#

luxiaotao1123

2021-01-04 cb1ed8e08ef13de563dc4ece9953ffadd78546ba

#

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

@@ -328,23 +328,23 @@
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        command.setAckFinish((short) 0);  // 任务完成确认位
        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceRow());     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX(param.getRow());     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        staNoProcess(param, command);
        return crnControl(command)?R.ok():R.error();
    }
//    @ManagerAuth(memo = "坐标移动")
//    @PostMapping("/operator/coorMove")
//    public R crnCoorMove(CrnOperatorParam param){
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
//        command.setTaskNo((short) 0); // 工作号
//        command.setAckFinish((short) 0);  // 任务完成确认位
//        command.setTaskMode(CrnTaskModeType.OFFSET_MOVE); // 任务模式
//        command.setSourcePosX(param.getSourceRow());     // 源库位排
//        command.setSourcePosY(param.getSourceBay());     // 源库位列
//        command.setSourcePosZ(param.getSourceLev());     // 源库位层
//        command.setDestinationPosX(param.getRow());     // 目标库位排
//        command.setDestinationPosY(param.getBay());     // 目标库位列
//        command.setDestinationPosZ(param.getLev());     // 目标库位层
//        staNoProcess(param, command);
//        return crnControl(command)?R.ok():R.error();
//    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
@@ -403,36 +403,16 @@
                if (crnProtocol == null) {
                    throw new CoolException("堆垛机不在线");
                }
                if (crn.getId() == 1) {
                    // 只有出现指定异常才进行复位
                    if (crnProtocol.getCrnError3().leftTakeNoneErr
                            || crnProtocol.getCrnError3().rightTakeNoneErr
                            || crnProtocol.getCrnError3().leftTakeThenLoadErr
                            || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
                        CrnCommand command = new CrnCommand();
                        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        // 延时发送
                        Thread.sleep(3000L);
                        if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                            return R.ok();
                        } else {
                            throw new CoolException("命令下发失败");
                        }
                    }
                } else if (crn.getId() == 2) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                    crnCommand.setTaskMode(CrnTaskModeType.CANCEL);
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    // 延时发送
                    Thread.sleep(1000L);
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                        return R.ok();
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskMode(CrnTaskModeType.CLEAR);
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                // 延时发送
                Thread.sleep(1000L);
                if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    return R.ok();
                } else {
                    throw new CoolException("命令下发失败");
                }



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

@@ -2,9 +2,10 @@

public enum CrnLiftPosType {

    POSITION(3, "在定位"), // 在定位
    DOWN(2, "下定位"),  // 下定位
    UP(1, "上定位"),   // 上定位
    _DOWN(4, "双伸位低位"),
    _UP(3, "双伸位高位"),
    DOWN(2, "单伸位低位"),  // 下定位
    UP(1, "单伸位高位"),   // 上定位
    NONE(0, "不在定位"),   // 不在定位
    ;


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

@@ -3,18 +3,11 @@
public enum CrnStatusType {

    IDLE(0, "空闲，无任务"),
    FETCH_POSITION(1, "取货定位中"),
    FETCHING(2, "取货中"),
    PUT_POSITION(3, "取货完成，放货定位中"),
    PUTTING(4, "放货中"),
    TO_ORIGIN(5, "回原点中"),
    ORIGIN(6, "反原点"),
    LOC_MOVE(7, "库位移位"),
    POSITON_MOVE(10, "坐标移行"),
    FETCH_WAITING(21, "等待取货允许"),
    PUT_WAITING(22, "等待放货允许"),
    WAITING(90, "任务完成等待WCS确认"),
    SOS(99, "报警"),
    NONE_MOVING(1, "无货行走"),
    FETCHING(2, "取货"),
    MOVING(3, "有货行走"),
    PUTTING(4, "放货"),
    PUT_COMPLETE(5, "放货完成"),
    ;

    public Integer id;

 src/main/java/com/zy/core/model/command/CrnCommand.java

@@ -18,7 +18,7 @@
    private Integer crnNo = 0;

    // 任务完成确认位
//    private Short ackFinish = 0;
    private Short ackFinish = 0;

    // 任务号
    private Short taskNo = 0;

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

@@ -20,14 +20,19 @@
    public CrnModeType modeType;

    /**
     * 堆垛机任务完成
     */
    public Short taskFinish;

    /**
     * 校验结果 1表示检验成功
     */
    public Short valid;

    /**
     * 1 = 急停
     */
    public Short eStop;

    /**
     * 异常码
     */
    public Short alarm;

    /**
     * 任务号
@@ -63,6 +68,116 @@
     * 堆垛机当前层号
     */
    public Short level;

    /**
     * 堆垛机当前排
     */
    public Short row;

    /**
     * 堆垛机当前巷道号
     */
    public Short lane;

    /**
     * 堆垛机通讯状态
     */
    public Boolean connStatus;

    /**
     * 申请入库修正
     */
    public Boolean correction;

    /**
     * 托盘号错
     */
    public Boolean tuError;

    /**
     * 取货无箱
     */
    public Boolean noneError;

    /**
     * 双重入库
     */
    public Boolean stockError;

    /**
     * 作业数据无效
     */
    public Boolean jobInvalid;

    /**
     * 空闲状态
     */
    public Boolean idle;

    /**
     * 控制柜使能
     */
    public Boolean control;

    /**
     * 停准
     */
    public Boolean stopQuasi;

    /**
     * 运行
     */
    public Boolean running;

    /**
     * 故障
     */
    public Boolean fault;

    /**
     * 货叉中位
     */
    public Boolean forkHome;
    /**
     * 单伸位货叉左位
     */
    public Boolean forkSingleLeft;
    /**
     * 单伸位货叉右位
     */
    public Boolean forkSingleRight;
    /**
     * 双伸位货叉左位
     */
    public Boolean forkDoubleLeft;
    /**
     * 双伸位货叉右位
     */
    public Boolean forkDoubleRight;
    /**
     * 单伸位高位
     */
    public Boolean singleHigh;
    /**
     * 单伸位低位
     */
    public Boolean singleLow;
    /**
     * 双伸位高位
     */
    public Boolean doubleHigh;
    /**
     * 双伸位低位
     */
    public Boolean doubleLow;
    /**
     * 站台高位
     */
    public Boolean platformHigh;
    /**
     * 站台低位
     */
    public Boolean platformLow;

    /**
     * 当前货叉位置
@@ -101,27 +216,29 @@
    public CrnFingerPosType fingerPosType;

    /**
     * 堆垛机任务完成
     */
    public Short taskFinish;

    /**
     * 载货台有物
     */
    public Short loaded;

    /**
     * 异常码（数值显示）
     * 堆垛机垂直故障代码（数值显示）
     */
    private Short alarm1;
    private Integer alarm1;

    private Short temp1;
    /**
     * 堆垛机水平故障代码（数值显示）
     */
    private Integer alarm2;

    private Short temp2;
    /**
     * 堆垛机货叉故障代码（数值显示）
     */
    private Integer alarm3;

    private Short temp3;

    private Short temp4;
    /**
     * 堆垛机状态故障代码（数值显示）
     */
    private Integer alarm4;

    /**
     * 异常1
@@ -150,20 +267,6 @@
    private boolean[] error4;

    private CrnError4 crnError4;

    /**
     * 异常5
     */
    private boolean[] error5;

    private CrnError5 crnError5;

    /**
     * 异常6
     */
    private boolean[] error6;

    private CrnError6 crnError6;

    /**
     * X行走线速度m/min
@@ -315,16 +418,6 @@
        this.crnError4.xLooseBrakeTimeout = error4[1];
        this.crnError4.yLooseBrakeTimeout = error4[2];
        this.crnError4.zLooseBrakeTimeout = error4[3];
    }

    public void setError5(boolean[] error5) {
        this.error5 = error5;
        this.crnError5 = new CrnError5();
    }

    public void setError6(boolean[] error6) {
        this.error6 = error6;
        this.crnError6 = new CrnError6();
    }

    /**

 src/main/java/com/zy/core/thread/SiemensCrnThread.java

@@ -5,7 +5,6 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.Arith;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnOpt;
@@ -15,9 +14,7 @@
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
@@ -73,7 +70,7 @@
                        }
                        command.setCrnNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo((short) 0); // 工作号
//                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        command.setTaskMode(CrnTaskModeType.NONE); // 任务模式
                        command.setSourcePosX((short)0);     // 源库位排
                        command.setSourcePosY((short)0);     // 源库位列
@@ -122,38 +119,83 @@
            if (null == crnProtocol) {
                crnProtocol = new CrnProtocol();
            }
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 2));
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 4));
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 6));
            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 8));
            crnProtocol.setForkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));
            crnProtocol.setLiftPos(siemensNet.getByteTransform().TransInt16(result.Content, 12));
            crnProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));
//            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 16));
            crnProtocol.setLoaded(siemensNet.getByteTransform().TransInt16(result.Content, 18));
            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt16(result.Content, 20));
            // 异常信息
            crnProtocol.setError1(siemensNet.getByteTransform().TransBool(result.Content, 22, 2));
            crnProtocol.setError2(siemensNet.getByteTransform().TransBool(result.Content, 24, 2));
            crnProtocol.setError3(siemensNet.getByteTransform().TransBool(result.Content, 26, 2));
            crnProtocol.setError4(siemensNet.getByteTransform().TransBool(result.Content, 28, 2));
            crnProtocol.setError5(siemensNet.getByteTransform().TransBool(result.Content, 30, 2));
            crnProtocol.setError6(siemensNet.getByteTransform().TransBool(result.Content, 32, 2));
            float xSpeed = siemensNet.getByteTransform().TransSingle(result.Content, 34);
            crnProtocol.setXSpeed((float) Arith.multiplys(3, xSpeed, 1.15));
            crnProtocol.setYSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 38));
            float zSpeed = siemensNet.getByteTransform().TransSingle(result.Content, 42);
            crnProtocol.setZSpeed((float) Arith.multiplys(3, zSpeed, 5));
            crnProtocol.setXDistance(siemensNet.getByteTransform().TransSingle(result.Content, 46));
            crnProtocol.setYDistance(siemensNet.getByteTransform().TransSingle(result.Content, 50));
            crnProtocol.setXDuration(siemensNet.getByteTransform().TransSingle(result.Content, 54));
            crnProtocol.setYDuration(siemensNet.getByteTransform().TransSingle(result.Content, 58));
            crnProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));   // 2
            crnProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2)); // 4
            crnProtocol.setTaskNo(siemensNet.getByteTransform().TransInt16(result.Content, 4)); // 6
            crnProtocol.setTaskFinish(siemensNet.getByteTransform().TransInt16(result.Content, 6)); // 8
            crnProtocol.setValid(siemensNet.getByteTransform().TransInt16(result.Content, 8));  // 10

            crnProtocol.setLevel(siemensNet.getByteTransform().TransInt16(result.Content, 14)); // 16
            crnProtocol.setBay(siemensNet.getByteTransform().TransInt16(result.Content, 16));   // 18
            crnProtocol.setRow(siemensNet.getByteTransform().TransInt16(result.Content, 18));   // 20
            crnProtocol.setLane(siemensNet.getByteTransform().TransInt16(result.Content, 20));  // 22

            crnProtocol.setAlarm1(siemensNet.getByteTransform().TransInt32(result.Content, 28));    // 30
            crnProtocol.setAlarm2(siemensNet.getByteTransform().TransInt32(result.Content, 32));    // 34
            crnProtocol.setAlarm3(siemensNet.getByteTransform().TransInt32(result.Content, 36));    // 38
            crnProtocol.setAlarm4(siemensNet.getByteTransform().TransInt32(result.Content, 40));    // 42

            boolean[] bool1 = siemensNet.getByteTransform().TransBool(result.Content, 60, 1);    // 62
            crnProtocol.setConnStatus(bool1[0]);
            crnProtocol.setCorrection(bool1[3]);
            crnProtocol.setTuError(bool1[4]);
            crnProtocol.setNoneError(bool1[5]);
            crnProtocol.setStockError(bool1[6]);
            crnProtocol.setJobInvalid(bool1[7]);
            boolean[] bool2 = siemensNet.getByteTransform().TransBool(result.Content, 61, 1);    // 63
            crnProtocol.setIdle(bool2[0]);
            crnProtocol.setControl(bool2[1]);
            crnProtocol.setStopQuasi(bool2[2]);
            crnProtocol.setRunning(bool2[3]);
            crnProtocol.setFault(bool2[4]);
            crnProtocol.setForkHome(bool2[5]);
            crnProtocol.setForkSingleLeft(bool2[6]);
            crnProtocol.setForkSingleRight(bool2[7]);
            boolean[] bool3 = siemensNet.getByteTransform().TransBool(result.Content, 62, 1);    // 64
            crnProtocol.setForkDoubleLeft(bool3[0]);
            crnProtocol.setForkDoubleRight(bool3[1]);
            crnProtocol.setSingleHigh(bool3[2]);
            crnProtocol.setSingleLow(bool3[3]);
            crnProtocol.setDoubleHigh(bool3[4]);
            crnProtocol.setDoubleLow(bool3[5]);
            crnProtocol.setPlatformHigh(bool3[6]);
            crnProtocol.setPlatformLow(bool3[7]);
            // 增强
            if (crnProtocol.getForkHome()) {
                crnProtocol.setForkPos(CrnForkPosType.HOME);
            }
            if (crnProtocol.getForkSingleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType.LEFT);
            }
            if (crnProtocol.getForkSingleRight()) {
                crnProtocol.setForkPos(CrnForkPosType.RIGHT);
            }
            if (crnProtocol.getForkDoubleLeft()) {
                crnProtocol.setForkPos(CrnForkPosType._LEFT);
            }
            if (crnProtocol.getForkDoubleRight()) {
                crnProtocol.setForkPos(CrnForkPosType._RIGHT);
            }
            if (crnProtocol.getSingleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType.UP);
            }
            if (crnProtocol.getSingleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType.DOWN);
            }
            if (crnProtocol.getDoubleHigh()) {
                crnProtocol.setLiftPos(CrnLiftPosType._UP);
            }
            if (crnProtocol.getDoubleLow()) {
                crnProtocol.setLiftPos(CrnLiftPosType._DOWN);
            }
            if (crnProtocol.getIdle()) {
                crnProtocol.setStatus(CrnStatusType.IDLE);
            }

            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

            // 复位信号
            if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
            if (crnProtocol.getTaskFinish() == 1) {
                if (resetFlag) {
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setAckFinish((short)1);
@@ -164,13 +206,15 @@
                }
            }

            // 根据实时信息更新数据库
            BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
            BasCrnp basCrnp = new BasCrnp();
            basCrnp.setCrnNo(slave.getId());
            if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
            try {
                // 根据实时信息更新数据库
                BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
                BasCrnp basCrnp = new BasCrnp();
                basCrnp.setCrnNo(slave.getId());
                if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){
                    log.error("堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                }
            } catch (Exception ignore){}

        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
@@ -187,7 +231,7 @@
            return false;
        }
        command.setCrnNo(slave.getId());
        short[] array = new short[13];
        short[] array = new short[9];
        if (!command.getTaskModeType().equals(CrnTaskModeType.CLEAR)) {
            array[0] = 5;
        } else {
@@ -201,12 +245,13 @@
        array[6] = command.getDestinationPosX();
        array[7] = command.getSourceStaNo();
        array[8] = command.getDestinationStaNo();
        array[9] = command.getSourceLane();
        array[10] = command.getDestinationLane();
        array[11] =

        // 作业信息
        OperateResult result = siemensNet.Write("DB10.0", array);
        if (result.IsSuccess) {
        // 任务号
        OperateResult result1 = siemensNet.Write("DB10.24", command.getTaskNo());
        // 结束位
        OperateResult result2 = siemensNet.Write("DB10.28.1", true);
        if (result.IsSuccess && result1.IsSuccess && result2.IsSuccess) {

            try {
                // 日志记录
@@ -219,11 +264,11 @@
                        command.getSourcePosX().intValue(),    // 源排
                        command.getSourcePosY().intValue(),    // 源列
                        command.getSourcePosZ().intValue(),    // 源层
                        null,    // 源站
                        command.getSourceStaNo().intValue(),    // 源站
                        command.getDestinationPosX().intValue(),    // 目标排
                        command.getDestinationPosY().intValue(),    // 目标列
                        command.getDestinationPosZ().intValue(),    // 目标层
                        null,    // 目标站
                        command.getDestinationStaNo().intValue(),    // 目标站
                        null,    // 响应结果
                        null,    // 修改时间
                        null    // 修改人员

 src/main/webapp/views/crn.html

@@ -187,7 +187,7 @@
                <button class="item" onclick="siteMove()">站到站</button>
                <button class="item" onclick="bacOrigin()">回原点</button>
                <button class="item" onclick="reverseOrigin()">反原点</button>
                <button class="item" onclick="coorMove()">坐标移行</button>
<!--                <button class="item" onclick="coorMove()">坐标移行</button>-->
                <button class="item" onclick="taskComplete()">任务完成</button>
<!--                <button class="item" onclick="pause()">暂停</button>-->
<!--                <button class="item" onclick="boot()">启动</button>-->