From 2cf9b53834bf61455fffd322b0201b3d0080577a Mon Sep 17 00:00:00 2001 From: 1 <1@123> Date: 星期六, 10 五月 2025 17:06:49 +0800 Subject: [PATCH] # --- src/main/java/com/zy/asrs/task/TaskLogScheduler.java | 8 +- src/main/java/com/zy/core/thread/RgvThread.java | 10 ++- src/main/java/com/zy/asrs/controller/RgvController.java | 23 +++++++ src/main/java/com/zy/asrs/entity/TaskWrk.java | 13 ++++ src/main/java/com/zy/asrs/controller/OpenController.java | 2 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 6 +- src/main/resources/application-prod.yml | 8 +- src/main/java/com/zy/core/model/protocol/RgvProtocol.java | 4 pom.xml | 12 ++-- src/main/resources/application.yml | 8 +- src/main/webapp/views/deviceOperate/rgvOperate.html | 1 src/main/java/com/zy/asrs/entity/param/CarryParam.java | 31 ++++++++++ 12 files changed, 99 insertions(+), 27 deletions(-) diff --git a/pom.xml b/pom.xml index 2b6fe46..bf09a9c 100644 --- a/pom.xml +++ b/pom.xml @@ -61,12 +61,12 @@ <!-- </dependency>--> <!-- 鏄惧紡鎺掗櫎slf4j-simple --> - <dependency> - <groupId>org.slf4j</groupId> - <artifactId>slf4j-simple</artifactId> - <version>1.7.30</version> - <scope>provided</scope> <!-- 鎴栫洿鎺ュ垹闄よ渚濊禆 --> - </dependency> +<!-- <dependency>--> +<!-- <groupId>org.slf4j</groupId>--> +<!-- <artifactId>slf4j-simple</artifactId>--> +<!-- <version>1.7.30</version>--> +<!-- <scope>provided</scope> <!– 鎴栫洿鎺ュ垹闄よ渚濊禆 –>--> +<!-- </dependency>--> <dependency> <groupId>com.dameng</groupId> <artifactId>DmJdbcDriver8</artifactId> diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java index 16769ba..55a8a63 100644 --- a/src/main/java/com/zy/asrs/controller/OpenController.java +++ b/src/main/java/com/zy/asrs/controller/OpenController.java @@ -343,7 +343,7 @@ // List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>(); for (CarryParam param:params){ param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂 1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴� ====杞崲涓�====> 1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴� - + param.updateLocNo(); if (Cools.isEmpty(param)){ return R.error("鍙傛暟涓虹┖锛�"); } else if (Cools.isEmpty(param.getTaskNo())){ diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java index e85e4de..83e6cd1 100644 --- a/src/main/java/com/zy/asrs/controller/RgvController.java +++ b/src/main/java/com/zy/asrs/controller/RgvController.java @@ -75,6 +75,29 @@ return R.ok().add(res); } + @PostMapping("/run/del")//Take Put Walk + @ManagerAuth(memo = "灏忚溅琛岃蛋") + public R rgvRunDel(@RequestParam(defaultValue = "0") Integer rgvNo + ) { + if (rgvNo==null || rgvNo==0){ + return R.error("璇烽�夋嫨灏忚溅"); + } + RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo); + TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache(); + + try { + ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol(); + for (TaskProtocol taskProtocol : allTaskProtocol.values()){ + taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection()); + } + + } catch (Exception e) { + return R.error("浠诲姟鍒犻櫎澶辫触"+e.getMessage()); + } + + return R.ok("浠诲姟娓呯┖鎴愬姛"); + } + @PostMapping("/run/walk")//Take Put Walk @ManagerAuth(memo = "灏忚溅琛岃蛋") public R rgvRunWalk(@RequestParam(defaultValue = "0") Integer rgvNo, diff --git a/src/main/java/com/zy/asrs/entity/TaskWrk.java b/src/main/java/com/zy/asrs/entity/TaskWrk.java index 181892b..34c077c 100644 --- a/src/main/java/com/zy/asrs/entity/TaskWrk.java +++ b/src/main/java/com/zy/asrs/entity/TaskWrk.java @@ -376,4 +376,17 @@ } } + public String getPut(String point){ + String[] split = point.split("-"); + if (split.length == 5){ +// String locNo = String.format("%02d", ) + +// String.format("%03d", split[3]) + +// String.format("%02d", split[4]); + + return split[2]+"0"+split[3]+split[4]; + } else { + return point; + } + } + } diff --git a/src/main/java/com/zy/asrs/entity/param/CarryParam.java b/src/main/java/com/zy/asrs/entity/param/CarryParam.java index 9685b01..4766197 100644 --- a/src/main/java/com/zy/asrs/entity/param/CarryParam.java +++ b/src/main/java/com/zy/asrs/entity/param/CarryParam.java @@ -25,6 +25,10 @@ //澶囨敞 private String meno; + public void updateLocNo(){ + startPoint = getPut(startPoint); + targetPoint = getPut(targetPoint); + } public void updateIoTyoe(Integer ioTypeOld){ switch (ioTypeOld){ case 1: @@ -41,4 +45,31 @@ } } + public String getPut(String point){ + String[] split = point.split("-"); + if (split.length == 5){ +// String locNo = String.format("%02d", ) + +// String.format("%03d", split[3]) + +// String.format("%02d", split[4]); + + return split[2]+"0"+split[3]+split[4]; + } else { + return point; + } + } + + public static String zerofill(String msg, Integer count){ + if (msg.length() == count){ + return msg; + } else if (msg.length() > count){ + return msg.substring(0, 16); + } else { + StringBuilder msgBuilder = new StringBuilder(msg); + for (int i = 0; i<count-msg.length(); i++){ + msgBuilder.insert(0,"0"); + } + return msgBuilder.toString(); + } + } + } diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java index 7918153..ed4d6fb 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -1455,7 +1455,7 @@ if (rgvStn.getStaNo().equals(staNoNow)) { TaskWrk taskWrk = deviceDetection(rgvStn); if (taskWrk != null) { - BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert())); + BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { sign = taskGenerate(rgvSlave, rgvStn, 0); } @@ -1488,7 +1488,7 @@ if (rgvStn.getStaNo().equals(staNoNow)) { TaskWrk taskWrk = deviceDetection(rgvStn); if (taskWrk != null) { - BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert())); + BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { sign = taskGenerate(rgvSlave, rgvStn, 0); } @@ -1522,7 +1522,7 @@ if (rgvStn.getStaNo().equals(staNoNow)) { TaskWrk taskWrk = deviceDetection(rgvStn); if (taskWrk != null) { - BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert())); + BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { sign = taskGenerate(rgvSlave, rgvStn, 0); } diff --git a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java index aa32429..c9c05e4 100644 --- a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java +++ b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java @@ -62,9 +62,11 @@ HashMap<String, Object> map = new HashMap<>(); try { map.put("taskNo",taskWrk.getTaskNo()); - map.put("status",taskWrk.getStatus()); - map.put("ioType",taskWrk.getIoType()); - map.put("barcode",taskWrk.getBarcode()); + map.put("taskStatus",taskWrk.getStatus()); + map.put("ioType",taskWrk.getIoTypeWms()); + map.put("barCode",taskWrk.getBarcode()); + map.put("reportTime",new Date()); + map.put("weight",taskWrk.getScWeight().doubleValue()); response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java index 821ec56..43d9bfb 100644 --- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java +++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java @@ -85,12 +85,12 @@ /** * 杞﹁韩 */ - public Long carBodyJiaoMing = 0L; + public Long carBodyJiaoMing = 2000L; /** * 杞﹁韩 */ - public Long carBodyKunPeng = 0L; + public Long carBodyKunPeng = 15000L; /** * 鏄惁鍚敤 diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java index 38b1d23..1e6df7b 100644 --- a/src/main/java/com/zy/core/thread/RgvThread.java +++ b/src/main/java/com/zy/core/thread/RgvThread.java @@ -48,11 +48,11 @@ // private RgvProtocol rgvProtocol; private TaskProtocolCache taskProtocolCache = new TaskProtocolCache(); // # 杞ㄩ亾鎬婚暱 - private Long trackEntireLength = 100L; + private Long trackEntireLength = 215000L; //# 杞ㄩ亾鍩哄噯鐐� - private Long trackBenchmark = 100L; + private Long trackBenchmark = 1L; // # 閬胯璺濈 - private Long avoidDistance = 100L; + private Long avoidDistance = 4000L; /** * 宸ヤ綅1澶嶄綅淇″彿 @@ -520,8 +520,10 @@ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); if (rgvProtocol == null) { rgvProtocol = new RgvProtocol(); - rgvProtocol.setRgvNo(slave.getId()); } + rgvProtocol.setRgvNo(slave.getId()); + rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing()); + rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng()); rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0)); rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4)); diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml index 198453c..0e0b5a0 100644 --- a/src/main/resources/application-prod.yml +++ b/src/main/resources/application-prod.yml @@ -83,8 +83,8 @@ rack: 0 slot: 0 otherId: 2 - carBodyJiaoMing: 4100 - carBodyKunPeng: 4100 + carBodyJiaoMing: 2000 + carBodyKunPeng: 15000 #RGV婧愮珯鐐� rgvInSta[0]: devpPlcId: ${wcs-slave.devp[0].id} @@ -159,8 +159,8 @@ rack: 0 slot: 0 otherId: 1 - carBodyJiaoMing: 4100 - carBodyKunPeng: 4100 + carBodyJiaoMing: 2000 + carBodyKunPeng: 15000 #RGV婧愮珯鐐� rgvInSta[0]: devpPlcId: ${wcs-slave.devp[0].id} diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml index 66e6afd..546cab4 100644 --- a/src/main/resources/application.yml +++ b/src/main/resources/application.yml @@ -49,13 +49,13 @@ constant-parameters: # 杞ㄩ亾鎬婚暱 - trackEntireLength: 190000 + trackEntireLength: 215000 # 杞ㄩ亾鍩哄噯鐐� trackBenchmark: 1 # 杞ㄩ亾杞崲涓虹背姣斾緥 trackProportion: 10000 # 閬胯璺濈 - avoidDistance: 4100 + avoidDistance: 5100 wms: # 鏄惁寮�鍚笂鎶� @@ -65,13 +65,13 @@ #url: 10.32.53.195:8080 # WMS绯荤粺ip # url: 10.210.157.109:8090 - url: 10.210.157.26:9027 + url: 10.10.10.205:9027 # 鍏ュ簱浠诲姟鐢宠鎺ュ彛 #inboundTaskApplyPath: api/InterFace/inboundTaskApply inboundTaskApplyPath: sugood/inboundTaskApply # inboundTaskApplyPath: open/asrs/inboundTaskApply # 浠诲姟鐘舵�佸弽棣堟帴鍙� - taskStatusFeedbackPath: external/wcs/wmsHeartBeat + taskStatusFeedbackPath: external/wcs/taskStatusFeedback # 璐т綅鐘舵�佹洿鏂版帴鍙� locationUpdatePath: api/InterFace/get_InterFace_TestStorage # 绉诲簱鐢宠鎺ュ彛 diff --git a/src/main/webapp/views/deviceOperate/rgvOperate.html b/src/main/webapp/views/deviceOperate/rgvOperate.html index 5fefa32..4621705 100644 --- a/src/main/webapp/views/deviceOperate/rgvOperate.html +++ b/src/main/webapp/views/deviceOperate/rgvOperate.html @@ -55,6 +55,7 @@ <el-button @click="requestOperate('take')" type="primary">鍙栬揣</el-button> <el-button @click="requestOperate('put')" type="primary">鏀捐揣</el-button> <el-button @click="requestOperate('walk')" type="warning">琛岃蛋</el-button> + <el-button @click="requestOperate('del')" type="warning">浠诲姟娓呯┖</el-button> </div> </div> </el-card> -- Gitblit v1.9.1