#v2.0

luxiaotao1123

2020-08-27 c422d0d7da0d26f39cd40f9070311ffbb2f9c009

#v2.0

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

@@ -113,6 +113,7 @@
            vo.setLev(crnProtocol.getLevel());  //  层
            vo.setXOrigin(crnProtocol.getBay()==1?"是":"否");     //  走行原点
            vo.setYOrigin(crnProtocol.getLevel()==1?"是":"否");     // 升降原点
            vo.setForkOffset(crnProtocol.getForkPosType().desc);    // 货叉位置
            vo.setXLocation(crnProtocol.getWalkPos() == 1?"是":"否");      // 走行定位
            vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"否":"是");      // 升降定位
            vo.setStop(crnProtocol.getCrnTemp1().stop?"是":"否");       //  急停
@@ -156,6 +157,13 @@
            } else {
                vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc());   //  模式状态
            }
            vo.setXspeed(crnProtocol.getXSpeed());  //  走行速度（m/min)
            vo.setYspeed(crnProtocol.getYSpeed());  //  升降速度（m/min)
            vo.setZspeed(crnProtocol.getZSpeed());  //  叉牙速度（m/min)
            vo.setXdistance(crnProtocol.getXDistance());  //  走行距离(Km)
            vo.setYdistance(crnProtocol.getYDistance());  //  升降距离(Km)
            vo.setXduration(crnProtocol.getXDuration());    //  走行时长(H)
            vo.setYduration(crnProtocol.getYDuration());    //  升降时长(H)
            list.add(vo);

        }
@@ -395,15 +403,15 @@
                    throw new CoolException("堆垛机不在线");
                }
                // 空闲判断
                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
//                if (crnProtocol.getStatusType().equals(com.zy.core.enums.CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
                    if (MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))) {
                        return true;
                    } else {
                        throw new CoolException("命令下发失败");
                    }
                } else {
                    throw new CoolException("堆垛机不在空闲状态");
                }
//                } else {
//                    throw new CoolException("堆垛机不在空闲状态");
//                }
            }
        }
        return false;

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

@@ -1,6 +1,9 @@
package com.zy.asrs.domain.vo;

import com.zy.asrs.utils.Utils;
import lombok.Data;

import java.text.DecimalFormat;

/**
 * Created by vincent on 2020-06-02
@@ -38,4 +41,52 @@
    // 命令
    private String command = "";

    // 走行速度（m/min)
    private Float xspeed;

    // 升降速度（m/min)
    private Float yspeed;

    // 叉牙速度（m/min)
    private Float zspeed;

    // 走行距离(Km)
    private Float xdistance;

    // 升降距离(Km)
    private Float ydistance;

    // 走行时长(H)
    private Float xduration;

    // 升降时长(H)
    private Float yduration;

    public void setXspeed(Float xspeed) {
        this.xspeed = Utils.scale(xspeed);
    }

    public void setYspeed(Float yspeed) {
        this.yspeed = Utils.scale(yspeed);
    }

    public void setZspeed(Float zspeed) {
        this.zspeed = Utils.scale(zspeed);
    }

    public void setXdistance(Float xdistance) {
        this.xdistance = Utils.scale(xdistance);
    }

    public void setYdistance(Float ydistance) {
        this.ydistance = Utils.scale(ydistance);
    }

    public void setXduration(Float xduration) {
        this.xduration = Utils.scale(xduration);
    }

    public void setYduration(Float yduration) {
        this.yduration = Utils.scale(yduration);
    }
}

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

@@ -62,6 +62,4 @@
    // 异常码
    private String warnCode;



}

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

@@ -543,6 +543,8 @@
                // 出库 + 拣料/盘点/并板出库中：12.吊车出库中 ==> 14.出库完成
                } else if (wrkMast.getWrkSts() == 12) {
                    wrkMast.setWrkSts(14L);
                } else  {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
@@ -550,9 +552,11 @@
                // 修改成功后复位堆垛机
                if (wrkMastMapper.updateById(wrkMast) > 0) {
                    // 命令下发区 -------------------------------------------------------------------------
                    // 堆垛机复位
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, new CrnCommand()))) {
                        log.error("堆垛机复位命令下发失败，工作号={}", wrkMast.getWrkNo());
                    if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
                        // 堆垛机复位
                        if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, new CrnCommand()))) {
                            log.error("堆垛机复位命令下发失败，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                }

@@ -587,7 +591,7 @@
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && !staProtocol.isInreq1()
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
                    // 工作号
                    int workNo = commonService.getWorkNo(0);
@@ -637,6 +641,7 @@
                        throw new CoolException("更新plc站点信息失败");
                    }

                    staProtocol.setPakMk(false);
                }



 src/main/java/com/zy/asrs/utils/Utils.java

New file
@@ -0,0 +1,22 @@
package com.zy.asrs.utils;

import com.core.common.Arith;

import java.math.BigDecimal;
import java.text.DecimalFormat;

/**
 * Created by vincent on 2020/8/27
 */
public class Utils {

    private static final DecimalFormat fmt = new DecimalFormat("##0.00");

    public static float scale(Float f){
        if (f == null || f == 0f || Float.isNaN(f)) {
            return 0f;
        }
        return (float) Arith.multiplys(2, f, 1);
    }

}

 src/main/java/com/zy/common/service/CommonService.java

@@ -169,7 +169,7 @@
            }
            BasDevp staNo = basDevpService.selectById(staDesc.getCrnStn());
            int inQty = staNo.getInQty()==null?0:staNo.getInQty();
            if (staNo.getInEnable().equals("Y") && staNo.getAutoing().equals("Y") && inQty<2) {
            if (staNo.getAutoing().equals("Y") && inQty<2) {
                // 查找库位
                if (locMast == null) {
                    locMast = locMastService.queryFreeLocMast(curRow);

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

@@ -41,7 +41,7 @@
    private boolean inreq1;

    // 锁定标记
    private boolean pakMk;
    private boolean pakMk = true;

    public BasDevp toSqlModel(){
        BasDevp basDevp = new BasDevp();

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

@@ -12,6 +12,7 @@
import com.zy.core.ThreadHandler;
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.model.CrnSlave;
@@ -35,6 +36,7 @@
    private MelsecMcNet melsecMcNet;
    private CrnSlave slave;
    private CrnProtocol crnProtocol;
    private boolean resetFlag = false;

    public CrnThread(CrnSlave slave) {
        this.slave = slave;
@@ -178,13 +180,21 @@

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

//        if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
//            if (resetFlag) {
//                if (melsecMcNet.Write("D2218", 1).IsSuccess) {
//                    resetFlag = false;
//                }
//            }
//        }

        // 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:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
//        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:{}]", slave.getId(), slave.getIp(), slave.getPort());
//        }

    }

@@ -199,15 +209,33 @@
        command.setCrnNo(slave.getId());
        /* 方法 1 */
        do {
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            if (command.getDestinationPosZ() != null) {
                if (!melsecMcNet.Write("D2202", command.getDestinationPosZ()).IsSuccess) { break; }
            }
            if (command.getDestinationPosY() != null) {
                if (!melsecMcNet.Write("D2204", command.getDestinationPosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2208", command.getDestinationPosX()).IsSuccess) { break; }
            }
            if (command.getSourcePosZ() != null) {
                if (!melsecMcNet.Write("D2210", command.getSourcePosZ()).IsSuccess) { break; }
            }
            if (command.getSourcePosY() != null) {
                if (!melsecMcNet.Write("D2212", command.getSourcePosY()).IsSuccess) { break; }
            }
            if (command.getDestinationPosX() != null) {
                if (!melsecMcNet.Write("D2214", command.getSourcePosX()).IsSuccess) { break; }
            }
            if (command.getTaskMode() != null) {
                if (!melsecMcNet.Write("D2216", command.getTaskMode()).IsSuccess) { break; }
            }
            if (command.getTaskNo() != null) {
                if (!melsecMcNet.Write("D2217", command.getTaskNo()).IsSuccess) { break; }
            }
            if (command.getAckFinish() != null) {
                if (!melsecMcNet.Write("D2218", command.getAckFinish()).IsSuccess) { break; }
            }

            System.out.println(MessageFormat.format("【{0}】[id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
@@ -262,7 +290,6 @@
        crnThread.connect();
        crnThread.readStatus();
        System.out.println(JSON.toJSONString(crnThread.crnProtocol));
        Thread.sleep(3000L);

        // 1.入库 源和目标都发
//        CrnCommand command = new CrnCommand();
@@ -335,19 +362,19 @@
//        command.setDestinationPosZ((short) 0);     // 目标库位层
//        crnThread.write(command);

//        // 7.坐标移行   目标发   pass
//        CrnCommand command = new CrnCommand();
//        command.setCrnNo(1); // 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((short) 0);     // 源库位列
//        command.setSourcePosZ((short) 0);     // 源库位层
//        command.setDestinationPosX((short) 2);     // 目标库位排
//        command.setDestinationPosY((short) 1);     // 目标库位列
//        command.setDestinationPosZ((short) 1);     // 目标库位层
//        crnThread.write(command);
        // 7.坐标移行   目标发   pass
        CrnCommand command = new CrnCommand();
        command.setCrnNo(1); // 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((short) 0);     // 源库位列
        command.setSourcePosZ((short) 0);     // 源库位层
        command.setDestinationPosX((short) 1);     // 目标库位排
        command.setDestinationPosY((short) 3);     // 目标库位列
        command.setDestinationPosZ((short) 3);     // 目标库位层
        crnThread.write(command);

        // 只有出现指定异常才进行复位
//        if (crnThread.crnProtocol.getCrnError2().leftTakeNoneErr

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

@@ -128,6 +128,10 @@
                staProtocol.setInEnable(result1.Content[(i-1)*8+2]); // 可入
                staProtocol.setOutEnable(result1.Content[(i-1)*8+3]);// 可出
                staProtocol.setEmptyMk(result1.Content[(i-1)*8+4]);  // 空板信号

                if (!staProtocol.isPakMk() && !staProtocol.isLoading()) {
                    staProtocol.setPakMk(true);
                }
            }
        }
        if (result.IsSuccess && result1.IsSuccess) {
@@ -173,6 +177,9 @@
//        status[4] = staProtocol.isEmptyMk();
//        OperateResult write2 = siemensS7Net.Write("DB100." + ((staProtocol.getSiteId() - 1) + 40), status);     //  状态
        if (!write.IsSuccess || !write1.IsSuccess) {
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线站点数据失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线站点数据失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));
        } else {

 src/main/resources/application.yml

@@ -22,8 +22,8 @@

mybatis-plus:
  mapper-locations: classpath:mapper/*.xml
  global-config:
    field-strategy: 0
#  global-config:
#    field-strategy: 0

logging:
  path: /stock/out/logs
@@ -36,7 +36,7 @@

# 下位机配置
wcs-slave:
  # 堆垛机
  # 堆垛机1
  crn[0]:
    id: 1
    ip: 192.168.3.39
@@ -48,17 +48,40 @@
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 5
      staNo: 4
      row: 2
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 6
      staNo: 2
      row: 1
      bay: 1
      lev: 1
    # 堆垛机2
    #crn[1]:
      id: 1
      ip: 192.168.3.40
      port: 5015
      rack: 0
      slot: 0
      # 偏移量，当堆垛机站点列号=1时，偏移量=0
      offset: 1
      # 堆垛机入库站点
      crnInStn[0]:
        devpPlcId: ${wcs-slave.devp[0].id}
        staNo: 8
        row: 2
        bay: 1
        lev: 1
      # 堆垛机出库站点
      crnOutStn[0]:
        devpPlcId: ${wcs-slave.devp[0].id}
        staNo: 6
        row: 1
        bay: 1
        lev: 1
  # 输送线
  devp[0]:
    id: 1
@@ -66,16 +89,26 @@
    port: 6000
    rack: 0
    slot: 1
    # 入库口
    # 入库口1
    inSta[0]:
      staNo: 2
      staNo: 3
      barcode: ${wcs-slave.barcode[0].id}
    # 空板入库口
    # 入库口2
    inSta[1]:
      staNo: 7
      barcode: ${wcs-slave.barcode[0].id}
    # 空板入库口1
    emptyInSta[0]:
      staNo: 2
    # 出库口
      staNo: 3
    # 空板入库口2
    emptyInSta[1]:
      staNo: 7
    # 出库口1
    outSta[0]:
      staNo: 6
      staNo: 1
    # 出库口2
    outSta[1]:
      staNo: 5
    # 拣料入库口
    pickSta[0]:
      staNo: 2

 src/main/resources/mapper/WrkMastMapper.xml

@@ -84,7 +84,7 @@
    </select>

    <select id="selectPakInStep3" resultMap="BaseResultMap">
        select top 1 from dbo.asr_wrk_mast where wrk_no=#{workNo}
        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo}
    </select>

    <select id="selectPickStep" resultMap="BaseResultMap">

 src/main/webapp/views/crn.html

@@ -47,6 +47,7 @@
                    <th>层</th>
                    <th>走行原点</th>
                    <th>升降原点</th>
                    <th>货叉位置</th>
                    <th>走行定位</th>
                    <th>升降定位</th>
                    <th>急停</th>
@@ -71,6 +72,13 @@
                <th>源库位</th>
                <th>目标库位</th>
                <th>异常</th>
                <th>走行速度（m/min)</th>
                <th>升降速度（m/min)</th>
                <th>叉牙速度（m/min)</th>
                <th>走行距离(Km)</th>
                <th>升降距离(Km)</th>
                <th>走行时长(H)</th>
                <th>升降时长(H)</th>
            </tr>
        </thead>
        <tbody>
@@ -257,10 +265,11 @@
                        setVal(tr.children("td").eq(6), table[i-1].lev);
                        setVal(tr.children("td").eq(7), table[i-1].xorigin);
                        setVal(tr.children("td").eq(8), table[i-1].yorigin);
                        setVal(tr.children("td").eq(9), table[i-1].xlocation);
                        setVal(tr.children("td").eq(10), table[i-1].ylocation);
                        setVal(tr.children("td").eq(11), table[i-1].stop);
                        setVal(tr.children("td").eq(12), table[i-1].warnCode);
                        setVal(tr.children("td").eq(9), table[i-1].forkOffset);
                        setVal(tr.children("td").eq(10), table[i-1].xlocation);
                        setVal(tr.children("td").eq(11), table[i-1].ylocation);
                        setVal(tr.children("td").eq(12), table[i-1].stop);
                        setVal(tr.children("td").eq(13), table[i-1].warnCode);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
@@ -294,7 +303,14 @@
                        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(6), table[i-1].error);
                        setVal(tr.children("td").eq(7), table[i-1].error);
                        setVal(tr.children("td").eq(8), table[i-1].xspeed);
                        setVal(tr.children("td").eq(9), table[i-1].yspeed);
                        setVal(tr.children("td").eq(10), table[i-1].zspeed);
                        setVal(tr.children("td").eq(11), table[i-1].xdistance);
                        setVal(tr.children("td").eq(12), table[i-1].ydistance);
                        setVal(tr.children("td").eq(13), table[i-1].xduration);
                        setVal(tr.children("td").eq(14), table[i-1].yduration);
                    }
                } else if (res.code === 403){
                    window.location.href = baseUrl+"/login";
@@ -463,6 +479,7 @@
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "       <td></td>\n" +
                "     </tr>\n";
        }
        $('#crn-state-table tbody').after(html);
@@ -492,6 +509,13 @@
                "       <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";
        }
        $('#crn-msg-table tbody').after(html);