this.statusErrorCodeType.desc; } public void setStatusErrorCode(Short statusErrorCode) { this.statusErrorCode = statusErrorCode; this.statusErrorCodeType = ShuttleErrorCodeType.get(statusErrorCode.intValue()); } public void setStatusErrorCode(ShuttleErrorCodeType type) { this.statusErrorCode = type.id.shortValue(); this.statusErrorCodeType = type; } } src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
@@ -11,6 +11,7 @@ MOVE_RIGHT(6, "右移"), MOVE_TOP(7, "前移"), MOVE_BOTTOM(8, "后移"), RESET(9, "状态复位"), ; public Integer id; src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -233,10 +233,15 @@ } //获取电池电量 public Short getBatteryPower() { public Short getBatteryPower$() { return (short) (this.batteryPower * 0.1); } //获取电池温度 public Short getBatteryTemp$() { return (short) (this.batteryTemp * 0.1); } /** * 设置小车状态 */ src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -372,6 +372,14 @@ command.setRunDirection((short) (assignCommand.getTaskMode() - 4)); command.setCommandEnd((short) 1); break; case 9://状态复位 command.setCommandWord((short) 0); //设置四向穿梭车为空闲状态 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); //任务号清零 shuttleProtocol.setTaskNo((short) 0); break; default: } command.setCommandEnd((short) 1); src/main/webapp/views/shuttle.html
@@ -33,19 +33,18 @@ <thead> <tr> <th>四向穿梭车</th> <th>待定</th> <th>状态</th> <th>有物</th> <th>在轨</th> <th>任务状态</th> <th>小车状态</th> <th>当前二维码</th> <th>电量</th> <th>排</th> <th>列</th> <th>层</th> <th>等待WCS确认</th> <th>定位</th> <th>充电状态</th> <th>报警信息1</th> <th>报警信息2</th> <th>电池温度</th> <th>错误编号</th> <th>plc输出状态IO</th> <th>当前或之前二维码</th> <th>x偏移量</th> <th>y偏移量</th> <th>电压</th> <th>模拟量</th> </tr> </thead> <tbody> @@ -61,11 +60,12 @@ <th>四向穿梭车</th> <th>工作号</th> <th>状态</th> <th>源站</th> <th>目标站</th> <th>源库位</th> <th>目标库位</th> <th>速度</th> <th>升降伺服速度</th> <th>行走伺服速度</th> <th>升降伺服负载</th> <th>行走伺服负载</th> <th>作业标记</th> </tr> </thead> @@ -123,6 +123,7 @@ <button class="item" onclick="shuttleOperator(6)">右移</button> <button class="item" onclick="shuttleOperator(7)">前移</button> <button class="item" onclick="shuttleOperator(8)">后移</button> <button class="item" onclick="shuttleOperator(9)">复位</button> </div> </fieldset> </div> @@ -585,18 +586,17 @@ let tr = tableEl.find("tr").eq(i); setVal(tr.children("td").eq(0), table[i-1].shuttleNo); setVal(tr.children("td").eq(1), table[i-1].status); setVal(tr.children("td").eq(2), table[i-1].status); setVal(tr.children("td").eq(3), table[i-1].loading); setVal(tr.children("td").eq(4), table[i-1].track); setVal(tr.children("td").eq(5), table[i-1].batteryPower); setVal(tr.children("td").eq(6), table[i-1].row); setVal(tr.children("td").eq(7), table[i-1].bay); setVal(tr.children("td").eq(8), table[i-1].lev); setVal(tr.children("td").eq(9), table[i-1].waiting); setVal(tr.children("td").eq(10), table[i-1].loca); setVal(tr.children("td").eq(11), table[i-1].chargeStatus); setVal(tr.children("td").eq(12), table[i-1].alarm1); setVal(tr.children("td").eq(13), table[i-1].alarm2); setVal(tr.children("td").eq(2), table[i-1].busyStatus); setVal(tr.children("td").eq(3), table[i-1].currentCode); setVal(tr.children("td").eq(4), table[i-1].batteryPower); setVal(tr.children("td").eq(5), table[i-1].batteryTemp); setVal(tr.children("td").eq(6), table[i-1].statusErrorCode$); setVal(tr.children("td").eq(7), table[i-1].plcOutputStatusIO); setVal(tr.children("td").eq(8), table[i-1].currentOrBeforeCode); setVal(tr.children("td").eq(9), table[i-1].codeOffsetX); setVal(tr.children("td").eq(10), table[i-1].codeOffsetY); setVal(tr.children("td").eq(11), table[i-1].currentVoltage); setVal(tr.children("td").eq(12), table[i-1].currentAnalogValue); } } else if (res.code === 403){ window.location.href = baseUrl+"/login"; @@ -626,12 +626,13 @@ setVal(tr.children("td").eq(0), table[i-1].shuttleNo); setVal(tr.children("td").eq(1), table[i-1].workNo); setVal(tr.children("td").eq(2), table[i-1].status); setVal(tr.children("td").eq(3), table[i-1].sourceStaNo); setVal(tr.children("td").eq(4), table[i-1].staNo); setVal(tr.children("td").eq(5), table[i-1].sourceLocNo); setVal(tr.children("td").eq(6), table[i-1].locNo); setVal(tr.children("td").eq(7), table[i-1].speed); setVal(tr.children("td").eq(8), table[i-1].pakMk); setVal(tr.children("td").eq(3), table[i-1].sourceLocNo); setVal(tr.children("td").eq(4), table[i-1].distLocNo); setVal(tr.children("td").eq(5), table[i-1].currentLiftServoSpeed); setVal(tr.children("td").eq(6), table[i-1].currentMoveServoSpeed); setVal(tr.children("td").eq(7), table[i-1].currentLiftServoLoad); setVal(tr.children("td").eq(8), table[i-1].currentMoveServoLoad); setVal(tr.children("td").eq(9), table[i-1].pakMk); } } else if (res.code === 403){ window.location.href = baseUrl+"/login";
