src/main/java/com/zy/asrs/controller/OpenController.java
@@ -13,6 +13,7 @@ import javax.servlet.http.HttpServletRequest; import java.util.ArrayList; import java.util.List; /** * Created by vincent on 2024/10/16 @@ -57,6 +58,35 @@ } /** * 添加出库单 */ @PostMapping("/task/cs/down/default/v2") @AppAuth(memo = "WCS任务下发") public synchronized R wcsTaskDistribution2(@RequestHeader(required = false) String appkey, @RequestBody List<WcsTaskDistributionParam> param1, HttpServletRequest request) { auth(appkey, param1, request); for (WcsTaskDistributionParam param:param1){ if (Cools.isEmpty(param)) { return R.parse(BaseRes.PARAM); } if (Cools.isEmpty(param.getTaskNo())) { return R.error("工作号[taskNo]不能为空"); } if (Cools.isEmpty(param.getStartSta()) || param.getStartSta$()==0) { return R.error("起点[startSta]不能为空"); } if (Cools.isEmpty(param.getEndSta()) || param.getEndSta$()==0) { return R.error("终点[endSta]不能为空"); } // openService.wcsTaskDistribution(param); openService.wcsTaskDistribution(param); } return R.ok(); } /** * 数据同步 */ @PostMapping("/status/cs/default/v1") src/main/java/com/zy/asrs/controller/RgvController.java
@@ -36,13 +36,11 @@ import org.springframework.beans.factory.annotation.Value; import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RequestParam; import org.springframework.web.bind.annotation.RestController; import javax.rmi.CORBA.Util; import java.util.ArrayList; import java.util.HashMap; import java.util.List; import java.util.Map; import java.util.*; /** * RGV接口 @@ -353,7 +351,7 @@ // ringThroughParam.setIndex(i); // double[] doubles = Utils.RingThroughXY2(perimeter, NumUtils.GetRandomIntInRange(183)); // double[] doubles = Utils.RingThroughXYRgv(perimeter, perimeter-rgvProtocol.RgvPos.doubleValue()); double[] doubles = Utils.getRgvPos(perimeter, rgvProtocol.RgvPos.doubleValue()); double[] doubles = Utils.getRgvPosNew(perimeter, rgvProtocol.RgvPos.doubleValue()); // double[] doubles = Utils.RingThroughXY2(183.0, 100*i ); ringThroughParam.setValueX(doubles[0]-2.94); @@ -372,11 +370,17 @@ List<RingThroughParam> result = new ArrayList<>(); List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<>()); for (BasDevpPosition basDevpPosition : basDevpPositions){ if (basDevpPosition.getDevNo() == 134){ continue; } RingThroughParam ringThroughParam = new RingThroughParam(); ringThroughParam.setIndex(basDevpPosition.getDevNo()); double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition()); ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1); ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1); // double[] doubles = Utils.RingThroughXYSta(perimeter, perimeter-basDevpPosition.getPlcPosition()); // ringThroughParam.setValueX(doubles[0]>50? doubles[0]+6:doubles[0]-1); // ringThroughParam.setValueY(doubles[1]>50? doubles[1]+6:doubles[1]-1); double[] doubles = Utils.getRgvPosNew(basDevpPosition.getDevNo(),perimeter, basDevpPosition.getPlcPosition()); ringThroughParam.setValueX(doubles[0]); ringThroughParam.setValueY(doubles[1]); result.add(ringThroughParam); } return R.ok().add(result); @@ -472,4 +476,31 @@ return R.ok().add(result); } @PostMapping("/disable/rgv/status") // @ManagerAuth(memo = "修改RGV状态") public R rgvDisableStatus(@RequestParam Integer rgvNo, @RequestParam Integer status){ log.info("/disable/rgv/status===》修改RGV状态！！！rgvNo:{},status:{},data:{}",rgvNo,status,new Date()); BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_no", rgvNo)); if (basCircularShuttle == null){ return R.error().add("未找到此RGV，异常！！！"); } basCircularShuttle.setStatus(status); basCircularShuttleService.updateById(basCircularShuttle); return R.ok(); } @PostMapping("/disable/task/delete") // @ManagerAuth(memo = "删除任务") public R taskDisabledelete(@RequestParam Long wrkNo){ log.info("/disable/task/delete===》删除任务！！！wrkNo:{},data:{}",wrkNo,new Date()); WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo)); if (Cools.isEmpty(wrkMast)){ return R.error().add("未找到此任务，异常！！！"); } wrkMastService.deleteById(wrkMast); return R.ok(); } } src/main/java/com/zy/asrs/entity/BasCircularShuttle.java
@@ -36,6 +36,11 @@ @ApiModelProperty(value= "0:正常，1：禁用") private Integer status; @ApiModelProperty(value= "") @TableField("rgv_some") private int rgvSome = 1; public BasCircularShuttle() {} public BasCircularShuttle(Integer rgvId,Integer rgvNo,Integer status) { src/main/java/com/zy/asrs/entity/WrkMast.java
@@ -496,4 +496,190 @@ } } public Integer getStaNoCs(int[] autoZ){ switch (staNo){ case 114: case 115: case 116: case 117: case 118: return 102; case 120: case 121: case 122: return 104; case 124: case 125: case 126: return 106; case 128: case 129: case 130: return 108; case 133: return 111; case 102: switch (autoZ[0]){ case 0: autoZ[0]++; return 114; case 1: autoZ[0]++; return 115; case 2: autoZ[0]++; return 116; case 3: autoZ[0]++; return 117; default: autoZ[0] = 0; return 118;//117 } case 104: switch (autoZ[1]){ case 0: autoZ[1]++; return 120; case 1: autoZ[1]++; return 121; default: autoZ[1] = 0; return 122;//121 } case 106: switch (autoZ[2]){ case 0: autoZ[2]++; return 124; case 1: autoZ[2]++; return 125; default: autoZ[2] = 0; return 126;//125 } case 108: switch (autoZ[3]){ case 0: autoZ[3]++; return 128; case 1: autoZ[3]++; return 129; default: autoZ[3] = 0; return 130; } case 111: return 133; } return 0; } public Integer getStaNoCs(){ switch (staNo){ case 114: return 102; case 120: return 104; case 124: return 106; case 128: return 108; case 133: return 111; case 102: return 114; case 104: return 120; case 106: return 124; case 108: return 128; case 111: return 133; } return 0; } public Integer getSourceNoCs(int[] autoZ){ switch (sourceStaNo){ case 101: switch (autoZ[4]){ case 0: autoZ[4]++; return 112; default: autoZ[4] = 0; return 113; } case 103: return 119; case 105: return 123; case 107: return 127; case 109: case 110: case 111: switch (autoZ[5]){ case 0: autoZ[5]++; return 131; default: autoZ[5] = 0; return 132; } case 112: case 113: return 101; case 119: return 103; case 123: return 105; case 127: return 107; case 131: case 132: switch (autoZ[6]){ case 0: autoZ[6]++; return 109; case 1: autoZ[6]++; return 110; default: autoZ[6] = 0; return 111; } } return 0; } public Integer getSourceNoCs(){ switch (sourceStaNo){ case 101: return 112; case 103: return 119; case 105: return 123; case 107: return 127; case 109: return 131; case 112: return 101; case 119: return 103; case 123: return 105; case 127: return 107; case 131: return 109; } return 0; } } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -16,6 +16,7 @@ import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil; import com.zy.asrs.utils.TimeCalculatorUtils; import com.zy.common.CodeRes; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; @@ -54,6 +55,8 @@ private BasCircularShuttleService basCircularShuttleService; @Autowired private WrkMastService wrkMastService; @Autowired private CommonService commonService; @Value("${constant-parameters.perimeter}") private Long perimeter; @@ -65,12 +68,23 @@ private Long rgvCount; @Value("${constant-parameters.rgvDate}") private Double rgvDate; @Value("${wms.url}") private String wmsUrl; @Value("${wms.reportOutPath}") private String wmsOutPath; @Value("${wms.reportSwitch}") private boolean reportSwitch; @Value("${wms.reportSwitchAuto}") private boolean reportSwitchAuto; /* * 验证许可证是否有效 * */ public synchronized boolean licenseVerify() { try{ // if (true) { // return true; // } return new LicenseVerify().verify(); } catch (Exception e){ log.info("许可证验证失败！！异常：{}",e.getMessage()); @@ -123,7 +137,7 @@ log.info("更新小车排序信息异常={}", rgvNo); return; } List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true)); List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true)); if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) { return; } @@ -163,6 +177,10 @@ Integer rgvNo = 0; List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true)); for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) { if (basCircularShuttle.getStatus() != 0){ sign = true; continue; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { @@ -273,6 +291,9 @@ break runRgv; } BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId)); if (basCircularShuttle.getStatus() != 0){ continue ; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { @@ -313,6 +334,7 @@ rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //工位1起点 rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0); if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) { // log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); @@ -339,7 +361,7 @@ } //任务完成 public synchronized void rgvCompleteWrkMastSta() { public synchronized void rgvCompleteWrkMastSta(int[] autoZ) { try { for (RgvSlave rgvSlave : slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); @@ -376,8 +398,9 @@ wrkMast.setAppeTime(now); try{ try{ if (reportSwitch){ RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast); ReturnT<String> result = new PostMesDataUtils().postMesDataWcs("", "", rgvTaskReportingParam); ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam); if (result.getCode()==200){ wrkMast.setWrkSts(4L); wrkMast.setAppeTime(now); @@ -386,6 +409,26 @@ }else { log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败"); } } else { //测试用 wrkMast.setWrkSts(4L); wrkMast.setAppeTime(now); wrkMastService.updateById(wrkMast); if (reportSwitchAuto) { WrkMast wrkMast1 = new WrkMast(); int workNo = commonService.getWorkNo(0); wrkMast1.setWrkNo((long) workNo); wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ)); wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ)); wrkMast1.setWrkSts(1L); wrkMast1.setIoType(1); wrkMast1.setModiTime(now); wrkMast1.setAppeTime(now); wrkMast1.setMemo("测试数据"); wrkMastService.insert(wrkMast1); } continue; } } catch (Exception e){ log.error("工作号"+wrkMast.getWrkNo()+"任务完成信息上传处理失败，异常信息："+e); } src/main/java/com/zy/asrs/utils/Utils.java
@@ -130,535 +130,165 @@ return new double[]{x, y}; } public static double[] getRgvPosNew(Integer devNo,double a, double b) { double[] rgvPosNew = getRgvPosNew(a, b); switch (devNo){ case 101: case 102: case 103: case 104: case 105: case 106: case 107: case 108: case 109: case 110: case 111: rgvPosNew[0] = rgvPosNew[0] - 30; rgvPosNew[1] = rgvPosNew[1]; break; case 112: case 113: case 114: case 115: rgvPosNew[0] = rgvPosNew[0] + 30; rgvPosNew[1] = rgvPosNew[1]; break; case 116: case 117: case 118: case 119: case 120: case 121: case 122: case 123: case 124: case 125: case 126: case 127: case 128: case 129: case 130: case 131: case 132: case 133: rgvPosNew[0] = rgvPosNew[0]; rgvPosNew[1] = rgvPosNew[1] + 30; break; case 134: rgvPosNew[0] = rgvPosNew[0]; rgvPosNew[1] = rgvPosNew[1] - 30; break; } return rgvPosNew; public static double[] getRgvPos(double a,double b) { // a 是总长度 // b 是当前位置 } public static double[] getRgvPosNew(double a, double b) { // 定义区间及对应的几何参数（新增圆弧参数） // 结构：{start, end, 类型, 参数...} // 类型说明：0-直线，1-圆弧（需要圆心坐标） Object[][] intervals = { // 直线区间（0-134400） {0.0, 120000.0, 0, 390.0, 775.0, 25.0, 775.0}, // // 弧线区间！！！直线区间！！！ {120000.0, 127500.0, 0, 25.0, 775.0, 45.0, 822.0}, // 弧线区间！！！直线区间！！！ {127500.0, 134900.0, 0, 45.0, 822.0, 65.0, 882.0}, // 直线区间 {134900.0, 680103.0,0, 65.0, 882.0, 1115.0, 882.0}, // 计算点的坐标 double x = 0; double y = 0; // // 弧线区间（拐点116-115），控制点假设为(1125, 882) // {680103, 731550, 1115, 882, 1215, 775, 1125, 882}, // 圆弧区间（拐点116-115）新参数：圆心(1115,775) {680103.0, 731550.0, 2, 1115.0, 882.0, 1215.0, 775.0, 1115.0, 775.0}, // 修正终点坐标 // 直线区间 {731550.0, 972950.0,0, 1215.0, 775.0, 1215.0, 125.0}, // 弧线区间（拐点112-顶点），控制点假设为(1215, 80)！！！直线区间！！！ {972950.0, 1016193.0,0, 1215.0, 125.0, 1164.0, 80.0}, // 弧线区间（拐点-顶点-111），控制点假设为(1164, 125)！！！直线区间！！！ {1016193.0, 1063563.0,0, 1164.0, 80.0, 1115.0, 125.0}, // 直线区间 {1063563.0, 1315250.0,0, 1115.0, 150.0, 1115.0, 720.0}, // 弧线区间（拐点101-转弯），控制点假设为(1115, 750) {1315250.0, 1322829.0,0, 1115.0, 720.0, 1100.0, 750.0}, // 直线区间 {1322829.0, 1737000.0,0, 1090.0, 775.0, 390.0, 775.0}, }; for (Object[] interval : intervals) { double start = (Double) interval[0]; double end = (Double) interval[1]; int type = (Integer) interval[2]; if (b > 217480 && b <= 217980) { // 133 站点 217730 x = 110; y = 882; } else if (b > 217980 && b <= 227777) { x = 121; y = 882; } else if (b > 227777 && b <= 237574) { x = 132; y = 882; } else if (b > 237574 && b <= 247371) { x = 143; y = 882; } else if (b > 247371 && b <= 257168) { x = 154; y = 882; } else if (b > 257168 && b <= 257668) { // 132 站点 257418 x = 165; y = 882; } else if (b > 257668 && b <= 262455) { x = 176; y = 882; } else if (b > 262455 && b <= 267242) { x = 187; y = 882; } else if (b > 267242 && b <= 272029) { x = 198; y = 882; } else if (b > 272029 && b <= 276817) { x = 209; y = 882; } else if (b > 276817 && b <= 277317) { // 131 站点 277067 x = 220; y = 882; } else if (b > 277317 && b <= 284630) { x = 231; y = 882; } else if (b > 284630 && b <= 291943) { x = 242; y = 882; } else if (b > 291943 && b <= 299256) { x = 253; y = 882; } else if (b > 299256 && b <= 306570) { x = 264; y = 882; } else if (b > 306570 && b <= 307070) { // 130 站点 306820 x = 275; y = 882; } else if (b > 307070 && b <= 314399) { x = 286; y = 882; } else if (b > 314399 && b <= 321729) { x = 297; y = 882; } else if (b > 321729 && b <= 329058) { x = 308; y = 882; } else if (b > 329058 && b <= 336388) { x = 319; y = 882; } else if (b > 336388 && b <= 336888) { // 129 站点 336638 x = 330; y = 882; } else if (b > 336888 && b <= 344181) { x = 341; y = 882; } else if (b > 344181 && b <= 351474) { x = 352; y = 882; } else if (b > 257168 && b <= 358767) { x = 363; y = 882; } else if (b > 358767 && b <= 366061) { x = 374; y = 882; } else if (b > 366061 && b <= 366561) { // 128 站点 366311 x = 385; y = 882; } else if (b > 366561 && b <= 370134) { x = 396; y = 882; } else if (b > 370134 && b <= 373708) { x = 407; y = 882; } else if (b > 373708 && b <= 377282) { x = 418; y = 882; } else if (b > 377282 && b <= 380856) { x = 429; y = 882; } else if (b > 380856 && b <= 381356) { // 127 站点 381106 x = 440; y = 882; } else if (b > 381356 && b <= 385021) { x = 451; y = 882; } else if (b > 385021 && b <= 388687) { x = 462; y = 882; } else if (b > 388687 && b <= 392352) { x = 473; y = 882; } else if (b > 392352 && b <= 396018) { x = 484; y = 882; } else if (b > 396018 && b <= 396518) { // 126 站点 396268 x = 495; y = 882; } else if (b > 396518 && b <= 403768) { x = 506; y = 882; } else if (b > 403768 && b <= 411018) { x = 517; y = 882; } else if (b > 411018 && b <= 418268) { x = 528; y = 882; } else if (b > 418268 && b <= 425518) { x = 539; y = 882; } else if (b > 425518 && b <= 426018) { // 125 站点 425768 x = 550; y = 882; } else if (b > 426018 && b <= 433329) { x = 561; y = 882; } else if (b > 433329 && b <= 440641) { x = 572; y = 882; } else if (b > 440641 && b <= 447952) { x = 583; y = 882; } else if (b > 426018 && b <= 455264) { x = 594; y = 882; } else if (b > 455264 && b <= 455764) { // 124 站点 455514 x = 605; y = 882; } else if (b > 455764 && b <= 459352) { x = 616; y = 882; } else if (b > 459352 && b <= 462940) { x = 627; y = 882; } else if (b > 462940 && b <= 466528) { x = 638; y = 882; } else if (b > 466528 && b <= 470117) { x = 649; y = 882; } else if (b > 470117 && b <= 470617) { // 123 站点 470367 x = 660; y = 882; } else if (b > 470617 && b <= 474207) { x = 671; y = 882; } else if (b > 474207 && b <= 477797) { x = 682; y = 882; } else if (b > 477797 && b <= 481387) { x = 693; y = 882; } else if (b > 481387 && b <= 484977) { x = 704; y = 882; } else if (b > 484977 && b <= 485477) { // 122 站点 485227 x = 715; y = 882; } else if (b > 485477 && b <= 492773) { x = 726; y = 882; } else if (b > 492773 && b <= 500069) { x = 737; y = 882; } else if (b > 500069 && b <= 507365) { x = 748; y = 882; } else if (b > 507365 && b <= 514662) { x = 759; y = 882; } else if (b > 514662 && b <= 515162) { // 121 站点 514912 x = 770; y = 882; } else if (b > 515162 && b <= 522479) { x = 781; y = 882; } else if (b > 522479 && b <= 529797) { x = 792; y = 882; } else if (b > 529797 && b <= 537114) { x = 803; y = 882; } else if (b > 537114 && b <= 544432) { x = 814; y = 882; } else if (b > 544432 && b <= 544932) { // 120 站点 544682 x = 825; y = 882; } else if (b > 544932 && b <= 548520) { x = 836; y = 882; } else if (b > 548520 && b <= 552108) { x = 847; y = 882; } else if (b > 552108 && b <= 555696) { x = 858; y = 882; } else if (b > 555696 && b <= 559284) { x = 869; y = 882; } else if (b > 559284 && b <= 559784) { // 119 站点 559534 x = 880; y = 882; } else if (b > 559784 && b <= 563356) { x = 891; y = 882; } else if (b > 563356 && b <= 566928) { x = 908; y = 882; } else if (b > 566928 && b <= 570500) { x = 919; y = 882; } else if (b > 570500 && b <= 574073) { x = 930; y = 882; } else if (b > 574073 && b <= 574573) { // 118 站点 574323 x = 941; y = 882; } else if (b > 574573 && b <= 581878) { x = 952; y = 882; } else if (b > 581878 && b <= 589183) { x = 963; y = 882; } else if (b > 589183 && b <= 596488) { x = 974; y = 882; } else if (b > 596488 && b <= 603793) { x = 985; y = 882; } else if (b > 603793 && b <= 604293) { // 117 站点 604043 x = 996; y = 882; } else if (b > 604293 && b <= 611652) { x = 1007; y = 882; } else if (b > 611652 && b <= 619011) { x = 1018; y = 882; } else if (b > 619011 && b <= 626370) { x = 1029; y = 882; } else if (b > 626370 && b <= 633730) { x = 1; y = 882; } else if (b > 633730 && b <= 634230) { // 116 站点 633980 x = 1040; y = 882; } else if (b > 634230 && b <= 641833) { x = 1050; y = 882; } else if (b > 641833 && b <= 649437) { x = 1060; y = 882; } else if (b > 649437 && b <= 657041) { x = 1070; y = 882; } else if (b > 657041 && b <= 664645) { x = 1080; y = 882; } else if (b > 664645 && b <= 672249) { x = 1090; y = 882; } else if (b > 672249 && b <= 679853) { x = 1100; y = 882; if (b >= start && b <= end) { double t = (b - start) / (end - start); } else if (b > 679853 && b <= 680353) { // 116 拐点 680103 x = 1115; y = 882; } else if (b > 680353 && b <= 685447) { x = 1125; y = 882; } else if (b > 685447 && b <= 690542) { x = 1125; y = 880; } else if (b > 690542 && b <= 695637) { x = 1135; y = 878; } else if (b > 695637 && b <= 700731) { x = 1145; y = 877; } else if (b > 700731 && b <= 705826) { x = 1155; y = 875; } else if (b > 705826 && b <= 710921) { x = 1190; y = 855; } else if (b > 710921 && b <= 716015) { x = 1200; y = 840; } else if (b > 716015 && b <= 721110) { x = 1210; y = 820; } else if (b > 721110 && b <= 726205) { x = 1215; y = 800; } else if (b > 726205 && b <= 746783) { // 115 拐点 731550 x = 1215; y = 775; } else if (b > 746783 && b <= 750168) { x = 1215; y = 770; } else if (b > 750168 && b <= 753554) { x = 1215; y = 735; } else if (b > 753554 && b <= 756940) { x = 1215; y = 700; } else if (b > 756940 && b <= 760326) { x = 1215; y = 665; } else if (b > 760326 && b <= 763712) { x = 1215; y = 630; } else if (b > 763712 && b <= 767098) { x = 1215; y = 595; } else if (b > 767098 && b <= 770484) { x = 1215; y = 560; } else if (b > 770484 && b <= 773870) { x = 1215; y = 535; } else if (b > 773870 && b <= 774370) { // 115 站点 774120 x = 1215; y = 520; } else if (b > 774370 && b <= 780052) { x = 1215; y = 502; } else if (b > 780052 && b <= 785735) { x = 1215; y = 484; } else if (b > 785735 && b <= 791417) { x = 1215; y = 466; } else if (b > 791417 && b <= 797100) { x = 1215; y = 448; } else if (b > 797100 && b <= 797600) { // 114 站点 797100 x = 1215; y = 430; } else if (b > 797600 && b <= 815742) { x = 1215; y = 412; } else if (b > 815742 && b <= 833885) { x = 1215; y = 394; } else if (b > 833885 && b <= 852027) { x = 1215; y = 376; } else if (b > 852027 && b <= 870170) { x = 1215; y = 358; } else if (b > 870170 && b <= 870670) { // 113 站点 870420 x = 1215; y = 340; } else if (b > 870670 && b <= 877815) { x = 1215; y = 322; } else if (b > 877815 && b <= 884960) { x = 1215; y = 304; } else if (b > 884960 && b <= 892105) { x = 1215; y = 286; } else if (b > 892105 && b <= 899250) { x = 1215; y = 268; } else if (b > 899250 && b <= 899750) { // 112 站点 899500 x = 1215; y = 250; } else if (b > 899750 && b <= 914290) { x = 1215; y = 225; } else if (b > 914290 && b <= 928830) { x = 1215; y = 200; } else if (b > 928830 && b <= 943370) { x = 1215; y = 175; } else if (b > 943370 && b <= 957910) { x = 1215; y = 150; } else if (b > 972450 && b <= 972950) { // 拐点 x = 1215; y = 125; } else if (b > 972950 && b <= 1016193) { // 顶点 x = 1164; y = 80; } else if (b > 1016193 && b <= 1063563) { // 拐点 x = 1115; y = 125; } else if (b > 1063563 && b <= 1064063) { // 111 站点 1063813 x = 1115; y = 150; } else if (b > 1064063 && b <= 1077711) { x = 1115; y = 175; } else if (b > 1077711 && b <= 1078211) { // 110 站点 1077961 x = 1115; y = 200; } else if (b > 1078211 && b <= 1104788) { x = 1115; y = 225; } else if (b > 1104788 && b <= 1105288) { // 109 站点 1105038 x = 1115; y = 250; } else if (b > 1105288 && b <= 1119213) { x = 1115; y = 275; } else if (b > 1119213 && b <= 1119713) { // 108 站点 1119463 x = 1115; y = 300; } else if (b > 1119713 && b <= 1145902) { x = 1115; y = 325; } else if (b > 1145902 && b <= 1146402) { // 107 站点 1146152 x = 1115; y = 350; } else if (b > 1146402 && b <= 1160380) { x = 1115; y = 375; } else if (b > 1160380 && b <= 1160880) { // 106 站点 1160630 x = 1115; y = 400; } else if (b > 1160880 && b <= 1187314) { x = 1115; y = 425; } else if (b > 1187314 && b <= 1188214) { // 105 站点 1187564 x = 1115; y = 450; } else if (b > 1188214 && b <= 1201849) { x = 1115; y = 475; } else if (b > 1201849 && b <= 1202349) { // 104 站点 1202099 x = 1115; y = 500; } else if (b > 1202349 && b <= 1228831) { x = 1115; y = 525; } else if (b > 1228831 && b <= 1229331) { // 103 站点 1229081 x = 1115; y = 550; } else if (b > 1229331 && b <= 1243204) { x = 1115; y = 575; } else if (b > 1243204 && b <= 1243704) { // 102 站点 1243454 x = 1115; y = 600; } else if (b > 1243704 && b <= 1269708) { x = 1115; y = 625; } else if (b > 1269708 && b <= 1284750) { // 101 站点 1269958 x = 1115; y = 650; } else if (b > 1284750 && b <= 1285250) { // 101 拐点 x = 1115; y = 720; } else if (b > 1285250 && b <= 1322829) { // 101 拐点 x = 1100; y = 750; } else if (b > 1322829 && b <= 1737000){ double unit = (1737000 - 1322829) / 100.0; double startX = 1090; double unitX = 7; y = 775; for (int i = 0; i < 100; i++) { if (b > 1322829 + i * unit && b <= 1322829 + (i + 1) * unit) { x = startX - i * unitX; // 根据不同类型计算坐标 switch (type) { case 0: // 直线 return linearInterpolation(interval, t); case 1: // 贝塞尔曲线 return bezierInterpolation(interval, t); case 2: // 圆弧 return circularInterpolation(interval, t); } } } else if (b >= 0 && b <= 134400){ double unit = 134400 / 41.0; double startX = 390; double unitX = 8.17; y = 775; for (int i = 0; i < 41; i++) { if (b >= 0 + i * unit && b <= 0 + (i + 1) * unit) { x = startX - i * unitX; } } } else if (b > 134400 && b <= 134900) { x = 25; y = 830; } else if (b > 134900 && b <= 196000) { x = 65; y = 882; } else if (b > 196000 && b <= 217480) { x = 83; y = 882; return new double[]{0, 0}; } return new double[]{x, y}; // 直线插值 private static double[] linearInterpolation(Object[] interval, double t) { double x1 = (Double) interval[3]; double y1 = (Double) interval[4]; double x2 = (Double) interval[5]; double y2 = (Double) interval[6]; return new double[]{ x1 + t * (x2 - x1), y1 + t * (y2 - y1) }; } // 贝塞尔曲线插值 private static double[] bezierInterpolation(Object[] interval, double t) { double x0 = (Double) interval[3]; double y0 = (Double) interval[4]; double x2 = (Double) interval[5]; double y2 = (Double) interval[6]; double cx = (Double) interval[7]; double cy = (Double) interval[8]; return new double[]{ Math.pow(1-t, 2)*x0 + 2*(1-t)*t*cx + t*t*x2, Math.pow(1-t, 2)*y0 + 2*(1-t)*t*cy + t*t*y2 }; } // 圆弧插值（新增） private static double[] circularInterpolation(Object[] interval, double t) { // 参数解析 double startX = (Double) interval[3]; double startY = (Double) interval[4]; double endX = (Double) interval[5]; double endY = (Double) interval[6]; double centerX = (Double) interval[7]; double centerY = (Double) interval[8]; // 计算起始角度和终止角度 double startAngle = Math.atan2(startY - centerY, startX - centerX); double endAngle = Math.atan2(endY - centerY, endX - centerX); // 角度插值 double currentAngle = startAngle + t * (endAngle - startAngle); double radius = Math.hypot(startX - centerX, startY - centerY); return new double[]{ centerX + radius * Math.cos(currentAngle), centerY + radius * Math.sin(currentAngle) }; } } src/main/java/com/zy/core/MainProcess.java
@@ -29,6 +29,7 @@ private int j = 0; private int k = 0; private int l = 0; private int[] autoZ = new int[]{0,0,0,0,0,0,0}; /** * =====>> 开始工作 @@ -63,7 +64,7 @@ // 任务下发 mainService.DevpTaskNoRun(); // 任务完成 mainService.rgvCompleteWrkMastSta(); mainService.rgvCompleteWrkMastSta(autoZ); //更新位置信息 mainService.updateStePosition();
@@ -52,6 +52,9 @@ // 工位2任务号 private Short taskNo2 = 0; private Short rgvSome = 1; /** * 任务模式： * 0 = 无 src/main/java/com/zy/core/thread/RgvThread.java
@@ -216,9 +216,13 @@ array[3] = command.getTaskMode1();//任务模式 array[4] = command.getTaskNo1(); OperateResult result = siemensNet.Write("DB24.0", array); if (command.getAckFinish1().equals((short)0)) { // Thread.sleep(100L); siemensNet.Write("DB24.10.7", command.getRgvSome() == 1); Thread.sleep(100L); result = siemensNet.Write("DB24.10.0", true); } else { src/main/java/com/zy/system/controller/LicenseCreatorController.java
@@ -69,6 +69,9 @@ */ @RequestMapping(value = "/getLicenseDays") public R getLicenseDays() { // if (true){ // return R.ok().add(Cools.add("day",0)); // } LicenseVerify licenseVerify = new LicenseVerify(); LicenseContent verifyInfo = licenseVerify.getVerifyInfo(); if (verifyInfo == null) { src/main/resources/application.yml
@@ -32,6 +32,12 @@ swagger: enable: false wms: url: 172.17.196.200:8084 reportOutPath: open/rcs/task/cs/up/UploadTask reportSwitch: true reportSwitchAuto: false #License相关配置 license: subject: gdhmasrs src/main/resources/license.licBinary files differ
src/main/resources/mapper/BasCircularShuttleMapper.xml
@@ -8,6 +8,7 @@ <result column="rgv_id" property="rgvId" /> <result column="rgv_no" property="rgvNo" /> <result column="status" property="status" /> <result column="rgv_some" property="rgvSome" /> </resultMap>
@@ -59,15 +59,15 @@ } .station { position: absolute; width: 40px; height: 24px; /*border-radius: 50%;*/ width: 20px; height: 14px; text-align: center; line-height: 24px; line-height: 1.5; /* 调整行高与字体大小的比值 */ font-size: 10px; /* 设置更小的字体 */ font-weight: bold; transition: transform 0.3s ease; background-color: #ab1839; transform: scale(1.2); transform: scale(1); /* 可选：如果不需要放大效果 */ } .bus { font-size: 10px; @@ -218,17 +218,17 @@ " style="fill:none; stroke:blue; stroke-width:4;" /> </svg> <div class="bus-station"> <div v-for="(item,i) in devpPos1" class="bus-item-top" :style="'left:' + (75 + i * 15) + 'px'">{{item.dev_no}}</div> </div> <div class="bus-station" style="flex-direction: column"> <div v-for="(item,i) in devpPos2" class="bus-item-left" :style="'top:' + (200 + i * 50) + 'px'">{{item.dev_no}}</div> </div> <div class="bus-station" style="flex-direction: column"> <div v-for="(item,i) in devpPos3" class="bus-item-left2" :style="'top:' + (100 + i * 10) + 'px'">{{item.dev_no}}</div> </div> <!-- <div class="bus-station">--> <!-- <div v-for="(item,i) in devpPos1" class="bus-item-top" :style="'left:' + (75 + i * 15) + 'px'">{{item.dev_no}}</div>--> <!-- </div>--> <!-- <div class="bus-station" style="flex-direction: column">--> <!-- <div v-for="(item,i) in devpPos2" class="bus-item-left" :style="'top:' + (200 + i * 50) + 'px'">{{item.dev_no}}</div>--> <!-- </div>--> <!-- <div class="bus-station" style="flex-direction: column">--> <!-- <div v-for="(item,i) in devpPos3" class="bus-item-left2" :style="'top:' + (100 + i * 10) + 'px'">{{item.dev_no}}</div>--> <!-- </div>--> <!-- Stations on outer ring --> <!-- <div v-for="station in tableDataDev" class="station" :style="{ top: station.valueX + '%', left: station.valueY + '%' }">{{ station.index }}</div>--> <div v-for="station in tableDataDev" class="station" :style="{ top: station.valueY + 'px', left: station.valueX + 'px' }">{{ station.index }}</div> <div> <el-switch style="display: block" @@ -294,11 +294,18 @@ prop="rgvSts" label="RGV状态"> </el-table-column> <!-- <el-table-column--> <!-- prop=""--> <!-- label="操作">--> <!-- <el-button type="primary" icon="el-icon-edit" circle></el-button>--> <!-- </el-table-column>--> <el-table-column label="操作" type="template"> <template slot-scope="scope"> <el-button type="danger" size="small" @click="taskDelete(scope.row)"> 删除 </el-button> </template> </el-table-column> </el-table> </div> </div> @@ -338,11 +345,18 @@ prop="status$" label="状态"> </el-table-column> <!-- <el-table-column--> <!-- prop=""--> <!-- label="操作">--> <!-- <el-button type="primary" icon="el-icon-edit" circle></el-button>--> <!-- </el-table-column>--> <el-table-column label="操作" type="template"> <template slot-scope="scope"> <el-button :type="scope.row.status === 0 ? 'primary' : 'danger'" size="small" @click="toggleStatus(scope.$index, scope.row)"> {{ scope.row.status === 0 ? '禁用' : '解除禁用' }} </el-button> </template> </el-table-column> </el-table> </div> </div> @@ -444,6 +458,61 @@ } } }, taskDelete(row) { let that = this; that.$confirm('确认要删除该设备吗?', '提示', { confirmButtonText: '确定', cancelButtonText: '取消', type: 'warning' }).then(() => { $.ajax({ url: baseUrl + "/rgv/disable/task/delete", headers: {'token': localStorage.getItem('token')}, method: 'POST', data: { wrkNo: row.wrkNo }, success: function (res) { if (res.code === 200) { that.$message.success('删除成功'); // 删除当前行 that.tableDataRight.splice(that.tableDataRight.indexOf(row), 1); } else { that.$message.error('删除失败'); } } }); }); }, toggleStatus(index, row) { let that = this; const currentStatus = row.status; const targetStatus = currentStatus === 0 ? 1 : 0; that.$confirm(`确认要${currentStatus === 0 ? '禁用' : '启用'}该设备吗?`, '提示', { confirmButtonText: '确定', cancelButtonText: '取消', type: 'warning' }).then(() => { $.ajax({ url: baseUrl + "/rgv/disable/rgv/status", headers: {'token': localStorage.getItem('token')}, method: 'POST', data: { rgvNo: row.rgvNo, status: targetStatus }, success: function (res) { if (res.code === 200) { that.$message.success(`状态更新成功`); row.status$ = targetStatus; // 更新前端状态 } else { that.$message.error('状态更新失败'); } } }); }); }, handleChangeValueRight(val) { console.log("33333"+val);
