#

luxiaotao1123

2020-08-18 ae71b59d481be89095b4035307b5c679c1832fe0

#

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

@@ -2,7 +2,6 @@

import com.alibaba.fastjson.JSON;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.CrnStatusType;
@@ -173,147 +172,40 @@
    @ManagerAuth(memo = "入库")
    @PostMapping("/operator/put")
    public R crnPut(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.PAKIN); // 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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
        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.PAKIN); // 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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "出库")
    @PostMapping("/operator/take")
    public R crnTake(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.PAKOUT); // 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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
        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.PAKOUT); // 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
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "库位转移")
    @PostMapping("/operator/stockMove")
    public R crnStockMove(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            return R.error(BaseRes.PARAM);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            if (param.getCrnNo().equals(crn.getId())) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                if (crnThread == null) {
                    break;
                }
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    break;
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    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.LOC_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
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return R.error("命令下发失败");
                    } else {
                        return R.ok();
                    }
                } else {
                    return R.error("堆垛机非空闲状态");
                }
            }
        }
        return R.error("堆垛机不在线");
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(CrnOperatorParam param){
        return R.ok("站到站成功");
    }

    @ManagerAuth(memo = "坐标移动")
    @PostMapping("/operator/coorMove")
    public R crnCoorMove(CrnOperatorParam param){
        return R.ok("坐标移动成功");
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(CrnOperatorParam param){
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
@@ -328,27 +220,110 @@
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "站到站")
    @PostMapping("/operator/siteMove")
    public R crnSiteMove(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.SITE_MOVE); // 任务模式
        command.setSourcePosX(param.getSourceStaNo());     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 1);     // 源库位层
        command.setDestinationPosX(param.getStaNo());     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        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((short) 0);     // 源库位排
        command.setSourcePosY(param.getSourceBay());     // 源库位列
        command.setSourcePosZ(param.getSourceLev());     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY(param.getBay());     // 目标库位列
        command.setDestinationPosZ(param.getLev());     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "回原点")
    @PostMapping("/operator/bacOrigin")
    public R crnBacOrigin(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.GO_ORIGIN); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 1);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "反原点")
    @PostMapping("/operator/reverseOrigin")
    public R reverseOrigin(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.GO_ORIGIN); // 任务模式
        command.setSourcePosX((short) 0);     // 源库位排
        command.setSourcePosY((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 34);     // 目标库位列
        command.setDestinationPosZ((short) 5);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "任务完成")
    @PostMapping("/operator/taskComplete")
    public R crnTaskComplete(CrnOperatorParam param){
        return R.ok("任务完成");
        CrnCommand command = new CrnCommand();
        command.setCrnNo(param.getCrnNo()); // 堆垛机编号
        command.setTaskNo((short) 0); // 工作号
        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
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 0);     // 目标库位排
        command.setDestinationPosY((short) 0);     // 目标库位列
        command.setDestinationPosZ((short) 0);     // 目标库位层
        return crnControl(command)?R.ok():R.error();
    }

    @ManagerAuth(memo = "暂停")
    @PostMapping("/operator/pause")
    public R crnPause(CrnOperatorParam param){
        return R.ok("暂停成功");
    }

    @ManagerAuth(memo = "启动")
    @PostMapping("/operator/boot")
    public R crnBoot(CrnOperatorParam param){
        return R.ok("启动成功");
    }
//    @ManagerAuth(memo = "暂停")
//    @PostMapping("/operator/pause")
//    public R crnPause(CrnOperatorParam param){
//        return R.ok("暂停成功");
//    }
//
//    @ManagerAuth(memo = "启动")
//    @PostMapping("/operator/boot")
//    public R crnBoot(CrnOperatorParam param){
//        return R.ok("启动成功");
//    }

    @ManagerAuth(memo = "清除命令")
    @PostMapping("/operator/clearCommand")
    public R crnClearCommand(CrnOperatorParam param){
        if (param.getCrnNo() == null) {
            throw new CoolException("请选择堆垛机");
        }
        MessageQueue.clear(SlaveType.Crn, param.getCrnNo());
        return R.ok("清除命令成功");
    }


 src/main/java/com/zy/asrs/domain/param/CrnOperatorParam.java

@@ -12,7 +12,7 @@
    private Integer crnNo;

    // 源站
    private Integer sourceStaNo;
    private Short sourceStaNo;

    // 源库位-排
    private Short sourceRow;

 src/main/java/com/zy/core/cache/MessageQueue.java

@@ -112,4 +112,26 @@
        }
    }

    public static void clear(SlaveType type, Integer id){
        switch (type) {
            case Crn:
                CRN_EXCHANGE.get(id).clear();
                break;
            case Devp:
                DEVP_EXCHANGE.get(id).clear();
                break;
            case Barcode:
                BARCODE_EXCHANGE.get(id).clear();
                break;
            case Led:
                LED_EXCHANGE.get(id).clear();
                break;
            case Scale:
                SCALE_EXCHANGE.get(id).clear();
                break;
            default:
                break;
        }
    }

}

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

@@ -7,6 +7,7 @@
    PAKOUT(2),    // 出库
    LOC_MOVE(3),    // 库位移转
    SITE_MOVE(4),    // 站位移转
    GO_ORIGIN(5),    // 回原点
    OFFSET_MOVE(7),    // 坐标移行
    ;


 src/main/webapp/views/crn.html

@@ -150,9 +150,10 @@
                <button class="item" onclick="siteMove()">站到站</button>
                <button class="item" onclick="coorMove()">坐标移动</button>
                <button class="item" onclick="bacOrigin()">回原点</button>
                <button class="item" onclick="reverseOrigin()">反原点</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>
<!--                <button class="item" onclick="pause()">暂停</button>-->
<!--                <button class="item" onclick="boot()">启动</button>-->
                <button class="item" onclick="clearCommand()">清除命令</button>
            </div>
        </fieldset>
@@ -362,6 +363,13 @@
        });
    }

    // 回原点
    function reverseOrigin() {
        http.post(baseUrl+"/crn/operator/reverseOrigin", getReqParam(), function (res) {
            layer.msg(res.msg);
        });
    }

    // 任务完成
    function taskComplete() {
        http.post(baseUrl+"/crn/operator/taskComplete", getReqParam(), function (res) {