src/main/java/com/zy/asrs/controller/ShuttleController.java
New file @@ -0,0 +1,294 @@ package com.zy.asrs.controller; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.annotations.ManagerAuth; import com.core.common.BaseRes; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.domain.enums.CrnStatusType; import com.zy.asrs.domain.param.ShuttleOperatorParam; import com.zy.asrs.domain.param.SteModeParam; import com.zy.asrs.domain.param.SteOperatorParam; import com.zy.asrs.domain.vo.*; import com.zy.asrs.entity.BasShuttle; import com.zy.asrs.entity.BasSte; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasShuttleService; import com.zy.asrs.service.WrkMastService; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.SteSlave; import com.zy.core.model.Task; import com.zy.core.model.command.ShuttleCommand; import com.zy.core.model.command.SteCommand; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.model.protocol.SteProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.properties.SystemProperties; import com.zy.core.thread.ShuttleThread; import com.zy.core.thread.SteThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.web.bind.annotation.*; import java.util.ArrayList; import java.util.Date; import java.util.List; /** * 四向穿梭车接口 */ @Slf4j @RestController @RequestMapping("/shuttle") public class ShuttleController { @Autowired private SlaveProperties slaveProperties; @Autowired private BasShuttleService basShuttleService; @Autowired private WrkMastService wrkMastService; @PostMapping("/table/shuttle/state") @ManagerAuth(memo = "四向穿梭车信息表") public R steStateTable(){ List<ShuttleStateTableVo> list = new ArrayList<>(); List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no")); for (BasShuttle basShuttle : shuttles) { // 表格行 ShuttleStateTableVo vo = new ShuttleStateTableVo(); vo.setShuttleNo(basShuttle.getShuttleNo()); //四向穿梭车号 list.add(vo); // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } vo.setTaskNo(shuttleProtocol.getTaskNo().intValue()); // 任务号 if (!Cools.isEmpty(shuttleProtocol.getBusyStatus())) { vo.setStatus(shuttleProtocol.getBusyStatusType().desc); // 状态 } vo.setRow(shuttleProtocol.getRow()); vo.setBay(shuttleProtocol.getBay()); vo.setLev(shuttleProtocol.getLev()); vo.setBatteryPower(shuttleProtocol.getBatteryPower() + "%"); vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) { vo.setAlarm1(String.valueOf(shuttleProtocol.getErrorCode())); } if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) { vo.setAlarm2(String.valueOf(shuttleProtocol.getStatusErrorCode())); } } return R.ok().add(list); } @PostMapping("/table/shuttle/msg") @ManagerAuth(memo = "四向穿梭车数据表") public R steMsgTable(){ List<ShuttleMsgTableVo> list = new ArrayList<>(); List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no")); for (BasShuttle basShuttle : shuttles) { // 表格行 ShuttleMsgTableVo vo = new ShuttleMsgTableVo(); vo.setShuttleNo(basShuttle.getShuttleNo()); // 四向穿梭车号 list.add(vo); // 获取穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } 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.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed()); // 速度 vo.setPakMk(shuttleProtocol.getPakMk()); // 作业标记 } return R.ok().add(list); } @PostMapping("/output/shuttle") @ManagerAuth public R steOutput(){ StringBuilder str = new StringBuilder(); String s; int i = 0; while((s = OutputQueue.SHUTTLE.poll()) != null && i <=10) { str.append("\n").append(s); i++; } return R.ok().add(str.toString()); } @GetMapping("/detl/{shuttleNo}") public R steDetl(@PathVariable("shuttleNo") Integer shuttleNo){ ShuttleDataVo vo = new ShuttleDataVo(); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { if (shuttleNo.equals(shuttleSlave.getId())) { vo.setShuttleNo(shuttleSlave.getId()); BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId()); if (!Cools.isEmpty(basShuttle)) { vo.setRow(basShuttle.getRow()); vo.setBay(basShuttle.getBay()); vo.setLev(basShuttle.getLev()); vo.setWorkNo(basShuttle.getWrkNo()); vo.setPakMk(basShuttle.getPakMk()); } break; } } return R.ok().add(vo); } @GetMapping("/sensor/detl/{shuttleNo}") public R shuttleSensorDetl(@PathVariable("shuttleNo") Integer shuttleNo){ ShuttleSensorDataVo vo = new ShuttleSensorDataVo(); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { if (shuttleNo.equals(shuttleSlave.getId())) { vo.setShuttleNo(shuttleSlave.getId()); // 获取穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); if (shuttleThread == null) { return R.error("设备不在线"); } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { return R.error("设备不在线"); } // 穿梭车异常 ----------- // 穿梭车提示信息 ---------------------- // 任务信息 ---------------- vo.setPakInTask(shuttleProtocol.isPakInTask()); vo.setPakOutTask(shuttleProtocol.isPakOutTask()); vo.setPakMoveTask(shuttleProtocol.isPakMoveTask()); vo.setGoHpTask(shuttleProtocol.isGoHpTask()); vo.setGoOHpTask(shuttleProtocol.isGoOHpTask()); vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid()); vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid()); vo.setPakInEmpty(shuttleProtocol.isPakInEmpty()); vo.setPakInFinish(shuttleProtocol.isPakInFinish()); vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty()); vo.setPakOutFinish(shuttleProtocol.isPakOutFinish()); vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish()); vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish()); vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr()); vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr()); // 状态信息 ------------- break; } } return R.ok().add(vo); } @PostMapping("/detl/update") @ManagerAuth public R steUpdate(ShuttleDataVo vo){ BasShuttle basShuttle = basShuttleService.selectById(vo.getShuttleNo()); if (basShuttle == null) { return R.error(); } // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, vo.getShuttleNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { throw new CoolException(vo.getShuttleNo() + "号四向穿梭车不在线，无法保存"); } // if (!Cools.isEmpty(vo.getRow(), vo.getBay(), vo.getLev())) { // if (!shuttleThread.modifyPosHandle(vo.getRow(), vo.getBay(), vo.getLev())) { // throw new CoolException("服务器错误"); // } // } ShuttleCommand shuttleCommand = new ShuttleCommand(); shuttleCommand.setTaskNo(vo.getWorkNo()); if (MessageQueue.offer(SlaveType.Shuttle, vo.getShuttleNo(), new Task(2, shuttleCommand))) { } else { throw new CoolException("命令下发失败"); } basShuttle.setRow(vo.getRow()); basShuttle.setBay(vo.getBay()); basShuttle.setLev(vo.getLev()); basShuttle.setPakMk(vo.getPakMk()); basShuttle.setWrkNo(vo.getWorkNo()); basShuttle.setUpdateTime(new Date()); if (!basShuttleService.updateById(basShuttle)) { throw new CoolException("修改失败"); } return R.ok(); } /****************************************************************/ /************************** 手动操作 ******************************/ /****************************************************************/ @ManagerAuth(memo = "手动操作") @PostMapping("/operator/shuttle") public R shuttleOperator(ShuttleOperatorParam param){ if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) { 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()); if (shuttleThread == null) { throw new CoolException("四向穿梭车不在线"); } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { throw new CoolException("四向穿梭车不在线"); } ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode()); ShuttleCommand shuttleCommand = new ShuttleCommand(); shuttleCommand.setShuttleNo(shuttleSlave.getId()); // 四向穿梭车编号 // if (param.getShuttleTaskMode() == 16) { // steCommand.setComplete(true); // } else if (param.getSteTaskMode() == 99) { // steCommand.setControlMode((short) 1); // } else if (param.getSteTaskMode() == 100) { // steCommand.setControlMode((short) 0); // } else { // if (steTaskModeType == null) { // throw new CoolException("任务类型错误"); // } // steCommand.setTaskNo(param.getTaskNo()); // 工作号 // steCommand.setTaskMode(steTaskModeType); // } if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(2, shuttleCommand))) { return R.ok(); } else { throw new CoolException("命令下发失败"); } } } return R.error(); } } src/main/java/com/zy/asrs/domain/param/ShuttleOperatorParam.java
New file @@ -0,0 +1,26 @@ package com.zy.asrs.domain.param; import lombok.Data; @Data public class ShuttleOperatorParam { // 四向穿梭车号 private Integer shuttleNo; // 命令类型 private Short shuttleTaskMode; // 任务号 private Integer taskNo = 0; // 目标库位-排 private Short row; // 目标库位-列 private Short bay; // 目标库位-层 private Short lev; } src/main/java/com/zy/asrs/domain/vo/ShuttleDataVo.java
New file @@ -0,0 +1,22 @@ package com.zy.asrs.domain.vo; import lombok.Data; @Data public class ShuttleDataVo { // 四向穿梭车号 private Integer shuttleNo; // 工作号 private Integer workNo; private Integer row; private Integer bay; private Integer lev; private String pakMk; } src/main/java/com/zy/asrs/domain/vo/ShuttleMsgTableVo.java
New file @@ -0,0 +1,44 @@ package com.zy.asrs.domain.vo; import lombok.Data; @Data public class ShuttleMsgTableVo { // 四向穿梭车号 private Integer shuttleNo; // 工作号 private Integer 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 = ""; // 速度 private Double speed = 0.0D; // 作业标记 private String pakMk = "-"; } src/main/java/com/zy/asrs/domain/vo/ShuttleSensorDataVo.java
New file @@ -0,0 +1,90 @@ package com.zy.asrs.domain.vo; import lombok.Data; @Data public class ShuttleSensorDataVo { /** * 四向穿梭车号 */ private Integer shuttleNo; // 任务信息 --------------------------------------------------------- /** * 96.入库任务中 */ private boolean pakInTask; /** * 97. 出库任务中 */ private boolean pakOutTask; /** * 98. 移库任务中 */ private boolean pakMoveTask; /** * 99. 回原点任务中 */ private boolean goHpTask; /** * 100. 去反原点任务中 */ private boolean goOHpTask; /** * 101. 去原点避让位 */ private boolean goHpAvoid; /** * 102. 去反原点避让位 */ private boolean goOHpAvoid; /** * 104. 入库取空结束 */ private boolean pakInEmpty; /** * 105. 入库正常结束 */ private boolean pakInFinish; /** * 106. 出库取空结束 */ private boolean pakOutEmpty; /** * 107. 出库正常结束 */ private boolean pakOutFinish; /** * 108. 去原点避让完成 */ private boolean goHpAvoidFinish; /** * 109. 去反原点避让完成 */ private boolean goOHpAvoidFinish; /** * 110. 去原点避让完成 */ private boolean goHpAvoidErr; /** * 111. 去反原点避让完成 */ private boolean goOHpAvoidErr; } src/main/java/com/zy/asrs/domain/vo/ShuttleStateTableVo.java
New file @@ -0,0 +1,63 @@ package com.zy.asrs.domain.vo; import lombok.Data; @Data public class ShuttleStateTableVo { // 四向穿梭车号 private Integer shuttleNo; // 状态 private String status = "-"; // 有物 private String loading = "-"; /** * 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 = "-"; /** * 电池电量 */ public String batteryPower = "-"; /** * 当前速度 */ public Double speed; /** * 充电状态 */ public String chargeStatus = "-"; /** * 当前位置 */ public String loca = "-"; } src/main/java/com/zy/asrs/entity/BasShuttle.java
New file @@ -0,0 +1,258 @@ package com.zy.asrs.entity; import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId; import com.baomidou.mybatisplus.enums.IdType; import com.baomidou.mybatisplus.annotations.TableField; import com.core.common.SpringUtils; import com.zy.system.service.UserService; import com.zy.system.entity.User; import java.text.SimpleDateFormat; import java.util.Date; import org.springframework.format.annotation.DateTimeFormat; import com.core.common.SpringUtils; import com.zy.system.service.UserService; import com.zy.system.entity.User; import java.text.SimpleDateFormat; import java.util.Date; import io.swagger.annotations.ApiModelProperty; import lombok.Data; import com.baomidou.mybatisplus.annotations.TableName; import java.io.Serializable; @Data @TableName("asr_bas_shuttle") public class BasShuttle implements Serializable { private static final long serialVersionUID = 1L; /** * 四向穿梭车号 */ @ApiModelProperty(value= "四向穿梭车号") @TableId(value = "shuttle_no", type = IdType.INPUT) @TableField("shuttle_no") private Integer shuttleNo; /** * 状态 1: 正常 0: 禁用 */ @ApiModelProperty(value= "状态 1: 正常 0: 禁用 ") private Integer status; /** * 作业态 */ @ApiModelProperty(value= "作业态") @TableField("shuttle_status") private Integer shuttleStatus; /** * 任务号 */ @ApiModelProperty(value= "任务号") @TableField("wrk_no") private Integer wrkNo; /** * 排 */ @ApiModelProperty(value= "排") private Integer row; /** * 列 */ @ApiModelProperty(value= "列") private Integer bay; /** * 层 */ @ApiModelProperty(value= "层") private Integer lev; /** * 历史排 */ @ApiModelProperty(value= "历史排") @TableField("his_row") private Integer hisRow; /** * 历史列 */ @ApiModelProperty(value= "历史列") @TableField("his_bay") private Integer hisBay; /** * 历史层 */ @ApiModelProperty(value= "历史层") @TableField("his_lev") private Integer hisLev; /** * 暂存库位 */ @ApiModelProperty(value= "暂存库位") @TableField("idle_loc") private String idleLoc; /** * 自动充电 */ @ApiModelProperty(value= "自动充电") @TableField("auto_charge") private Integer autoCharge; /** * 电量线 */ @ApiModelProperty(value= "电量线") @TableField("charge_line") private Integer chargeLine; /** * 添加人员 */ @ApiModelProperty(value= "添加人员") @TableField("create_by") private Long createBy; /** * 添加时间 */ @ApiModelProperty(value= "添加时间") @TableField("create_time") @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss") private Date createTime; /** * 修改人员 */ @ApiModelProperty(value= "修改人员") @TableField("update_by") private Long updateBy; /** * 修改时间 */ @ApiModelProperty(value= "修改时间") @TableField("update_time") @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss") private Date updateTime; /** * 备注 */ @ApiModelProperty(value= "备注") private String memo; /** * 提升机号 */ @ApiModelProperty(value= "提升机号") @TableField("lift_no") private Integer liftNo; /** * 标记 */ @ApiModelProperty(value= "标记") @TableField("pak_mk") private String pakMk; public BasShuttle() {} public BasShuttle(Integer shuttleNo,Integer status,Integer shuttleStatus,Integer wrkNo,Integer row,Integer bay,Integer lev,Integer hisRow,Integer hisBay,Integer hisLev,String idleLoc,Integer autoCharge,Integer chargeLine,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo,Integer liftNo) { this.shuttleNo = shuttleNo; this.status = status; this.shuttleStatus = shuttleStatus; this.wrkNo = wrkNo; this.row = row; this.bay = bay; this.lev = lev; this.hisRow = hisRow; this.hisBay = hisBay; this.hisLev = hisLev; this.idleLoc = idleLoc; this.autoCharge = autoCharge; this.chargeLine = chargeLine; this.createBy = createBy; this.createTime = createTime; this.updateBy = updateBy; this.updateTime = updateTime; this.memo = memo; this.liftNo = liftNo; } // BasShuttle basShuttle = new BasShuttle( // null, // 四向穿梭车号[非空] // null, // 状态 // null, // 作业态 // null, // 任务号 // null, // 排 // null, // 列 // null, // 层 // null, // 历史排 // null, // 历史列 // null, // 历史层 // null, // 暂存库位 // null, // 自动充电 // null, // 电量线 // null, // 添加人员 // null, // 添加时间 // null, // 修改人员 // null, // 修改时间 // null, // 备注 // null // 提升机号 // ); public String getStatus$(){ if (null == this.status){ return null; } switch (this.status){ case 1: return "正常"; case 0: return "禁用"; default: return String.valueOf(this.status); } } public String getCreateBy$(){ UserService service = SpringUtils.getBean(UserService.class); User user = service.selectById(this.createBy); if (!Cools.isEmpty(user)){ return String.valueOf(user.getUsername()); } return null; } public String getCreateTime$(){ if (Cools.isEmpty(this.createTime)){ return ""; } return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime); } public String getUpdateBy$(){ UserService service = SpringUtils.getBean(UserService.class); User user = service.selectById(this.updateBy); if (!Cools.isEmpty(user)){ return String.valueOf(user.getUsername()); } return null; } public String getUpdateTime$(){ if (Cools.isEmpty(this.updateTime)){ return ""; } return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime); } } src/main/java/com/zy/asrs/mapper/BasShuttleMapper.java
New file @@ -0,0 +1,12 @@ package com.zy.asrs.mapper; import com.zy.asrs.entity.BasShuttle; import com.baomidou.mybatisplus.mapper.BaseMapper; import org.apache.ibatis.annotations.Mapper; import org.springframework.stereotype.Repository; @Mapper @Repository public interface BasShuttleMapper extends BaseMapper<BasShuttle> { } src/main/java/com/zy/asrs/service/BasShuttleService.java
New file @@ -0,0 +1,8 @@ package com.zy.asrs.service; import com.zy.asrs.entity.BasShuttle; import com.baomidou.mybatisplus.service.IService; public interface BasShuttleService extends IService<BasShuttle> { } src/main/java/com/zy/asrs/service/impl/BasShuttleServiceImpl.java
New file @@ -0,0 +1,12 @@ package com.zy.asrs.service.impl; import com.zy.asrs.mapper.BasShuttleMapper; import com.zy.asrs.entity.BasShuttle; import com.zy.asrs.service.BasShuttleService; import com.baomidou.mybatisplus.service.impl.ServiceImpl; import org.springframework.stereotype.Service; @Service("basShuttleService") public class BasShuttleServiceImpl extends ServiceImpl<BasShuttleMapper, BasShuttle> implements BasShuttleService { } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -30,13 +30,11 @@ import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.SteCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.model.protocol.SteProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.core.thread.SteThread; import com.zy.core.thread.*; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; @@ -612,6 +610,27 @@ } /** * 入出库 ===>> 四向穿梭车入出库作业下发 */ public synchronized void shuttleIoExecute() { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } // 只有当四向穿梭车空闲 并且无任务时才继续执行 if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() == 0) { //入出库逻辑 //..... } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(){ src/main/java/com/zy/core/MainProcess.java
@@ -57,6 +57,8 @@ mainService.crnStnToOutStn(); // 入出库 ===>> 堆垛机入出库作业下发 mainService.crnIoExecute(); // 入出库 ===>> 四向穿梭车入出库作业下发 mainService.shuttleIoExecute(); // 入库 ===>> 执行堆垛机对工作档的完成操作 mainService.storeFinished(); // 入库 ===>> 执行穿梭车对工作档的完成操作 src/main/java/com/zy/core/ServerBootstrap.java
@@ -3,10 +3,7 @@ import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.SlaveType; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.LedSlave; import com.zy.core.model.SteSlave; import com.zy.core.model.*; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.*; import lombok.extern.slf4j.Slf4j; @@ -73,6 +70,10 @@ for (Slave ste : slaveProperties.getSte()) { MessageQueue.init(SlaveType.Ste, ste); } // 初始化四向穿梭车mq for (Slave shuttle : slaveProperties.getShuttle()) { MessageQueue.init(SlaveType.Shuttle, shuttle); } } private void initThread(){ @@ -97,6 +98,13 @@ new Thread((Runnable) devpThread).start(); SlaveConnection.put(SlaveType.Devp, devp.getId(), devpThread); } // 初始化四向穿梭车 News.info("初始化四向穿梭车......................................................"); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { ShuttleThread shuttleThread = new ShuttleThread(shuttleSlave); new Thread(shuttleThread).start(); SlaveConnection.put(SlaveType.Shuttle, shuttleSlave.getId(), shuttleThread); } // 初始化条码扫描仪线程 News.info("初始化条码扫描仪线程..................................................."); for (Slave barcode : slaveProperties.getBarcode()) { src/main/java/com/zy/core/cache/MessageQueue.java
@@ -29,6 +29,8 @@ private static final Map<Integer, ConcurrentLinkedQueue<Task>> SCALE_EXCHANGE = new ConcurrentHashMap<>(); // 台车mq交换机 private static final Map<Integer, ConcurrentLinkedQueue<Task>> CAR_EXCHANGE = new ConcurrentHashMap<>(); //四向穿梭车mq交换机 private static final Map<Integer, ConcurrentLinkedQueue<Task>> SHUTTLE_EXCHANGE = new ConcurrentHashMap<>(); /** * mq 交换机初始化 @@ -56,6 +58,9 @@ case Car: CAR_EXCHANGE.put(slave.getId(), new ConcurrentLinkedQueue<>()); break; case Shuttle: SHUTTLE_EXCHANGE.put(slave.getId(), new ConcurrentLinkedQueue<>()); break; default: break; } @@ -81,6 +86,8 @@ return SCALE_EXCHANGE.get(id).offer(task); case Car: return CAR_EXCHANGE.get(id).offer(task); case Shuttle: return SHUTTLE_EXCHANGE.get(id).offer(task); default: return false; } @@ -106,6 +113,8 @@ return SCALE_EXCHANGE.get(id).poll(); case Car: return CAR_EXCHANGE.get(id).poll(); case Shuttle: return SHUTTLE_EXCHANGE.get(id).poll(); default: return null; } @@ -130,6 +139,8 @@ return SCALE_EXCHANGE.get(id).peek(); case Car: return CAR_EXCHANGE.get(id).peek(); case Shuttle: return SHUTTLE_EXCHANGE.get(id).peek(); default: return null; } @@ -158,6 +169,9 @@ case Car: CAR_EXCHANGE.get(id).clear(); break; case Shuttle: SHUTTLE_EXCHANGE.get(id).clear(); break; default: break; } src/main/java/com/zy/core/cache/OutputQueue.java
@@ -17,5 +17,7 @@ public static ArrayBlockingQueue<JSONObject> BARCODE = new ArrayBlockingQueue<>(32); // 穿梭车输出日志 public static ArrayBlockingQueue<String> STE = new ArrayBlockingQueue<>(32); //四向穿梭车输出日志 public static ArrayBlockingQueue<String> SHUTTLE = new ArrayBlockingQueue<>(32); } src/main/java/com/zy/core/enums/ShuttleErrorCodeType.java
New file @@ -0,0 +1,50 @@ package com.zy.core.enums; /** * 四向穿梭车 * Wm204 错误编号 */ public enum ShuttleErrorCodeType { NORMAL(0, "无错误"), PCB_SUBMODULE(1, "PCB子模块"), PCB_PLATE(2, "PCB板"), SERVO(10, "伺服"), CANOPEN(11, "canopen"), RUN_ERROR(14, "运行错误"), SYSTEM_ERROR(16, "系统错误") ; public Integer id; public String desc; ShuttleErrorCodeType(Integer id, String desc) { this.id = id; this.desc = desc; } public static ShuttleErrorCodeType get(Integer id) { if (null == id) { return null; } for (ShuttleErrorCodeType type : ShuttleErrorCodeType.values()) { if (type.id.equals(id.intValue())) { return type; } } return null; } public static ShuttleErrorCodeType get(ShuttleErrorCodeType type) { if (null == type) { return null; } for (ShuttleErrorCodeType shuttleErrorCodeType : ShuttleErrorCodeType.values()) { if (shuttleErrorCodeType == type) { return shuttleErrorCodeType; } } return null; } } src/main/java/com/zy/core/enums/ShuttlePlcInputStatusType.java
New file @@ -0,0 +1,41 @@ package com.zy.core.enums; /** * 四向穿梭车 * Wm207 PLC输入状态 */ public enum ShuttlePlcInputStatusType { LIFT_STATUS(Byte.parseByte("6"), "托盘顶部传感器状态") ; public byte id; public String desc; ShuttlePlcInputStatusType(byte id, String desc) { this.id = id; this.desc = desc; } public static ShuttlePlcInputStatusType get(byte id) { for (ShuttlePlcInputStatusType type : ShuttlePlcInputStatusType.values()) { if (type.id == id) { return type; } } return null; } public static ShuttlePlcInputStatusType get(ShuttlePlcInputStatusType type) { if (null == type) { return null; } for (ShuttlePlcInputStatusType shuttlePlcInputStatusType : ShuttlePlcInputStatusType.values()) { if (shuttlePlcInputStatusType == type) { return shuttlePlcInputStatusType; } } return null; } } src/main/java/com/zy/core/enums/ShuttlePlcOutputStatusType.java
New file @@ -0,0 +1,45 @@ package com.zy.core.enums; /** * 四向穿梭车 * WM205 Plc输出状态IO */ public enum ShuttlePlcOutputStatusType { NULL(Byte.parseByte("0"), "空"), LIFT(Byte.parseByte("1"), "顶升位"), TURN(Byte.parseByte("2"), "转向位"), BRAKE(Byte.parseByte("3"), "抱闸位"), CHARGE(Byte.parseByte("4"), "冲电位") ; public byte id; public String desc; ShuttlePlcOutputStatusType(byte id, String desc) { this.id = id; this.desc = desc; } public static ShuttlePlcOutputStatusType get(byte id) { for (ShuttlePlcOutputStatusType type : ShuttlePlcOutputStatusType.values()) { if (type.id == id) { return type; } } return null; } public static ShuttlePlcOutputStatusType get(ShuttlePlcOutputStatusType type) { if (null == type) { return null; } for (ShuttlePlcOutputStatusType shuttlePlcOutputStatusType : ShuttlePlcOutputStatusType.values()) { if (shuttlePlcOutputStatusType == type) { return shuttlePlcOutputStatusType; } } return null; } } src/main/java/com/zy/core/enums/ShuttleStatusType.java
New file @@ -0,0 +1,45 @@ package com.zy.core.enums; /** * 四向穿梭车 * Wm200 小车忙状态位 */ public enum ShuttleStatusType { IDLE(false, "空闲"), BUSY(true, "忙"), ; public Boolean id; public String desc; ShuttleStatusType(Boolean id,String desc) { this.id = id; this.desc = desc; } public static ShuttleStatusType get(Boolean id) { if (null == id) { return null; } for (ShuttleStatusType type : ShuttleStatusType.values()) { if (type.id.equals(id.booleanValue())) { return type; } } return BUSY; } public static ShuttleStatusType get(ShuttleStatusType type) { if (null == type) { return null; } for (ShuttleStatusType shuttleStatusType : ShuttleStatusType.values()) { if (shuttleStatusType == type) { return shuttleStatusType; } } return null; } } src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
New file @@ -0,0 +1,40 @@ package com.zy.core.enums; public enum ShuttleTaskModeType { INIT(0, "初始"), // 初始 ; public Integer id; public String desc; ShuttleTaskModeType(Integer id, String desc) { this.id = id; this.desc = desc; } public static ShuttleTaskModeType get(Short id) { if (null == id) { return null; } for (ShuttleTaskModeType type : ShuttleTaskModeType.values()) { if (type.id.equals(id.intValue())) { return type; } } return null; } public static ShuttleTaskModeType get(ShuttleTaskModeType type) { if (null == type) { return null; } for (ShuttleTaskModeType shuttleTaskModeType : ShuttleTaskModeType.values()) { if (shuttleTaskModeType == type) { return shuttleTaskModeType; } } return null; } } src/main/java/com/zy/core/enums/SlaveType.java
@@ -9,6 +9,7 @@ Scale, Car, Ste, Shuttle, ; public static SlaveType findInstance(String s){ src/main/java/com/zy/core/model/ShuttleSlave.java
New file @@ -0,0 +1,46 @@ package com.zy.core.model; import com.zy.core.Slave; import lombok.Data; import lombok.EqualsAndHashCode; import java.util.ArrayList; import java.util.List; @EqualsAndHashCode(callSuper = true) @Data public class ShuttleSlave extends Slave { private Integer rack; private Integer slot; private Boolean demo; // 穿梭车入库站点 private List<Sta> shuttleInStn = new ArrayList<>(); // 穿梭车出库站点 private List<Sta> shuttleOutStn = new ArrayList<>(); @Data public static class Sta { // 输送线plc编号 private Integer devpPlcId; // 穿梭车站点编号 private Integer staNo; // 排 private Integer row; // 列 private Integer bay; // 层 private Integer lev; } } src/main/java/com/zy/core/model/command/ShuttleCommand.java
New file @@ -0,0 +1,98 @@ package com.zy.core.model.command; import lombok.Data; @Data public class ShuttleCommand { /** * 四向穿梭车号 */ private Integer shuttleNo = 0; /** * 任务号 */ private Integer taskNo = 0; /** * 作业类型 */ private Short taskMode = 0; /** * 任务确认 false：未确认 true：已确认 */ private Boolean complete = Boolean.FALSE; /** * 控制指令字 */ private Integer commandWord; /** * 启始二维编号 */ private String startCodeNum; /** * 中间二维编号 */ private String middleCodeNum; /** * 目标二维编号 */ private String distCodeNum; /** * 起点到目标点的距离长度 */ private Integer startToDistDistance; /** * 中间点到目标点的距离长度 */ private Integer middleToDistDistance; /** * 小车运行方向 */ private Integer runDirection; /** * 托盘顶升 */ private Integer palletLift; /** * 小车强制移动距离 */ private Integer forceMoveDistance; /** * 充电开关 */ private Integer chargeSwitch; /** * 小车IO控制 */ private byte IOControl; /** * 小车运行速度 */ private Integer runSpeed; /** * 小车雷达备用 */ private Integer radarTmp; /** * 指令结束位 */ private Integer commandEnd; } src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
New file @@ -0,0 +1,294 @@ package com.zy.core.model.protocol; import com.zy.core.enums.ShuttleStatusType; import lombok.Data; import lombok.extern.slf4j.Slf4j; /** * 四向穿梭车 */ @Slf4j @Data public class ShuttleProtocol { /** * 四向穿梭车号 */ private Short shuttleNo; /** * 任务号 */ public Short taskNo = 0; /** * 排 */ public Short row; /** * 列 */ public Short bay; /** * 层 */ public Short lev; /** * 控制指令字 */ private Integer commandWord; /** * 启始二维编号 */ private Integer startCodeNum; /** * 中间二维编号 */ private Integer middleCodeNum; /** * 目标二维编号 */ private Integer distCodeNum; /** * 起点到目标点的距离长度 */ private Integer startToDistDistance; /** * 中间点到目标点的距离长度 */ private Integer middleToDistDistance; /** * 小车运行方向 */ private Integer runDirection; /** * 托盘顶升 */ private Integer palletLift; /** * 小车强制移动距离 */ private Integer forceMoveDistance; /** * 充电开关 */ private Integer chargeSwitch; /** * 小车IO控制 */ private Integer IOControl; /** * 小车运行速度 */ private Integer runSpeed; /** * 小车雷达备用 */ private Integer radarTmp; /** * 指令结束位 */ private Integer commandEnd; /** * 小车忙状态位 * true: 忙 * false: 空闲 */ private Boolean busyStatus; /** * 小车忙状态位枚举 */ private ShuttleStatusType busyStatusType; /** * 当前二维码 * 0为空 */ private String currentCode; /** * 电池电量百分比 */ private Double batteryPower; /** * 电池温度 */ private Double batteryTemp; /** * 错误编号 */ private Integer errorCode; /** * Plc输出状态IO */ private byte plcOutputStatusIO; /** * 错误信息码 */ private Integer statusErrorCode; /** * PLC输入状态 */ private byte plcInputStatus; /** * 当前或者之前读到的二维码值 */ private String currentOrBeforeCode; /** * 读到的二维码X方向偏移量 */ private Integer codeOffsetX; /** * 读到的二维码Y方向偏移量 */ private Integer codeOffsetY; /** * 当前的电压值 */ private Double currentVoltage; /** * 当前的模拟量值 */ private Integer currentAnalogValue; /** * 当前的升降伺服速度 */ private Double currentLiftServoSpeed; /** * 当前的行走伺服速度 */ private Double currentMoveServoSpeed; /** * 当前的升降伺服负载率 */ private Double currentLiftServoLoad; /** * 当前的行走伺服负载率 */ private Double currentMoveServoLoad; /** * 作业标记 */ private String pakMk = "-"; // 任务信息 --------------------------------------------------------- /** * 96.入库任务中 */ private boolean pakInTask; /** * 97. 出库任务中 */ private boolean pakOutTask; /** * 98. 移库任务中 */ private boolean pakMoveTask; /** * 99. 回原点任务中 */ private boolean goHpTask; /** * 100. 去反原点任务中 */ private boolean goOHpTask; /** * 101. 去原点避让位 */ private boolean goHpAvoid; /** * 102. 去反原点避让位 */ private boolean goOHpAvoid; /** * 104. 入库取空结束 */ private boolean pakInEmpty; /** * 105. 入库正常结束 */ private boolean pakInFinish; /** * 106. 出库取空结束 */ private boolean pakOutEmpty; /** * 107. 出库正常结束 */ private boolean pakOutFinish; /** * 108. 去原点避让完成 */ private boolean goHpAvoidFinish; /** * 109. 去反原点避让完成 */ private boolean goOHpAvoidFinish; /** * 110. 去原点避让完成 */ private boolean goHpAvoidErr; /** * 111. 去反原点避让完成 */ private boolean goOHpAvoidErr; public void setBusyStatus(Boolean status) { this.busyStatus = status; this.busyStatusType = ShuttleStatusType.get(status); } public void setBusyStatus(ShuttleStatusType type) { this.busyStatus = type.id.booleanValue(); this.busyStatusType = type; } } src/main/java/com/zy/core/properties/SlaveProperties.java
@@ -1,10 +1,7 @@ package com.zy.core.properties; import com.zy.core.Slave; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.LedSlave; import com.zy.core.model.SteSlave; import com.zy.core.model.*; import lombok.Data; import org.springframework.boot.context.properties.ConfigurationProperties; import org.springframework.context.annotation.Configuration; @@ -42,4 +39,6 @@ private List<Slave> car = new ArrayList<>(); private List<ShuttleSlave> shuttle = new ArrayList<>(); } src/main/java/com/zy/core/thread/ShuttleThread.java
New file @@ -0,0 +1,275 @@ package com.zy.core.thread; import HslCommunication.Core.Transfer.DataFormat; import HslCommunication.Core.Types.OperateResult; import HslCommunication.Core.Types.OperateResultExOne; import HslCommunication.ModBus.ModbusTcpNet; import HslCommunication.Profinet.Siemens.SiemensPLCS; import HslCommunication.Profinet.Siemens.SiemensS7Net; import com.alibaba.fastjson.JSON; import com.core.common.DateUtils; import com.core.common.RadixTools; import com.core.exception.CoolException; import com.zy.core.News; import com.zy.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.ShuttleStatusType; import com.zy.core.enums.SlaveType; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.SteSlave; import com.zy.core.model.Task; import com.zy.core.model.command.ShuttleCommand; import com.zy.core.model.command.SteCommand; import com.zy.core.model.protocol.ShuttleProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; import java.util.Date; /** * 四向穿梭车线程 */ @Data @Slf4j public class ShuttleThread implements Runnable, ThreadHandler { private ModbusTcpNet modbusTcpNet; private ShuttleSlave slave; private ShuttleProtocol shuttleProtocol; private SiemensS7Net siemensS7Net; public ShuttleThread(ShuttleSlave slave) { this.slave = slave; } @Override public void run() { this.connect(); while (true) { try { int step = 1; Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId()); if (task != null) { step = task.getStep(); } switch (step) { // 读数据 case 1: readStatus(); break; // 写入数据 case 2: write((ShuttleCommand) task.getData()); break; default: break; } Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } } } @Override public boolean connect() { boolean result = false; //-------------------------四向穿梭车连接方法------------------------// modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01); // 当你需要指定格式的数据解析时，就需要设置下面的这个信息 modbusTcpNet.setDataFormat(DataFormat.ABCD); OperateResult connect = modbusTcpNet.ConnectServer(); if(connect.IsSuccess){ result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】四向穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.info("四向穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】四向穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); log.error("四向穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort()); } modbusTcpNet.ConnectClose(); //-------------------------四向穿梭车连接方法------------------------// return result; } @Override public void close() { } private void readStatus() { try { OperateResultExOne<byte[]> result = modbusTcpNet.Read("0", (short) 17); if (result.IsSuccess) { if (null == shuttleProtocol) { shuttleProtocol = new ShuttleProtocol(); shuttleProtocol.setShuttleNo(slave.getId().shortValue()); } //----------设置四向穿梭车状态----------- //获取数据 byte[] content = result.Content; //--------控制字-------- //控制指令字 shuttleProtocol.setCommandWord(modbusTcpNet.getByteTransform().TransUInt16(content, 0)); //启始二维编号 shuttleProtocol.setStartCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 2)); //中间二维编号 shuttleProtocol.setMiddleCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 4)); //目标二维编号 shuttleProtocol.setDistCodeNum(modbusTcpNet.getByteTransform().TransUInt16(content, 6)); //起点到目标点的距离长度 shuttleProtocol.setStartToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 8)); //中间点到目标点的距离长度 shuttleProtocol.setMiddleToDistDistance(modbusTcpNet.getByteTransform().TransInt32(content, 12)); //小车运行方向 shuttleProtocol.setRunDirection(modbusTcpNet.getByteTransform().TransUInt16(content, 16)); //托盘顶升 shuttleProtocol.setPalletLift(modbusTcpNet.getByteTransform().TransUInt16(content,18)); //小车强制移动距离 shuttleProtocol.setForceMoveDistance(modbusTcpNet.getByteTransform().TransInt32(content, 20)); //充电开关 shuttleProtocol.setChargeSwitch(modbusTcpNet.getByteTransform().TransUInt16(content,24)); //小车IO控制 shuttleProtocol.setIOControl(modbusTcpNet.getByteTransform().TransUInt16(content,26)); //小车运行速度 shuttleProtocol.setRunSpeed(modbusTcpNet.getByteTransform().TransUInt16(content,28)); //小车雷达备用 shuttleProtocol.setRadarTmp(modbusTcpNet.getByteTransform().TransUInt16(content,30)); //指令结束位 shuttleProtocol.setCommandEnd(modbusTcpNet.getByteTransform().TransUInt16(content,32)); //---------状态字--------- // shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransUInt16(content,32)); ///设置四向穿梭车状态-end OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); //读取四向穿梭车设备信息，提供查询 //..... // 根据实时信息更新数据库 //..... }else { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId())); throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort())); } } catch (Exception e) { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); initShuttle(); } } private boolean write(ShuttleCommand command){ if (null == command) { News.error("四向穿梭车写入命令为空"); return false; } //判断小车是否在充电 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); if (devpThread.charge1){ } command.setShuttleNo(slave.getId()); OperateResult result = null; // 开始任务 //... try { // 日志记录 if (!command.getComplete() && command.getTaskMode() != 0) { //日志记录保存到数据库中 //..... } } catch (Exception ignore) {} if (result != null && result.IsSuccess) { // 维护数据库排列层 // if (!steProtocol.getWaiting()) { // if (!Cools.isEmpty(command.getRow(), command.getBay(), command.getLev())) { // this.modifyPos(command.getRow().intValue(), command.getBay().intValue(), command.getLev().intValue()); // } // } News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("写入四向穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } /** * 初始化四向穿梭车 */ private void initShuttle() { if (null == shuttleProtocol) { shuttleProtocol = new ShuttleProtocol(); } shuttleProtocol.setShuttleNo(slave.getId().shortValue()); shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY); shuttleProtocol.setCurrentCode("0"); } /******************************************************************************************/ /**************************************** 测试专用 *****************************************/ /*****************************************************************************************/ public static void main(String[] args) throws InterruptedException { ShuttleSlave slave = new ShuttleSlave(); slave.setId(1); slave.setIp("192.168.4.24"); slave.setPort(502); ShuttleThread thread = new ShuttleThread(slave); thread.connect(); thread.readStatus(); System.out.println(JSON.toJSONString(thread.shuttleProtocol)); // 任务作业 // SteCommand command = new SteCommand(); // command.setSteNo(1); // 堆垛机编号 // Random random = new Random(); // int taskNo = random.nextInt(9090); // command.setTaskNo(taskNo); // 工作号 // command.setTaskMode(SteTaskModeType.MOVE_LEFT); // 任务模式 // thread.write(command); // 任务完成 // SteCommand command = new SteCommand(); // command.setSteNo(1); // 堆垛机编号 // command.setComplete(Boolean.TRUE); // 任务模式 // thread.write(command); // 控制模式 // SteCommand command = new SteCommand(); // command.setControlMode((short) 1); // thread.write(command); // 复位信号 // SteCommand command = new SteCommand(); // command.setReset(Boolean.TRUE); // thread.write(command); // 删除指令 // SteCommand command = new SteCommand(); // command.setDelete(Boolean.TRUE); // thread.write(command); // 穿梭车运行禁止 // SteCommand command = new SteCommand(); // command.setRun((short)0); // thread.write(command); } } src/main/resources/mapper/BasShuttleMapper.xml
New file @@ -0,0 +1,29 @@ <?xml version="1.0" encoding="UTF-8"?> <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd"> <mapper namespace="com.zy.asrs.mapper.BasShuttleMapper"> <!-- 通用查询映射结果 --> <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasShuttle"> <result column="shuttle_no" property="shuttleNo" /> <result column="status" property="status" /> <result column="shuttle_status" property="shuttleStatus" /> <result column="wrk_no" property="wrkNo" /> <result column="row" property="row" /> <result column="bay" property="bay" /> <result column="lev" property="lev" /> <result column="his_row" property="hisRow" /> <result column="his_bay" property="hisBay" /> <result column="his_lev" property="hisLev" /> <result column="idle_loc" property="idleLoc" /> <result column="auto_charge" property="autoCharge" /> <result column="charge_line" property="chargeLine" /> <result column="create_by" property="createBy" /> <result column="create_time" property="createTime" /> <result column="update_by" property="updateBy" /> <result column="update_time" property="updateTime" /> <result column="memo" property="memo" /> <result column="lift_no" property="liftNo" /> </resultMap> </mapper> src/main/webapp/static/css/shuttle.css
New file @@ -0,0 +1,334 @@ body { background-color: #6CA7A8; } .button-window { float: left; width: 100%; height: 100%; padding: 10px; background-color: #6CA7A8; border-radius: 5px; box-shadow: 0 0 3px rgba(0 0 0 .3); } /* -------------------- 第一模块 -------------------- */ .log-board { background-color: #fff; border-radius: 5px; box-shadow: 0 0 3px rgba(0,0,0,.3); height: 25%; } /* 左 */ .command-log { float: left; height: 100%; width: 20%; text-align: center; } .command-log h2 { padding: 10px; } .shuttle-command-item { padding: 4px 0; margin-top: 5px; } .shuttle-command-item label { font-size: 20px; font-weight: bold; vertical-align: middle; } .demoBtn { vertical-align: middle; /*width: 30%;*/ height: 30px; left: 0; top: 0; padding: 5px 15px; text-shadow: inherit; font-size: 15px; margin-left: 5px; margin-right: 5px; display: inline-block; background-color: #FF5722; border: none; color: #FFF; box-shadow: 1px 1px 5px #B6B6B6; border-radius: 3px; cursor: pointer; } .demoBtn:hover { opacity: 0.8 } .demoBtn:focus { outline: 0; } /* 右 */ .shuttle-state { float: left; height: 100%; width: 80%; overflow: auto; } /* 穿梭车状态表 */ #shuttle-state-table { font-size: 12px; border-collapse: collapse; margin: 0 auto; text-align: center; } #shuttle-state-table td, #shuttle-state-table th { border: 1px solid #cad9ea; color: #666; height: 25px; } #shuttle-state-table thead th { background-color: #CCE8EB; width: 300px; } #shuttle-state-table tr:nth-child(odd) { background: #fff; } #shuttle-state-table tr:nth-child(even) { background: #F5FAFA; } /* -------------------- 第二模块 -------------------- */ .shuttle-msg { /*overflow: auto;*/ margin-top: 10px; height: 23%; background-color: #fff; border-radius: 5px; box-shadow: 0 0 3px rgba(0,0,0,.3); } /* 堆垛机状态信息表 */ #shuttle-msg-table { font-size: 12px; border-collapse: collapse; margin: 0 auto; text-align: center; } #shuttle-msg-table td, #shuttle-msg-table th { border: 1px solid #f1f1f1; color: #666; height: 30px; } #shuttle-msg-table thead th { background-color: #fff; width: 400px; } #shuttle-msg-table tr:nth-child(odd) { background: #fff; } #shuttle-msg-table tr:nth-child(even) { background: #fff; } /* -------------------- 第三模块 -------------------- */ .shuttle-operation { position: relative; margin-top: 10px; height: 25%; background-color: #fff; border-radius: 5px; box-shadow: 0 0 3px rgba(0,0,0,.3); } /* 任务设备选择框 */ .task-select { width: 13%; height: 100%; overflow: hidden; display: inline-block; padding: 20px 0 10px 20px; /*clear: right;*/ } .operator-item { display: inline-block; height: 100%; text-align: center; position: relative; vertical-align: middle; padding: 0 20px; } .operator-item .select-title { display: inline-block; position: absolute; top: -11px; left: 50%; transform: translate(-50%, 0); background-color: #fff; color: #2e95d3; font-size: 12px; border: 1px solid #8d8d8d; border-radius: 5px; padding: 5px; z-index: 999; } .operator-item .select-container { padding: 30px 0; height: 100%; border: 1px solid #8d8d8d; border-radius: 5px; } #shuttle-select .select-container label { display: block; padding: 5px 40px; vertical-align: middle; margin-top:-2px; margin-bottom:1px; } .select-container input { display: inline-block; font-size: 12px; vertical-align: middle; margin-top:-2px; margin-bottom:1px; } .select-container-item { display: inline-block; padding: 0 10px; } .select-container-item input { height: 20px; border: 1px solid #8D8D8D; border-radius: 3px; width: 80px; outline: none; } /* 任务作业选择框 */ .task-operator { width: 86%; height: 100%; overflow: hidden; padding: 5px 0 10px 20px; display: inline-block; margin-right: 10px; } .task-operator fieldset { padding: 15px 20px 5px 50px; /*border-width: 1px;*/ /*border-style: solid;*/ height: 100%; border: 1px solid #8d8d8d; border-radius: 5px; } .task-operator legend { background-color: #fff; color: #2e95d3; font-size: 12px; border: 1px solid #8d8d8d; border-radius: 5px; padding: 5px; z-index: 999; } button.item { margin-top: 5px; border: 1px solid #333; font-size: 13px; padding: 1px 1px 1px 1px; width: 100px; height: 40px; outline: none; cursor: pointer; color: #333; background-color: transparent; margin-right: 5px; border-radius: 5px; } button.item:hover { background-color: #333; color: #fff; } /* 手动操作遮罩 */ .shuttle-operation-shade { position: absolute; height: 100%; width: 100%; z-index: 1000; text-align: center; padding: 80px 0; } .shuttle-operation-shade-span { font-size: xx-large; font-weight: bold; color: red; } /* -------------------- 第四模块 -------------------- */ .shuttle-output-board { margin-top: 10px; height: 20%; background-color: #fff; border-radius: 5px; box-shadow: 0 0 3px rgba(0,0,0,.3); } #shuttle-output { border-left: none; border-right: none; border-top: 1px solid #9d9d9d; border-bottom: 1px solid #333; width: 100%; height: 100%; overflow: auto; resize:none; color: #666; } /* 详情弹出层 */ #shuttle-detl { padding: 30px 10px 0 25px; overflow: hidden; } #shuttle-detl form { overflow: hidden; } .form-item { margin-bottom: 10px; } .form-label { display: inline-block; width: 130px; text-align: right; } .form-input { display: inline-block; padding-left: 15px; } .form-input input { outline-style: none ; border: 1px solid #ccc; border-radius: 3px; padding: 5px 8px; width: 150px; height: 30px; font-size: 14px; font-weight: bolder; } .form-input input:focus{ border-color: #66afe9; outline: 0; -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6); box-shadow: inset 0 1px 1px rgba(0,0,0,.075),0 0 8px rgba(102,175,233,.6) } .form-button-container { text-align: center; } .form-button { margin: 10px 10px; width: 50px; height: 30px; color:white; background-color:cornflowerblue; border-radius: 3px; border-width: 0; outline: none; font-size: 15px; text-align: center; cursor: pointer; } .form-button:hover { opacity: 0.7; } src/main/webapp/static/js/map.json
@@ -1072,8 +1072,8 @@ "value": -1, "data": "" }, { "value": 4, "data": "200" "value": -1, "data": "" }, { "value": -1, "data": "" @@ -1151,11 +1151,11 @@ "value": -1, "data": "" }, { "value": 4, "data": "201" "value": -1, "data": "" }, { "value": 4, "data": "202" "value": -1, "data": "" }, { "value": -1, "data": "" @@ -1233,11 +1233,11 @@ "value": -1, "data": "" }, { "value": 4, "data": "203" "value": -1, "data": "" }, { "value": 4, "data": "204" "data": "100" }, { "value": -1, "data": "" @@ -1316,10 +1316,10 @@ "data": "" }, { "value": 4, "data": "205" "data": "104" }, { "value": 4, "data": "206" "data": "101" }, { "value": -1, "data": "" @@ -1397,11 +1397,11 @@ "value": -1, "data": "" }, { "value": -1, "data": "" "value": 4, "data": "103" }, { "value": 4, "data": "207" "data": "102" }, { "value": -1, "data": "" @@ -1483,7 +1483,7 @@ "data": "" }, { "value": 4, "data": "208" "data": "" }, { "value": 0, "data": "" src/main/webapp/views/index.html
@@ -21,7 +21,8 @@ <li><a id="console" onclick="nav(this.id)" class="nav-select" href="#">主控图</a></li> <li><a id="pipeline" onclick="nav(this.id)" class="nav-unselect" href="#">输送设备</a></li> <li><a id="crn" onclick="nav(this.id)" class="nav-unselect" href="#">堆垛机</a></li> <li><a id="ste" onclick="nav(this.id)" class="nav-unselect" href="#">穿梭车</a></li> <!-- <li><a id="ste" onclick="nav(this.id)" class="nav-unselect" href="#">穿梭车</a></li>--> <li><a id="shuttle" onclick="nav(this.id)" class="nav-unselect" href="#">四向穿梭车</a></li> </ul> </div> </div> src/main/webapp/views/shuttle.html
New file @@ -0,0 +1,786 @@ <!DOCTYPE html> <html lang="en"> <head> <meta charset="UTF-8"> <title>四向穿梭车监控管理</title> <link rel="stylesheet" type="text/css" href="../static/css/normalize.css"> <link rel="stylesheet" type="text/css" href="../static/css/common.css"> <link rel="stylesheet" type="text/css" href="../static/layui/css/layui.css"> <link rel="stylesheet" href="../static/css/shuttle.css"> <script type="text/javascript" src="../static/js/jquery/jquery-3.3.1.min.js"></script> <script type="text/javascript" src="../static/js/layer/layer.js"></script> <script type="text/javascript" src="../static/layui/layui.js"></script> <script type="text/javascript" src="../static/js/common.js"></script> </head> <body> <div style="padding: 10px;height: 100%;float: left;width: 6%"> <div class="button-window"></div> </div> <div style="height: 100%;padding-left: 6%"> <div style="padding: 10px;height: 100%"> <!-- 日志监控板 --> <div class="log-board"> <div class="command-log" id="commandLogId"> <!-- <div data-shuttleNo="1" class="shuttle-command-item">--> <!-- <label>1#</label>--> <!-- <button class="demoBtn pos-btn">数据维护</button>--> <!-- <button id="mode-1" class="demoBtn mode-btn" >设备信息</button>--> <!-- </div>--> </div> <!-- 堆垛机状态位信息 --> <div class="shuttle-state"> <table id="shuttle-state-table"> <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>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> </tr> </thead> <tbody> </tbody> </table> </div> </div> <!-- 穿梭车状态 --> <div class="shuttle-msg"> <table id="shuttle-msg-table"> <thead> <tr> <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>作业标记</th> </tr> </thead> <tbody> </tbody> </table> </div> <!-- 手动操作 --> <div class="shuttle-operation"> <!-- 遮罩层 --> <div class="shuttle-operation-shade"> <span class="shuttle-operation-shade-span"> WCS 系统运行中，请停止后操作 </span> </div> <!-- 设备任务选择 --> <div class="task-select"> <!-- 选择 --> <div id="shuttle-select" class="operator-item"> <span class="select-title">四向穿梭车号</span> <div class="select-container" id="shuttleRadioBoxId"> <!-- <label><input type="radio" name="shuttleSelect" value="1" checked> 1号穿梭车</label>--> </div> </div> </div> <!-- 设备任务操作 --> <div class="task-operator"> <div style="display: flex;"> <div class="task-operator" style="height: auto;width: auto;"> <div class="operator-item" style="height: auto"> <span class="select-title">源站/源库位</span> <div class="select-container" style="height: auto"> <div class="select-container-item"> <span>站</span> <label><input id="sourceStaNo" type="number" name="points" min="0" /></label> </div> <div class="select-container-item"> <span>排</span> <label><input id="sourceRow" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label> </div> <div class="select-container-item"> <span>列</span> <label><input id="sourceBay" type="number" name="points" min="0" style="background-color: #a9eeff" value="0" /></label> </div> <div class="select-container-item"> <span>层</span> <label><input id="sourceLev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label> </div> </div> </div> </div> <div class="task-operator" style="height: auto;width: auto;"> <div class="operator-item" style="height: auto"> <span class="select-title">源站/源库位</span> <div class="select-container" style="height: auto"> <div class="select-container-item"> <span>站</span> <label><input id="distStaNo" type="number" name="points" min="0" /></label> </div> <div class="select-container-item"> <span>排</span> <label><input id="distRow" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label> </div> <div class="select-container-item"> <span>列</span> <label><input id="distBay" type="number" name="points" min="0" style="background-color: #a9eeff" value="0" /></label> </div> <div class="select-container-item"> <span>层</span> <label><input id="distLev" type="number" name="points" min="1" style="background-color: #a9eeff" value="1" /></label> </div> </div> </div> </div> </div> <fieldset style="height: auto;padding-bottom: 20px;"> <legend>手动操作</legend> <div class="button-group"> <button class="item" onclick="shuttleOperator(4)">托盘顶升</button> <button class="item" onclick="shuttleOperator(4)">托盘放下</button> <button class="item" onclick="shuttleOperator(5)">左移</button> <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)">强制移动</button> <button class="item" onclick="shuttleOperator(16)">任务完成</button> </div> </fieldset> </div> </div> <!-- 穿梭车日志输出 --> <div class="shuttle-output-board"> <textarea id="shuttle-output"></textarea> </div> </div> </div> <div id="shuttle-detl" style="display: none"> <div> <div class="form-item"> <label class="form-label">四向穿梭车号:</label> <div class="form-input"> <input id="shuttleNo" name="shuttleNo" class="layui-input" lay-verify="required|number" autocomplete="off" disabled="disabled"> </div> </div> <div class="form-item"> <label class="form-label">工作号:</label> <div class="form-input"> <input id="workNo" name="workNo" type="number" class="layui-input" lay-verify="number" autocomplete="off"> </div> </div> <div class="form-item"> <label class="form-label">排:</label> <div class="form-input"> <input id="row" name="row" type="number" class="layui-input" lay-verify="number" autocomplete="off"> </div> </div> <div class="form-item"> <label class="form-label">列:</label> <div class="form-input"> <input id="bay" name="bay" type="number" class="layui-input" autocomplete="off"> </div> </div> <div class="form-item"> <label class="form-label">层:</label> <div class="form-input"> <input id="lev" name="lev" type="number" class="layui-input" autocomplete="off"> </div> </div> <div class="form-item"> <label class="form-label">作业标记:</label> <div class="form-input"> <input id="pakMk" name="pakMk" type="text" class="layui-input" autocomplete="off"> </div> </div> <div class="form-item form-button-container"> <button class="form-button" id="save">保存</button> <button class="form-button" id="cancel" style="background-color: #D0D0D0">取消</button> </div> </div> </div> <div id="shuttle-detl2" style="display: none"> <div style="width: 1400px"> <div class="form-item" style="text-align: left"> <spen style="margin: 20px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style:dotted;"> 异常：<spen style="color: #FD482C;">✔</spen> </spen> <spen style="margin: 20px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style: double;"> 正常：<spen style="color: #00FF00;">—</spen> </spen> </div> <div style="float:left;margin: 10px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style:dotted;"> <div class="form-item" style="text-align: center"> <label>四向穿梭车异常</label> </div> <div class="form-item"> <label class="form-label">四向穿梭车号:</label> <div class="form-input"> <input id="shuttleNo1" name="shuttleNo" class="layui-input" lay-verify="required|number" autocomplete="off" disabled="disabled" readonly> </div> </div> </div> <div style="float:left;margin: 10px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style:dotted"> <div class="form-item" style="text-align: center"> <label>四向穿梭车提示信息</label> </div> </div> <div style="float:left;margin: 10px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style:dotted"> <div class="form-item" style="text-align: center"> <label>任务信息</label> </div> <div class="form-item"> <label class="form-label">入库任务中:</label> <div class="form-input"> <input id="pakInTask" name="pakInTask" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">出库任务中:</label> <div class="form-input"> <input id="pakOutTask" name="pakOutTask" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">移库任务中:</label> <div class="form-input"> <input id="pakMoveTask" name="pakMoveTask" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">回原点任务中:</label> <div class="form-input"> <input id="goHpTask" name="goHpTask" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去反原点任务中:</label> <div class="form-input"> <input id="goOHpTask" name="goOHpTask" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去原点避让位:</label> <div class="form-input"> <input id="goHpAvoid" name="goHpAvoid" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去反原点避让位:</label> <div class="form-input"> <input id="goOHpAvoid" name="goOHpAvoid" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">入库取空结束:</label> <div class="form-input"> <input id="pakInEmpty" name="pakInEmpty" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">入库正常结束:</label> <div class="form-input"> <input id="pakInFinish" name="pakInFinish" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">出库取空结束:</label> <div class="form-input"> <input id="pakOutEmpty" name="pakOutEmpty" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">出库正常结束:</label> <div class="form-input"> <input id="pakOutFinish" name="pakOutFinish" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去原点避让完成:</label> <div class="form-input"> <input id="goHpAvoidFinish" name="goHpAvoidFinish" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去反原点避让完成:</label> <div class="form-input"> <input id="goOHpAvoidFinish" name="goOHpAvoidFinish" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去原点避让完成:</label> <div class="form-input"> <input id="goHpAvoidErr" name="goHpAvoidErr" class="layui-input" autocomplete="off" readonly> </div> </div> <div class="form-item"> <label class="form-label">去反原点避让完成:</label> <div class="form-input"> <input id="goOHpAvoidErr" name="goOHpAvoidErr" class="layui-input" autocomplete="off" readonly> </div> </div> </div> <div style="float:left;margin: 10px 10px 10px 10px; padding: 10px 10px 10px 10px;border: black;border-width: 3px;border-style:dotted"> <div class="form-item" style="text-align: center"> <label>状态信息</label> </div> <!-- <div class="form-item">--> <!-- <label class="form-label">联机模式:</label>--> <!-- <div class="form-input">--> <!-- <input id="autoMode" name="autoMode" class="layui-input" autocomplete="off" readonly>--> <!-- </div>--> <!-- </div>--> <!-- <div class="form-item">--> <!-- <label class="form-label">电压过低:</label>--> <!-- <div class="form-input">--> <!-- <input id="voltageLow" name="voltageLow" class="layui-input" autocomplete="off" readonly>--> <!-- </div>--> <!-- </div>--> </div> </div> </div> </body> </html> <script> // 空白行数 var shuttleStateTableBlankRows = 0; var shuttleMsgTableBlankRows = 0; // 实际行数 var shuttleStateTableFullRows = 0; var shuttleMsgTableFullRows = 0; // 初始化 var shuttleOutputDom = document.getElementById("shuttle-output"); $(document).ready(function() { initShuttleStateTable(); getShuttleStateInfo(); initShuttleMsgTable(); getShuttleMsgInfo(); operatorBlockShow(); setShuttleRadio(); }); setInterval(function () { getShuttleStateInfo() getShuttleMsgInfo(); },1000) setInterval(function () { getShuttleOutput(); operatorBlockShow(); },500); // 判断手动操作模块是否可用 function operatorBlockShow() { if (parent.systemRunning) { $('.shuttle-operation').css("opacity", "0.5"); $('.shuttle-operation-shade').show(); $('.shuttle-operation-shade-span').show(); } else { $('.shuttle-operation').css("opacity", "1"); $('.shuttle-operation-shade').hide(); $('.shuttle-operation-shade-span').hide(); } } var layerIdx; $(document).on('click ','.pos-btn', function () { let shuttleNo = Number($(this).parent().attr("data-shuttleNo")); layerIdx = layer.open({ type: 1, title: false, shadeClose: true, offset: [$(this).offset().top + 30 + 'px', $(this).offset().left + 'px'], anim: 5, shade: [0], area: ['310px', '370px'], closeBtn: 0, content: $("#shuttle-detl"), success: function(layero, index){ http.get(baseUrl+ "/shuttle/detl/"+shuttleNo, null, function (res) { $('#shuttleNo').val(shuttleNo); $('#workNo').val(res.data.workNo); $('#row').val(res.data.row); $('#bay').val(res.data.bay); $('#lev').val(res.data.lev); $('#crnNo').val(res.data.crnNo); $('#pakMk').val(res.data.pakMk); }) }, end: function () { $('#shuttleNo').val(""); $('#workNo').val(""); $('#row').val(""); $('#bay').val(""); $('#lev').val(""); $('#crnNo').val(""); $('#pakMk').val(""); } }) }) var layerIdx0; $(document).on('click ','.mode-btn', function () { let shuttleNo = Number($(this).parent().attr("data-shuttleNo")); layerIdx0 = layer.open({ type: 1, title: false, shadeClose: true, offset: [$(this).offset().top + 30 + 'px', $(this).offset().left + 'px'], anim: 5, shade: [0], area: ['70%', '85%'], closeBtn: 0, content: $("#shuttle-detl2"), success: function(layero, index){ console.log(shuttleNo) http.get(baseUrl+ "/shuttle/sensor/detl/"+shuttleNo, null, function (res) { $('#shuttleNo1').val(res.data.shuttleNo); // getColor(res.data.liftErr,'#liftErr'); // getColor(res.data.inFetchErr,'#inFetchErr'); // getColor(res.data.outFetchErr,'#outFetchErr'); // getColor(res.data.antiErr,'#antiErr'); // getColor(res.data.liftSwitchErr,'#liftSwitchErr'); // getColor(res.data.trackErr,'#trackErr'); // getColor(res.data.timeoutErr,'#timeoutErr'); // getColor(res.data.connectErr,'#connectErr'); // getColor(res.data.emergencyErr,'#emergencyErr'); // getColor(res.data.taskTypeErr,'#taskTypeErr'); // getColor(res.data.taskNoErr,'#taskNoErr'); // getColor(res.data.newTaskErr,'#newTaskErr'); // getColor(res.data.errTaskErr,'#errTaskErr'); // getColor(res.data.stopErr,'#stopErr'); // getColor(res.data.offlineTaskErr,'#offlineTaskErr'); // getColor(res.data.startTaskErr,'#startTaskErr'); // getColor(res.data.voltageTaskErr,'#voltageTaskErr'); // getColor(res.data.devpErr,'#devpErr'); // getColor(res.data.online,'#online'); // getColor(res.data.notOnTrack,'#notOnTrack'); // getColor(res.data.lowVoltage,'#lowVoltage'); // getColor(res.data.electricityLoss,'#electricityLoss'); // getColor(res.data.forcedTravel,'#forcedTravel'); // getColor(res.data.demoMode,'#demoMode'); // getColor(res.data.brushConnect,'#brushConnect'); // getColor(res.data.taskManualForbid,'#taskManualForbid'); // getColor(res.data.onlineManualForbid,'#onlineManualForbid'); // getColor(res.data.devpEmergency,'#devpEmergency'); // getColor(res.data.taskInterrupt,'#taskInterrupt'); // getColor(res.data.taskClear,'#taskClear'); // getColor(res.data.taskConfirmTimeout,'#taskConfirmTimeout'); // getColor(res.data.taskWithCharge,'#taskWithCharge'); getColor(res.data.pakInTask,'#pakInTask'); getColor(res.data.pakOutTask,'#pakOutTask'); getColor(res.data.pakMoveTask,'#pakMoveTask'); getColor(res.data.goHpTask,'#goHpTask'); getColor(res.data.goOHpTask,'#goOHpTask'); getColor(res.data.goHpAvoid,'#goHpAvoid'); getColor(res.data.goOHpAvoid,'#goOHpAvoid'); getColor(res.data.pakInEmpty,'#pakInEmpty'); getColor(res.data.pakInFinish,'#pakInFinish'); getColor(res.data.pakOutEmpty,'#pakOutEmpty'); getColor(res.data.pakOutFinish,'#pakOutFinish'); getColor(res.data.goHpAvoidFinish,'#goHpAvoidFinish'); getColor(res.data.goOHpAvoidFinish,'#goOHpAvoidFinish'); getColor(res.data.goHpAvoidErr,'#goHpAvoidErr'); getColor(res.data.goOHpAvoidErr,'#goOHpAvoidErr'); // getColor(res.data.autoMode,'#autoMode'); // getColor(res.data.voltageLow,'#voltageLow'); }) }, end: function () { $('#shuttleNo').val(""); } }) }) function getColor(res,e){ $(e).val(res?"✔":"—"); if (res){ $(e).attr("style", "color: #FD482C;"); }else { $(e).attr("style", "color: #00FF00;"); } } // $(document).on('click ','.mode-btn', function () { // let shuttleNo = Number($(this).parent().attr("data-shuttleNo")); // layer.confirm("改变" + shuttleNo + ' 号穿梭车在线状态吗？', function(){ // var index = layer.load(1, { // shade: [0.1,'#fff'] // }); // $.ajax({ // url: baseUrl+ "/shuttle/mode/switch", // headers: {'token': localStorage.getItem('token')}, // data: { // shuttleNo: Number(shuttleNo), // password: 'root' // }, // method: 'POST', // success: function (res) { // layer.close(index); // if (res.code === 200){ // layer.msg(res.msg, {icon: 1}); // } else if (res.code === 403){ // window.location.href = baseUrl+"/login"; // } else { // layer.msg(res.msg, {icon: 2}); // } // } // }); // }); // }) $(document).on('click ','#save', function () { http.post(baseUrl+ "/shuttle/detl/update", { shuttleNo: $('#shuttleNo').val(), workNo: $('#workNo').val(), row: $('#row').val(), bay: $('#bay').val(), lev: $('#lev').val(), crnNo: $('#crnNo').val(), pakMk: $('#pakMk').val(), }, function (res) { layer.msg("修改成功", {icon: 1,}); layer.close(layerIdx); }) }) $(document).on('click ','#cancel', function () { layer.close(layerIdx); }) function setShuttleRadio() { $.ajax({ url: baseUrl+ "/shuttle/table/shuttle/state", headers: {'token': localStorage.getItem('token')}, method: 'POST', success: function (res) { if (res.code === 200){ let table = res.data; for (let i=1;i<=table.length;i++){ //渲染四向穿梭车选项html let shuttleRadioBox = '<label><input type="radio" name="shuttleSelect" '; if (i === 1) { shuttleRadioBox += 'checked ' } shuttleRadioBox += 'value="' + table[i - 1].shuttleNo + '"> ' + table[i - 1].shuttleNo + '号穿梭车</label>' $("#shuttleRadioBoxId").append(shuttleRadioBox) //渲染四向穿梭车数据维护和设备信息html let shuttleCommandLogBox = '<div class="shuttle-command-item" data-shuttleNo="' + table[i - 1].shuttleNo + '">\n' + '<label>' + table[i - 1].shuttleNo + '#</label>\n' + '<button class="demoBtn pos-btn">数据维护</button>\n' + '<button class="demoBtn mode-btn" id="mode-' + table[i - 1].shuttleNo + '">设备信息</button>\n' + '</div>' $("#commandLogId").append(shuttleCommandLogBox); } } else if (res.code === 403){ window.location.href = baseUrl+"/login"; } else { console.log(res.msg); } } }); } // 四向穿梭车信息表获取 ---- 表一 function getShuttleStateInfo() { let tableEl = $('#shuttle-state-table'); $.ajax({ url: baseUrl+ "/shuttle/table/shuttle/state", headers: {'token': localStorage.getItem('token')}, method: 'POST', success: function (res) { if (res.code === 200){ let table = res.data; if (table.length > shuttleStateTableBlankRows && table.length !== shuttleStateTableFullRows) { initShuttleStateTable(table.length-shuttleStateTableBlankRows); shuttleStateTableFullRows = table.length; } for (let i=1;i<=table.length;i++){ // $("#mode-"+table[i-1].shuttleNo).html(table[i-1].statusVal===0?'联机':'脱机'); 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); } } else if (res.code === 403){ window.location.href = baseUrl+"/login"; } else { console.log(res.msg); } } }); } // 四向穿梭车数据表获取 ---- 表二 function getShuttleMsgInfo() { let tableEl = $('#shuttle-msg-table'); $.ajax({ url: baseUrl+ "/shuttle/table/shuttle/msg", headers: {'token': localStorage.getItem('token')}, method: 'POST', success: function (res) { if (res.code === 200){ var table = res.data; if (table.length > shuttleMsgTableBlankRows && table.length !== shuttleMsgTableFullRows) { initShuttleMsgTable(table.length-shuttleMsgTableBlankRows); shuttleMsgTableFullRows = table.length; } for (var i=1;i<=table.length;i++){ var 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].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); } } else if (res.code === 403){ window.location.href = baseUrl+"/login"; } else { console.log(res.msg); } } }); } // 穿梭车日志输出 ----------------------------------------------------------------------- function getShuttleOutput() { $.ajax({ url: baseUrl + "/shuttle/output/shuttle", headers: {'token': localStorage.getItem('token')}, method: 'POST', success: function (res) { if (res.code === 200) { shuttleOutput(res.data); } else if (res.code === 403) { window.location.href = baseUrl + "/login"; } else { console.log(res.msg); } } }) } // 任务指令下发 function shuttleOperator(shuttleTaskMode) { http.post(baseUrl+"/shuttle/operator/shuttle", { shuttleNo: $('input[name="shuttleSelect"]:checked').val(), shuttleTaskMode: shuttleTaskMode }, function (res) { layer.msg(res.msg, {icon: 1}); }); } // ------------------------------------------------------------------------------------------------ // 四向穿梭车信息表获取 ----- 表一 function initShuttleStateTable(row) { let line; if (row === undefined){ let one = $('#shuttle-state-table thead').height(); let total = $('.shuttle-state').height(); let count = total / one; count = parseInt(count) - 1; shuttleStateTableBlankRows = count; line = count; } else { line = row; } let html = ""; for (let i = 0; i < line; i ++){ html += " <tr>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " </tr>\n"; } $('#shuttle-state-table tbody').after(html); } // 穿梭车数据表获取 ----- 表二 function initShuttleMsgTable(row) { let line; if (row === undefined){ let one = $('#shuttle-msg-table thead').height(); let total = $('.shuttle-msg').height(); let count = total / one; count = parseInt(count) - 1; shuttleMsgTableBlankRows = count; line = count; } else { line = row; } let html = ""; for (let i = 0; i < line; i ++){ html += " <tr>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " </tr>\n"; } $('#shuttle-msg-table tbody').after(html); } // 日志输出框 function shuttleOutput(content){ shuttleOutputDom.value += content; shuttleOutputDom.scrollTop = shuttleOutputDom.scrollHeight; } </script>
