控制台四向穿梭车增加库位号和层高，提升机参数输出设置

Junjie

2023-04-14 95acbc65a8f55ac54a631a149f50192b085d5ad9

控制台四向穿梭车增加库位号和层高，提升机参数输出设置

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

@@ -163,6 +163,8 @@
            vo.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad() == null ? "" : 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
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
        }
        return R.ok().add(list);
    }

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

@@ -1,5 +1,6 @@
package com.zy.asrs.domain.vo;

import com.zy.core.enums.LiftNotReadyType;
import com.zy.core.enums.LiftProtocolStatusType;
import lombok.Data;

@@ -168,6 +169,10 @@
        return this.ready ? "Y" : "N";
    }

    public String getNotReady$() {
        return LiftNotReadyType.get((int) this.notReady).desc;
    }

    public String getRunning$() {
        return this.running ? "Y" : "N";
    }

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

@@ -66,4 +66,14 @@
     */
    private String currentMoveServoLoad;

    /**
     * 四向穿梭车库位号
     */
    private String locNo;

    /**
     * 四向穿梭车当前所在楼层
     */
    private Integer lev;

}

 src/main/java/com/zy/asrs/mapper/BasDevpMapper.java

@@ -19,4 +19,6 @@
    BasDevp selectByWrkNo(Integer wrkNo);

    BasDevp queryByLocNo(String locNo);

    BasDevp queryByQrCode(String qrCodeValue);
}

 src/main/java/com/zy/asrs/service/BasDevpService.java

@@ -48,4 +48,6 @@

    BasDevp queryByLocNo(String locNo);

    BasDevp queryByQrCode(String qrCodeValue);

}

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

@@ -74,4 +74,9 @@
    public BasDevp queryByLocNo(String locNo) {
        return this.baseMapper.queryByLocNo(locNo);
    }

    @Override
    public BasDevp queryByQrCode(String qrCodeValue) {
        return this.baseMapper.queryByQrCode(qrCodeValue);
    }
}

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

New file
@@ -0,0 +1,56 @@
package com.zy.core.enums;

public enum LiftNotReadyType {
    STATUS_0(0, "N"),
    NOT_LEV(1, "不在指定层"),
    NOT_SYNC(2, "四轴不同步"),
    STATUS_3(3, "平台前限光电被挡到（靠近货架）"),
    STATUS_4(4, "平台后限光电被挡到（远离货架）"),
    STATUS_5(5, "平台上限位报警"),
    STATUS_6(6, "平台下限位报警"),
    STATUS_7(7, "电柜急停报警"),
    STATUS_8(8, "输送线前限位被挡到（靠近货架）"),
    STATUS_9(9, "输送线后限位被挡到（远离货架）"),
    STATUS_10(10, "触摸屏紧急停止被按下"),
    STATUS_11(11, "四轴动力线断线"),
    STATUS_12(12, "单机模式"),
    STATUS_13(13, "四轴报警"),
    STATUS_14(14, "位置偏差过大"),
    STATUS_15(15, "扭矩偏差过大"),
    STATUS_16(16, "输送线过载"),
    STATUS_17(17, "进提升机卡托盘"),
    STATUS_18(18, "出提升机卡托盘"),
    ;

    public Integer id;
    public String desc;

    LiftNotReadyType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static LiftNotReadyType get(Integer id) {
        if (null == id) {
            return null;
        }
        for (LiftNotReadyType type : LiftNotReadyType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static LiftNotReadyType get(LiftNotReadyType type) {
        if (null == type) {
            return null;
        }
        for (LiftNotReadyType type2 : LiftNotReadyType.values()) {
            if (type2 == type) {
                return type2;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -1,8 +1,10 @@
package com.zy.core.model.protocol;

import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttleErr;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleErrService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
@@ -40,12 +42,6 @@
     * 当前小车状态（内部自我维护）
     */
    private Integer protocolStatus;

//    /**
//     * 小车当前是否有货
//     * true:有货，false：无货
//     */
//    private Boolean loading = false;

    /**
     * 当前小车状态枚举
@@ -323,4 +319,24 @@
        return basShuttleErr.getErrName();
    }

    public void setCurrentCode(Short currentCode) {
        this.currentCode = currentCode;
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        if (locMastService != null) {
            LocMast locMast = locMastService.queryByQrCode(currentCode.toString());
            if (locMast == null) {
                //查不到库位号，查询是否为站点
                BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                if (basDevpService != null) {
                    BasDevp basDevp = basDevpService.queryByLocNo(currentCode.toString());
                    if (basDevp != null) {
                        this.locNo = basDevp.getLocNo();
                    }
                }
            }else{
                this.locNo = locMast.getLocNo();
            }
        }
    }

}

 src/main/resources/mapper/BasDevpMapper.xml

@@ -81,4 +81,11 @@
        where 1=1
        and loc_no = #{locNo}
    </select>

    <select id="queryByQrCode" resultMap="BaseResultMap">
        select top 1 *
        from asr_bas_devp
        where 1=1
        and qr_code_value = #{qrCodeValue}
    </select>
</mapper>

 src/main/webapp/views/lift.html

@@ -20,9 +20,9 @@
    <div style="padding: 10px;height: 100%">
        <!-- 日志监控板 -->
        <div class="log-board">
            <div class="command-log" id="commandLogId">
            <div class="command-log" id="commandLogId" style="width: 10%;">
            </div>
            <div class="lift-state">
            <div class="lift-state" style="width: 90%;">
                <table id="lift-state-table">
                    <thead>
                    <tr>
@@ -311,7 +311,7 @@
                        setVal(tr.children("td").eq(1), table[i-1].taskNo);
                        setVal(tr.children("td").eq(2), table[i-1].protocolStatus);
                        setVal(tr.children("td").eq(3), table[i-1].liftLock$);
                        setVal(tr.children("td").eq(4), table[i-1].positionArrivalFeedback$);
                        setVal(tr.children("td").eq(4), table[i-1].positionArrivalFeedback);
                        setVal(tr.children("td").eq(5), table[i-1].ready$);
                        setVal(tr.children("td").eq(6), table[i-1].running$);
                        setVal(tr.children("td").eq(7), table[i-1].mode$);

 src/main/webapp/views/shuttle.html

@@ -72,6 +72,8 @@
                            <th>升降伺服负载</th>
                            <th>行走伺服负载</th>
                            <th>作业标记</th>
                            <th>库位号</th>
                            <th>当前楼层</th>
                        </tr>
                    </thead>
                    <tbody>
@@ -649,6 +651,8 @@
                        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);
                        setVal(tr.children("td").eq(10), table[i-1].locNo);
                        setVal(tr.children("td").eq(11), table[i-1].lev);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";