From 4747e5dcb4066161b42a7a54cab542949ad5826c Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期一, 29 九月 2025 13:36:00 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/asrs/controller/RgvController.java | 43 ++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 213 +++++++++------
src/main/webapp/views/console.html | 65 +---
src/main/webapp/views/rgv.html | 8
src/main/java/com/zy/common/CodeBuilder.java | 4
src/main/resources/mapper/WrkMastStaMapper.xml | 2
src/main/java/com/zy/core/model/protocol/StaProtocol.java | 10
src/main/java/com/zy/core/thread/RgvThread.java | 250 ++++++++++++++++++
src/main/java/com/zy/asrs/entity/WrkMastSta.java | 5
src/main/java/com/zy/core/MainProcess.java | 2
src/main/java/com/zy/core/model/protocol/RgvProtocol.java | 18 +
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 122 ++++++---
src/main/resources/application.yml | 21
13 files changed, 551 insertions(+), 212 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index bbebddf..380b8ca 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -271,19 +271,12 @@
}
RgvCommand command = new RgvCommand();
command.setRgvNo(param.getRgvNo()); // RGV缂栧彿
- command.setAckFinish1(true); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskNo1( 0); // 宸ヤ綔鍙�
- command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo1((short) 0); // 婧愮珯
- command.setDestinationStaNo1((short) 0); // 鐩爣绔�
- command.setAckFinish2(true); // 浠诲姟瀹屾垚纭浣�
- command.setTaskNo2(0); // 宸ヤ綔鍙�
- command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
- command.setSourceStaNo2((short) 0); // 婧愮珯
- command.setDestinationStaNo2((short) 0); // 鐩爣绔�
- command.setCommand(true);
+ command.setWrkTaskPri(0); //鎵ц宸ヤ綅
+ command.setTaskNo(Math.toIntExact(0)); // 宸ヤ綔鍙�
+ command.setTaskStatus((short)0); // 浠诲姟妯″紡: 鍙栬揣
+ command.setTargetPosition(0); // 鐩爣绔�
- return rgvControl(command)? R.ok(): R.error();
+ return rgvClear(command)? R.ok(): R.error();
}
@ManagerAuth(memo = "鎵嬪姩澶嶄綅")
@@ -348,4 +341,30 @@
return false;
}
+ private boolean rgvClear(RgvCommand command){
+ if (command.getRgvNo() == null) {
+ throw new CoolException("璇烽�夋嫨RGV");
+ }
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ if (command.getRgvNo().equals(rgv.getId())) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ if (rgvThread == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ throw new CoolException("RGV涓嶅湪绾�");
+ }
+ if (MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(3, command))) {
+ return true;
+ } else {
+ throw new CoolException("鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ return false;
+
+ }
+
}
\ No newline at end of file
diff --git a/src/main/java/com/zy/asrs/entity/WrkMastSta.java b/src/main/java/com/zy/asrs/entity/WrkMastSta.java
index 1cf409a..6731d63 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMastSta.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMastSta.java
@@ -133,9 +133,11 @@
@TableField("rgv_no")
private Integer rgvNo;
+ private Integer mk;
+
public WrkMastSta() {}
- public WrkMastSta(Long wrkNo, Integer wrkStart, Integer wrkEnd, Integer staStart, Integer staEnd, Date createTime, Date updateTime, Integer type, Integer wrkSts, Integer lineNumber, Integer wrkType, Date bignTime,Integer workSta, Integer rgvNo) {
+ public WrkMastSta(Long wrkNo, Integer wrkStart, Integer wrkEnd, Integer staStart, Integer staEnd, Date createTime, Date updateTime, Integer type, Integer wrkSts, Integer lineNumber, Integer wrkType, Date bignTime,Integer workSta, Integer rgvNo,Integer mk) {
this.wrkNo = wrkNo;
this.wrkStart = wrkStart;
this.wrkEnd = wrkEnd;
@@ -150,6 +152,7 @@
this.bignTime = bignTime;
this.workSta = workSta;
this.rgvNo = rgvNo;
+ this.mk = mk;
}
// WrkMastSta wrkMastSta = new WrkMastSta(
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 51af239..ff0b065 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -129,7 +129,6 @@
for (DevpSlave.Sta inSta : devp.getInSta()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -143,13 +142,9 @@
continue;
}
- if (barcodeThreadMat == null) {
- continue;
- }
String barcode = barcodeThread.getBarcode();
- String barcodeMat = barcodeThreadMat.getBarcode();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -212,7 +207,8 @@
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()) {
- if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+// News.error(JSON.toJSONString(staProtocol));
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// led 寮傚父鏄剧ず
if (ledThread != null) {
@@ -339,6 +335,7 @@
// }
// }
else {
+ News.error(JSON.toJSONString(staProtocol));
staProtocol.setWorkNo(wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -1050,61 +1047,61 @@
} else {
staProtocol = staProtocol.clone();
}
- if (slave.getId() == 3) {
- SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
- if (staProtocol2 == null) {
- News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
- break;
- } else {
- staProtocol2 = staProtocol2.clone();
- }
- WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- break;
-// continue;
- }
- if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
- break;
- }
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- break;
-// return;
- }
- // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 9996); // 宸ヤ綔鍙�
-// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX((short) 5); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
- News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast9999.setWrkSts(3L);
- wrkMast9999.setCrnStrTime(now);
- wrkMast9999.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast9999) == 0) {
- News.error("" + mark + " - 2" + " - 14" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast9999.getWrkNo());
- }
- break;
- }
- }
- }
+// if (slave.getId() == 3) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
+// if (staProtocol2 == null) {
+// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+// break;
+// } else {
+// staProtocol2 = staProtocol2.clone();
+// }
+// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+// break;
+//// continue;
+// }
+// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
+// // 鍫嗗灈鏈烘帶鍒惰繃婊�
+// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+//// continue;
+// break;
+// }
+// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+// break;
+//// return;
+// }
+// // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+// CrnCommand crnCommand = new CrnCommand();
+// crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// crnCommand.setTaskNo((short) 9996); // 宸ヤ綔鍙�
+//// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// crnCommand.setSourcePosX((short) 5); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
+// News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
+// } else {
+// // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+// Date now = new Date();
+// wrkMast9999.setWrkSts(3L);
+// wrkMast9999.setCrnStrTime(now);
+// wrkMast9999.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
+// News.error("" + mark + " - 2" + " - 14" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast9999.getWrkNo());
+// }
+// break;
+// }
+// }
+// }
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
@@ -2564,18 +2561,18 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(1108);list.add(2031);
+ list.add(1109);list.add(2031);
for (Integer site:list){
Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
StaProtocol staProtocol = null;
- if(emptyCount >= 2 && site == 1108){
+ if(emptyCount >= 2 && site == 1109){
continue;
}else if(emptyCount == 1 && site == 2031){
continue;
}
//濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
switch (site){
- case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
case 2031:staProtocol = devpThread.getStation().get(site);break;
}
if (staProtocol == null) {
@@ -2620,6 +2617,7 @@
list.add(1038);
for (Integer site:list){
StaProtocol staProtocol = devpThread.getStation().get(site);
+ StaProtocol staProtocol1 = devpThread.getStation().get(1040);
if (staProtocol == null) {
return;
} else {
@@ -2629,9 +2627,11 @@
&& staProtocol.isLoading() //鏈夌墿
&& staProtocol.isInEnable() //鍙叆淇″彿
&& staProtocol.isPakMk()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
+ && staProtocol1.isFull() //鍙犳弧淇″彿
+ && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990 ) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
) {
+ System.out.println(staProtocol);
try {
Short loctype1 = 1;
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
@@ -3091,16 +3091,20 @@
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //鍏ュ簱鏀捐揣浼樺厛宸ヤ綅2鎵ц
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
if( null == wrkMastSta ) {
News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
}
+
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
+ wrkMast.setSheetNo("2");
wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
+ wrkMastMapper.updateById(wrkMast);
log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
@@ -3159,7 +3163,7 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
- wrkMastSta.setWrkSts(3);
+ wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
}catch (Exception e){
@@ -3191,6 +3195,7 @@
List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
new EntityWrapper<WrkMastSta>()
.eq("wrk_sts" ,2)
+ .eq("rgv_no", rgvProtocol.getRgvNo())
);
for(WrkMastSta wrkMastSta : wrkMastStaList){
if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
@@ -3203,7 +3208,11 @@
}
}
}
- if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && !rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing()){
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && !rgvProtocol.isLoaded1ing()
+ && !rgvProtocol.isLoaded2ing()){
rgvThread.setPakRgv(true);
rgvThread.setPakIn(true);
rgvThread.setPakOut(true);
@@ -3270,7 +3279,7 @@
// rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
// }
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
//灏忚溅鎵ц鏀捐揣浠诲姟
rgvOutExecute();
@@ -3339,6 +3348,17 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+ if(wrkMastSta2 != null){
+ wrkMastSta2.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta2);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
}
if (staProtocol == null) {
News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
@@ -3391,9 +3411,7 @@
boolean sign = false;
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
- if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
- rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
- }
+
rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
@@ -3433,6 +3451,19 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+ if(wrkMastSta2 != null){
+ wrkMastSta2.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta2);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+
+
}
if (staProtocol == null) {
News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
@@ -3485,6 +3516,9 @@
boolean sign = false;
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
+ }
rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
@@ -3899,6 +3933,7 @@
continue;
}
String barcode = barcodeThread.getBarcode();
+ barcode="999997";
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
continue;
@@ -3909,7 +3944,7 @@
List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
.eq("arm_no", armSta.getArmNo())
- .eq("sta_no", armSta.getStaNo())
+ .eq("sta_no_sou", armSta.getStaNo())
.eq("status", 1));
for (BasArm basArm : basArmList) {
if (basArm.getStatus()!=1){
@@ -3970,19 +4005,19 @@
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
- int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂5锛�"+workNo+","+armSta.getStaNoEnd());
- if (!result) {
- News.error(""+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+// int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
+// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+// staProtocol.setWorkNo(workNo);
+// staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂5锛�"+workNo+","+armSta.getStaNoEnd());
+// if (!result) {
+// News.error(""+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+// }
basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
- }
+// }
}
}
} catch (Exception e){
@@ -4001,6 +4036,16 @@
continue;
}
try{
+ List<BasArmMast> basArmMastListError = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 9)
+ );
+ if (!basArmMastListError.isEmpty()){
+ log.error(basArm.getArmNo()+"鍙锋満姊拌噦瀛樺湪寮傚父鏁版嵁闇�瑕佺淮鎶わ紒锛侊紒");
+ continue;
+ }
List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
new EntityWrapper<BasArmMast>()
.eq("arm_no", basArm.getArmNo())
diff --git a/src/main/java/com/zy/common/CodeBuilder.java b/src/main/java/com/zy/common/CodeBuilder.java
index 8998eb4..023bcda 100644
--- a/src/main/java/com/zy/common/CodeBuilder.java
+++ b/src/main/java/com/zy/common/CodeBuilder.java
@@ -17,10 +17,10 @@
// generator.table="sys_host";
// sqlserver
generator.sqlOsType = SqlOsType.SQL_SERVER;
- generator.url="192.168.4.191:50948;databasename=jshdasrs";
+ generator.url="localhost:1433;databasename=jshdasrs";
generator.username="sa";
generator.password="sa@123";
- generator.table="asr_bas_arm";
+ generator.table="asr_bas_devp_opt";
generator.packagePath="com.zy.asrs";
generator.build();
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 7fd51be..2c8fec0 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -92,7 +92,7 @@
if (i>10){
//绌烘墭鐩樿嚜鍔ㄥ嚭搴�
- mainService.autoEmptyOut();
+// mainService.autoEmptyOut();
//绌烘墭鐩樿嚜鍔ㄥ叆搴�
mainService.autoEmptyIn();
i=0;
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 b957509..ddfcc52 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -59,6 +59,10 @@
* 宸ヤ綅1浠诲姟鍙�
*/
public Integer taskNo1 = 0;
+ /**
+ * 宸ヤ綅1鐩爣绔�
+ */
+ public Integer staNo1 = 0;
/**
* RGV宸ヤ綅1褰撳墠鐘舵��
@@ -98,12 +102,12 @@
public Short walkPos;
/**
- * 鎬ュ仠
+ * 鎬ュ仠瑙﹀彂
*/
public Boolean err1;
/**
- * 鏈夌墿鏃犺祫鏂�
+ *
*/
public Boolean err2;
@@ -132,11 +136,21 @@
*/
public Boolean err7;
+ public Boolean err8;
+ public Boolean err9;
+ public Boolean err10;
+ public Boolean err11;
+ public Boolean err12;
+
////////////////////// 宸ヤ綅2瀹氫箟 //////////////////////////////////////////////////
/**
* 宸ヤ綅2浠诲姟鍙�
*/
public Integer taskNo2 = 0;
+ /**
+ * 宸ヤ綅1鐩爣绔�
+ */
+ public Integer staNo2 = 0;
/**
* RGV宸ヤ綅2褰撳墠鐘舵��
diff --git a/src/main/java/com/zy/core/model/protocol/StaProtocol.java b/src/main/java/com/zy/core/model/protocol/StaProtocol.java
index 71d4c4e..9dd8082 100644
--- a/src/main/java/com/zy/core/model/protocol/StaProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/StaProtocol.java
@@ -24,6 +24,8 @@
// 鐩爣绔�
private Short staNo;
+ private String barcode;
+
// ----------------------------------------------------------------
// 鑷姩
private boolean autoing;
@@ -49,6 +51,9 @@
// 浣�
private boolean low;
+ // 鍙犵洏鍙犳弧
+ private boolean full;
+
// 閿佸畾鏍囪
private boolean pakMk = true;
@@ -60,6 +65,10 @@
//lfd鍏ュ簱鍗拌 褰搒tamp>=2鏃舵墠鍏ュ簱
private Integer stamp = 0;
+
+ private boolean err = false;
+
+
// 澶栧舰妫�娴� ------------------------------------------------------------------------
@@ -113,6 +122,7 @@
BasDevp basDevp = new BasDevp();
basDevp.setDevNo(siteId);
basDevp.setWrkNo(workNo.intValue());
+ basDevp.setBarcode(barcode);
basDevp.setAutoing(autoing?"Y":"N");
basDevp.setLoading(loading?"Y":"N");
basDevp.setInEnable(inEnable?"Y":"N");
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index c15ac26..3bbc231 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -5,10 +5,16 @@
import HslCommunication.Profinet.Siemens.SiemensPLCS;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
+import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.BasRgvMap;
import com.zy.asrs.entity.BasRgvOpt;
+import com.zy.asrs.service.BasDevpService;
+import com.zy.asrs.service.BasRgvMapService;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
import com.zy.common.utils.News;
@@ -25,11 +31,13 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
-import java.util.Date;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
/**
* RGV绾跨▼
@@ -42,6 +50,8 @@
private SiemensS7Net siemensNet;
private RgvSlave slave;
private RgvProtocol rgvProtocol;
+ private Map<Integer, StaProtocol> station = new ConcurrentHashMap<>();
+
/**
* 宸ヤ綅1澶嶄綅淇″彿
*/
@@ -97,7 +107,8 @@
command.setTaskStatus(RgvTaskStatusType.NONE); // 浠诲姟妯″紡
command.setTargetPosition(0); // 婧愮珯
command.setWrkTaskPri(0); // 鐩爣绔�
- write(command);
+ command.setCommand(false);
+ write2(command);
break;
default:
break;
@@ -108,6 +119,45 @@
}
}
+ }
+ private static final Set<Integer> specialSites = new HashSet<>(
+ Arrays.asList(1004,1014,1018,1028,1035));
+ public static final Map<Integer, Integer> StaPosition = new HashMap<Integer, Integer>() {{
+ put(1004, 1001);put(1014, 1011);put(1018, 1015);put(1028, 1025);put(1035, 1032);
+
+ }};
+ public static final ArrayList<Integer> staNos1 = new ArrayList<Integer>() {{
+ add(1);add(2);
+
+ }};
+
+ public static final ArrayList<Integer> staNos2 = new ArrayList<Integer>() {{
+ add(3);add(4);
+
+ }};
+ /**
+ * 鍒濆鍖栫珯鐐圭姸鎬�
+ */
+ private void initSite() {
+ ArrayList<Integer> staNos = getStaNo();
+
+ // 绔欑偣缂栧彿
+ for (Integer siteId : staNos) {
+ StaProtocol staProtocol = station.get(siteId);
+ if (null == staProtocol) {
+ staProtocol = new StaProtocol();
+ staProtocol.setSiteId(siteId);
+ station.put(siteId, staProtocol);
+ }
+ staProtocol.setWorkNo(0); // ID
+ staProtocol.setAutoing(false); // 鑷姩
+ staProtocol.setLoading(false); // 鏈夌墿
+ staProtocol.setInEnable(false); // 鍙叆
+ staProtocol.setOutEnable(false); // 鍙嚭
+ staProtocol.setEmptyMk(false); // 绌烘澘淇″彿
+ staProtocol.setStaNo((short) 0); // 鐩爣绔�
+
+ }
}
/**
@@ -145,7 +195,16 @@
// rgvProtocol.setxDistance((short) 0);
// rgvProtocol.setxDuration((short) 0);
}
-
+ private ArrayList<Integer> getStaNo() {
+ switch (slave.getId()) {
+ case 1:
+ return staNos1;
+ case 2:
+ return staNos2;
+ default:
+ throw new CoolException("鏈嶅姟鍣ㄥ紓甯�");
+ }
+ }
@Override
public boolean connect() {
boolean result = false;
@@ -179,7 +238,9 @@
*/
private void readStatus(){
try {
- OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 27);
+ ArrayList<Integer> staNos = getStaNo();
+
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
if (result.IsSuccess) {
if (null == rgvProtocol) {
rgvProtocol = new RgvProtocol();
@@ -192,10 +253,12 @@
rgvProtocol.setStatus1(siemensNet.getByteTransform().TransInt16(result.Content, 12));
rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 16));
rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 20));
- boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 2);
+ rgvProtocol.setStaNo1(siemensNet.getByteTransform().TransInt32(result.Content, 28));
+ rgvProtocol.setStaNo2(siemensNet.getByteTransform().TransInt32(result.Content, 32));
+ boolean[] status1 = siemensNet.getByteTransform().TransBool(result.Content, 24, 1);
rgvProtocol.setLoaded1(status1[0]);
rgvProtocol.setLoaded2(status1[1]);
- boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 26, 1);
+ boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, 36,1);
rgvProtocol.setErr1(status2[0]);
rgvProtocol.setErr2(status2[1]);
rgvProtocol.setErr3(status2[2]);
@@ -203,8 +266,16 @@
rgvProtocol.setErr5(status2[4]);
rgvProtocol.setErr6(status2[5]);
rgvProtocol.setErr7(status2[6]);
- OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
+ rgvProtocol.setErr8(status2[7]);
+ boolean[] status3 = siemensNet.getByteTransform().TransBool(result.Content, 37, 1);
+ rgvProtocol.setErr9(status3[0]);
+ rgvProtocol.setErr10(status3[1]);
+ rgvProtocol.setErr11(status3[2]);
+ rgvProtocol.setErr12(status3[3]);
+ BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
+
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), slave.getId()));
try {
// 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
@@ -249,6 +320,9 @@
}
byte[] writeBytes = new byte[14];
command.setRgvNo(slave.getId());
+ if(specialSites.contains(command.getTargetPosition())){
+ command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
+ }
writeInt32(writeBytes, 0, command.getWrkTaskPri());
writeInt32(writeBytes, 4, command.getTargetPosition());
writeInt16(writeBytes, 8, (short)command.getTaskStatus());
@@ -307,15 +381,145 @@
int writeCount2 = 0;
do {
writeCount2++;
- boolean commandFinish = true;
+ Short commandFinish = 1;
result = siemensNet.Write("DB100.34.0", commandFinish);
if(result.IsSuccess){
//RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
Thread.sleep(200);
OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
if (resultRead.IsSuccess) {
- commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
- if (!commandFinish){
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish !=1){
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }else{
+ //浠诲姟鍛戒护鍐欏叆鎴愬姛
+ News.info("RGV浠诲姟纭浣�"+commandFinish+"鍥炶鎴愬姛锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ break;
+ }
+ }else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍥炶澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ } else {
+ News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆澶辫触锛�"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
+ }
+ }while (writeCount2<5);
+ }
+ try {
+ // 鏃ュ織璁板綍
+ BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
+ BasRgvOpt basRgvOpt = new BasRgvOpt(
+ command.getTaskNo(),
+ command.getRgvNo(),
+ new Date(),
+ command.getTaskStatus().toString(),
+ command.getTargetPosition(),
+ command.getWrkTaskPri(),
+ new Date()
+ );
+ bean.insert(basRgvOpt);
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
+
+ if (result != null && result.IsSuccess) {
+ Thread.sleep(200);
+ this.readStatus();
+ log.info("RGV 宸ヤ綅鍛戒护涓嬪彂[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 宸ヤ綅鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
+ return true;
+ } else {
+ OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆戝啓鍏GV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+ log.error("鍐欏叆RGV plc宸ヤ綅鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
+ return false;
+ }
+ }
+ private boolean write2(RgvCommand command) throws InterruptedException {
+ if (null == command) {
+ log.error("RGV鍐欏叆鍛戒护涓虹┖");
+ return false;
+ }
+ OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) 39);
+ if (result1.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(result1.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(result1.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(result1.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(result1.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ News.info("RGV鍛戒护涓嬪彂鍓嶈鍙栫姸鎬乕id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ byte[] writeBytes = new byte[36];
+ command.setRgvNo(slave.getId());
+ if(specialSites.contains(command.getTargetPosition())){
+ command.setTargetPosition(StaPosition.get(command.getTargetPosition()));
+ }
+ writeInt32(writeBytes, 0, command.getWrkTaskPri());
+ writeInt32(writeBytes, 4, command.getTargetPosition());
+ writeInt16(writeBytes, 8, (short)command.getTaskStatus());
+ writeInt32(writeBytes, 10, command.getTaskNo());
+ writeBool(writeBytes, 34, 0, command.getCommand());
+ OperateResult result = siemensNet.Write("DB100.0", writeBytes);
+
+ if (!result.IsSuccess){
+ News.error("鍐欏叆RGVplc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }
+
+ //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(400);
+ try {
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 14);
+ if (resultRead.IsSuccess){
+ RgvCommand one = new RgvCommand();
+ one.setWrkTaskPri(siemensNet.getByteTransform().TransInt32(resultRead.Content, 0));//鎵ц宸ヤ綅
+ one.setTargetPosition(siemensNet.getByteTransform().TransInt32(resultRead.Content, 4));//琛岃蛋鐩爣绔�
+ one.setTaskStatus(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));//灏忚溅鐘舵��
+ one.setTaskNo(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));//涓嬪彂宸ヤ綔鍙�
+ if (
+ !command.getTaskNo().equals(one.getTaskNo()) ||
+ !command.getTaskStatus().equals(one.getTaskStatus()) ||
+ !command.getWrkTaskPri().equals(one.getWrkTaskPri()) ||
+ !command.getTargetPosition().equals(one.getTargetPosition())
+ ) {
+ try{
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }catch (Exception e){
+ try{
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>>鍙傛暟one鎶ラ敊 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
+ }catch (Exception e1){
+ News.error("鏃ュ織鎵撳嵃澶辫触锛�===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ }
+ }
+ News.error("Rgv鍛戒护鍥炶澶辫触鍚庯紝閲嶆柊娣诲姞浠诲姟鍒伴槦鍒� ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
+ MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
+ Thread.sleep(100);
+ readStatus();
+ return false;
+ }else {
+ News.info("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇绘垚鍔焄id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
+ }
+ }
+ }catch (Exception e){
+ News.error("RGV鍛戒护鍦板潃鍐欏叆鍚庡洖璇诲嚭閿�");
+ }
+
+ if (result.IsSuccess) { //浠诲姟涓嬪彂纭
+ Thread.sleep(300);
+ //浠诲姟涓嬪彂娆℃暟
+ int writeCount2 = 0;
+ do {
+ writeCount2++;
+ Short commandFinish = 1;
+ result = siemensNet.Write("DB100.34.0", commandFinish);
+ if(result.IsSuccess){
+ //RGV浠诲姟鍐欏叆鍚庯紝鍥炶涓�娆★紝鐪嬫槸鍚︽垚鍔�
+ Thread.sleep(200);
+ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.34", (short) 2);
+ if (resultRead.IsSuccess) {
+ commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0);
+ if (commandFinish !=1){
News.error("RGV浠诲姟纭浣�"+commandFinish+"鍐欏叆鏁版嵁涓庡洖璇绘暟鎹笉涓�鑷达紒"+"寰幆鎵ц娆℃暟:"+writeCount2+"娆�");
}else{
//浠诲姟鍛戒护鍐欏叆鎴愬姛
@@ -380,7 +584,33 @@
}
}
+ public Integer getRgvPosI(Integer pos) {
+ if (pos == null) return 0;
+ // key: 绔欑偣鍙� value: 鍩哄噯鐗╃悊浣嶇疆
+ Map<Integer, Integer> posMap = new HashMap<>();
+ posMap.put(1004, 6534);
+ posMap.put(1007, 33634);
+ posMap.put(1010, 75174);
+ posMap.put(1014, 102124);
+ posMap.put(1018, 138224);
+ posMap.put(1021, 178034);
+ posMap.put(1024, 219684);
+ posMap.put(1028, 246724);
+ posMap.put(1031, 288194);
+ posMap.put(1035, 315204);
+ int tolerance = 50; // 鍏佽璇樊鑼冨洿
+
+ for (Map.Entry<Integer, Integer> entry : posMap.entrySet()) {
+ int site = entry.getKey();
+ int basePos = entry.getValue();
+ if (Math.abs(pos - basePos) <= tolerance) {
+ return site;
+ }
+ }
+
+ return 0; // 娌″尮閰嶅埌绔欑偣
+ }
@Override
public void close() {
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 24f99c8..0a4a413 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -59,7 +59,7 @@
add(1029);add(1031);
add(1032);add(1033);add(1035);
add(1036);add(1037);add(1038);
- add(1039);add(1041);
+ add(1039);add(1040);add(1041);
add(1042);add(1043);add(1044);add(1045);add(1046);add(1047);add(1048);add(1050);add(1051);add(1052);add(1053);add(1054);add(1055);add(1056);add(1057);
add(1058);add(1059);add(1060);add(1061);add(1062);add(1063);add(1064);add(1065);add(1066);add(1067);add(1068);add(1069);add(1070);add(1071);add(1072);
add(1073);add(1074);add(1075);add(1076);add(1077);add(1078);add(1079);add(1080);add(1081);add(1082);add(1083);add(1084);add(1085);add(1086);add(1087);
@@ -117,6 +117,9 @@
// 鐗规畩绔欑偣闆嗗悎
private static final Set<Integer> specialSites2 = new HashSet<>(
Arrays.asList(1051,1055,1057,1065,1067,1069,1077,1081,1083,1086,1089,1092,1095,1097,1100));
+
+ private static final Set<Integer> specialSites3 = new HashSet<>(//鏈烘鑷傜珯鐐�
+ Arrays.asList(1098,1093,1087,1082,1074,1071,1062,1059));
public static final ArrayList<Integer> BarcodeList = new ArrayList<Integer>() {{
@@ -278,11 +281,11 @@
ArrayList<Integer> staNos = getStaNo();
int staNoSize = staNos.size();
OperateResultExOne<byte[]> result = null;
- OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.0", (short) (2764));//1001-1028
- OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0", (short) (1264));//1029-1037
- OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB104.0", (short) (1264));//1042-1053
- OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB103.0", (short) (2820));//1054-1079
- OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB102.0", (short) (3424));//1080-1110
+ OperateResultExOne<byte[]> result1 = siemensS7Net.Read("DB100.0", (short) (2768));//1001-1028
+ OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.0", (short) (1268));//1029-1037
+ OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB104.0", (short) (1268));//1042-1053
+ OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB103.0", (short) (2824));//1054-1079
+ OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB102.0", (short) (3428));//1080-1110
@@ -313,13 +316,18 @@
}
Integer offset2 = getOffsetBySiteId(siteId);
Integer offset3 = getOffsetBySiteId2(siteId);
- staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2)); // 宸ヤ綔鍙�
- staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, offset + offset2 + 12)); // 鐩爣绔�
- if(specialSites2.contains(siteId)){
- staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, offset + offset2 + 48)); // 鐩爣绔�
+ if(siteId == 1040){
+ boolean[] full = siemensS7Net.getByteTransform().TransBool(result.Content, offset, 2);
+ staProtocol.setFull(full[0]);
}
- if(siteId ==1041){
- News.info("1");
+ staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2)); // 宸ヤ綔鍙�
+ staProtocol.setStaNo((short)siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 12)); // 鐩爣绔�
+ staProtocol.setBarcode(String.valueOf(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 16))); //鏉＄爜
+
+ if(specialSites2.contains(siteId)){
+ staProtocol.setStaNo((short)siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 48)); // 鐩爣绔�
+ staProtocol.setBarcode(String.valueOf(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 52))); //鏉＄爜
+
}
boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3, 2);
@@ -328,8 +336,9 @@
staProtocol.setLoading(!status1[0]); // 鏈夌墿
- staProtocol.setInEnable(true); // 鍙叆
- staProtocol.setOutEnable(true);// 鍙嚭
+ staProtocol.setInEnable(status1[2]); // 鍙叆
+ staProtocol.setOutEnable(status1[2]);// 鍙嚭
+ staProtocol.setErr(status1[6]);
// staProtocol.setInEnable(status1[1]); // 鍙叆
// staProtocol.setOutEnable(status1[3]);// 鍙嚭
// staProtocol.setEmptyMk(status[4]); // 绌烘澘淇″彿
@@ -342,17 +351,55 @@
}
}
}
- BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
+ //鏉＄爜鎵弿鍣�
+ ArrayList<Integer> barcodeList = BarcodeList;
+ OperateResultExOne<byte[]> reasultBarcode1 = siemensS7Net.Read("DB101.780", (short) 8);//1036
+ OperateResultExOne<byte[]> reasultBarcode2 = siemensS7Net.Read("DB104.548", (short) 8);//1047
+ OperateResultExOne<byte[]> reasultBarcode3 = siemensS7Net.Read("DB102.2780", (short) 8);//1103
+// OperateResultExOne<byte[]> reasultBarcode4 = siemensS7Net.Read("DB104.180", (short) 184);
+ if(reasultBarcode1.IsSuccess){
+ Integer barcodeId = barcodeList.get(0);
+ String barcode = String.valueOf(siemensS7Net.getByteTransform().TransInt32(reasultBarcode1.Content, 0));
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
+ if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
+ barcodeThread.setBarcode(barcode);
+ }
+// News.error(JSON.toJSONString(barcode+"绾跨▼"+barcodeId));
+
+ }
+ if(reasultBarcode2.IsSuccess){
+ Integer barcodeId = barcodeList.get(1);
+ String barcode = String.valueOf(siemensS7Net.getByteTransform().TransInt32(reasultBarcode2.Content, 0));
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
+ if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
+ barcodeThread.setBarcode(barcode);
+ }
+// News.error(JSON.toJSONString(barcode+"绾跨▼"+barcodeId));
+
+ }
+ if(reasultBarcode3.IsSuccess){
+ Integer barcodeId = barcodeList.get(2);
+ String barcode = String.valueOf(siemensS7Net.getByteTransform().TransInt32(reasultBarcode3.Content, 0));
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
+ if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
+ barcodeThread.setBarcode(barcode);
+ }
+// News.error(JSON.toJSONString(barcode+"绾跨▼"+barcodeId));
+
+ }
+
+
+// BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class);
// RGV灏忚溅1
// Thread.sleep(100);
-// OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB101.",(short)27);
-// if (result3.IsSuccess) {
-// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result3.Content, 0));
+// OperateResultExOne<byte[]> resultCar1 = siemensS7Net.Read("DB101.0",(short)36);
+// if (resultCar1.IsSuccess) {
+// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(resultCar1.Content, 0) + 1);
// if (!Cools.isEmpty(basRgvMap)){
// Integer siteId1 = 1;
// Integer siteId2 = 2;
// StaProtocol staProtocol1 = station.get(siteId1);
-// StaProtocol staProtocol2 = station.get(siteId1);
+// StaProtocol staProtocol2 = station.get(siteId2);
//
// if (null == staProtocol1) {
// staProtocol1 = new StaProtocol();
@@ -365,15 +412,15 @@
// station.put(siteId2, staProtocol2);
//
// }
-// String pos = String.valueOf(getRgvPosI(siemensS7Net.getByteTransform().TransInt32(result.Content, 4)));
-// staProtocol1.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 2);
-// staProtocol2.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 2);
+// String pos = String.valueOf(getRgvPosI(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 4)));
+// staProtocol1.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 0);
+// staProtocol2.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 0);
// staProtocol1.setNearbySta(pos);
-// staProtocol1.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, 8));
-// staProtocol2.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(result.Content, 8));
-// staProtocol1.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 16));
-// staProtocol2.setWorkNo(siemensS7Net.getByteTransform().TransInt32(result.Content, 20));
-// boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result.Content, 24, 2);
+// staProtocol1.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 28));
+// staProtocol2.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 32));
+// staProtocol1.setWorkNo(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 16));
+// staProtocol2.setWorkNo(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 20));
+// boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultCar1.Content, 24, 1);
// staProtocol1.setLoading(status1[0]);
// staProtocol2.setLoading(status1[1]);
// // staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8)));
@@ -415,19 +462,8 @@
// }
// }
-// //鏉＄爜鎵弿鍣�
-// ArrayList<Integer> barcodeList = BarcodeList;
-// OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.840", (short) (barcodeList.size() * 8));
-// if (result2.IsSuccess) {
-// for (int i = 0; i < barcodeList.size(); i++) {
-// Integer barcodeId = barcodeList.get(i);
-// String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
-// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1);
-// if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
-// barcodeThread.setBarcode(barcode);
-// }
-// }
-// }
+
+
//鏉＄爜鎵弿鍣�
// ArrayList<Integer> barcodeListMat = BarcodeListMat;
// OperateResultExOne<byte[]> result2Mat = siemensS7Net.Read("DB103.0", (short) (barcodeListMat.size() * 30));
@@ -572,7 +608,7 @@
write1 = siemensS7Net.Write("DB104." + (offset + offset2 + 12), staProtocol.getStaNo().intValue()); // 鐩爣绔�
}
}else if(siteId < 1080){
- write = siemensS7Net.Write("DB104." + (offset + offset2), staProtocol.getWorkNo()); // 宸ヤ綔鍙�
+ write = siemensS7Net.Write("DB103." + (offset + offset2), staProtocol.getWorkNo()); // 宸ヤ綔鍙�
Thread.sleep(200);
if(specialSites2.contains(siteId)){
write1 = siemensS7Net.Write("DB103." + (offset + offset2 + 48), staProtocol.getStaNo().intValue()); // 鐩爣绔�
@@ -580,7 +616,7 @@
write1 = siemensS7Net.Write("DB103." + (offset + offset2 + 12), staProtocol.getStaNo().intValue()); // 鐩爣绔�
}
}else if(siteId < 1111){
- write = siemensS7Net.Write("DB104." + (offset + offset2), staProtocol.getWorkNo()); // 宸ヤ綔鍙�
+ write = siemensS7Net.Write("DB102." + (offset + offset2), staProtocol.getWorkNo()); // 宸ヤ綔鍙�
Thread.sleep(200);
if(specialSites2.contains(siteId)){
write1 = siemensS7Net.Write("DB102." + (offset + offset2 + 48), staProtocol.getStaNo().intValue()); // 鐩爣绔�
@@ -599,7 +635,7 @@
if (!write.IsSuccess) {
staProtocol = station.get(staProtocol.getSiteId());
- if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
+ if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0 && !staProtocol.isLoading()) {
staProtocol.setPakMk(true);
}
OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戝啓鍏ヨ緭閫佺嚎绔欑偣鏁版嵁澶辫触銆傝緭閫佺嚎plc缂栧彿={1}锛岀珯鐐规暟鎹�={2}", slave.getId(), JSON.toJSON(staProtocol)));
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index d64241b..89ffe04 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -9,7 +9,7 @@
datasource:
driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
# url: jdbc:sqlserver://localhost:1433;databasename=jshdasrs
- url: jdbc:sqlserver://10.10.10.198:1433;databasename=jshdasrs
+ url: jdbc:sqlserver://127.0.0.1:1433;databasename=jshdasrs
username: sa
password: sa@123
# url: jdbc:sqlserver://192.168.4.191:50948;databasename=jshdasrs
@@ -137,7 +137,7 @@
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 1015
- row: 10
+ row: 9
bay: 52
lev: 1
crnInStn[1]:
@@ -434,10 +434,14 @@
led: ${wcs-slave.led[1].id}
# 鍏ュ簱鍙�1
inSta[0]:
- staNo: 1044
- barcode: ${wcs-slave.barcode[0].id}
- barcodeMat: ${wcs-slave.barcode[3].id}
+ staNo: 1043
+ barcode: ${wcs-slave.barcode[1].id}
backSta: 1041
+ led: ${wcs-slave.led[1].id}
+ inSta[1]:
+ staNo: 1036
+ barcode: ${wcs-slave.barcode[0].id}
+ backSta: 1035
led: ${wcs-slave.led[1].id}
# 绌烘澘鍏ュ簱鍙�1
emptyInSta[0]:
@@ -452,10 +456,9 @@
led: ${wcs-slave.led[5].id}
backSta: 1037
# 鍏ュ簱鍙�1
- inSta[1]:
- staNo: 1103
- barcode: ${wcs-slave.barcode[1].id}
- barcodeMat: ${wcs-slave.barcode[4].id}
+ inSta[2]:
+ staNo: 1104
+ barcode: ${wcs-slave.barcode[2].id}
backSta: 1041
led: ${wcs-slave.led[2].id}
# inSta[2]:
diff --git a/src/main/resources/mapper/WrkMastStaMapper.xml b/src/main/resources/mapper/WrkMastStaMapper.xml
index 35c3f01..d24b83b 100644
--- a/src/main/resources/mapper/WrkMastStaMapper.xml
+++ b/src/main/resources/mapper/WrkMastStaMapper.xml
@@ -42,7 +42,7 @@
select top 1 * from asr_wrk_mast_sta
where 1=1
and wrk_no = #{workNo}
- and wrk_sts = 2
+ and wrk_sts = 1
</select>
<!-- <select id="selectNoInterfere" resultMap="BaseResultMap">-->
diff --git a/src/main/webapp/views/console.html b/src/main/webapp/views/console.html
index 67535cd..7ad3964 100644
--- a/src/main/webapp/views/console.html
+++ b/src/main/webapp/views/console.html
@@ -385,12 +385,11 @@
</script>
<script type="text/javascript">
// 寮圭獥绔欑偣淇℃伅
- $('.site').on('click', function () {
+ $(document).on('click', '.site' ,function () {
var id = this.id.split("-")[1];
- $("#siteWindow").attr("style", "display:block;");//鏄剧ずdiv
- $("#crnWindow").attr("style", "display:none;");
- $(".detailed").empty();
- $('.detailed').append(id + '绔欑偣璇︾粏淇℃伅');
+ $("#siteWindow").css("display", "block");//鏄剧ずdiv
+ $("#crnWindow").css("display", "none");
+ $(".detailed").empty().append(id + '绔欑偣璇︾粏淇℃伅');
$.ajax({
url: baseUrl + "/console/site/detail",
headers: {
@@ -406,7 +405,7 @@
if (find[0].type === 'text') {
find.val(res.data[val]);
} else if (find[0].type === 'checkbox') {
- find.attr("checked", res.data[val] === 'Y');
+ find.prop("checked", res.data[val] === 'Y');
}
}
}
@@ -415,32 +414,27 @@
});
// 鍫嗗灈鏈轰俊鎭�
- $('.machine').on('click', function () {
+ $(document).on('click', '.machine',function () {
var id = this.id.split("-")[1];
- $("#crnWindow").attr('style', 'display:block;');
- $("#siteWindow").attr("style", "display:none;");
- $('.detailed').empty();
- $('.detailed').append(id + '鍙峰爢鍨涙満');
+ $("#crnWindow").css("display","block");
+ $("#siteWindow").css("display","none");
+ $(".detailed").empty().append(id + '鍙峰爢鍨涙満');
$.ajax({
url: baseUrl + "/console/crn/detail",
- headers: {
- 'token': localStorage.getItem('token')
- },
- data: {
- crnNo: id
- },
+ headers: {'token': localStorage.getItem('token')},
+ data: {crnNo: id},
method: 'post',
success: function (res) {
- for (var val in res.data) {
- var find = $("#crnWindow").find(":input[name='" + val + "']");
- if (find[0].type === 'text') {
+ for(var val in res.data){
+ var find = $("#crnWindow").find(":input[name='"+ val + "']");
+ if(find[0].type === 'text'){
find.val(res.data[val]);
- } else if (find[0].type === 'checkbox') {
- find.attr("checked", res.data[val] === 'Y');
+ }else if (find[0].type === 'checkbox'){
+ find.prop("checked", res.data[val] === 'Y')
}
}
- }
+ }
})
})
@@ -603,30 +597,13 @@
// crnEl.animate({left: (crns[i].bay * unit) + 'px'}, 1000);
// crns[i].bay = 15;
var offSet = 120;
- unit = 52;
- // switch (i) {
- // case 0:
- // case 1:
- // case 2:
- // case 3:
- // unit = 35;
- // offSet = 500;
- // break;
- // case 5:
- // unit = 124;
- // offSet = 550;
- // break;
- // case 4:
- // case 6:
- // unit = 62;
- // offSet = 550;
- // break;
- // }
+ unit = 15;
+
if(crns[i].bay === 1){
- crnEl.animate({left: offSet + 'px'}, 19);
+ crnEl.animate({left: offSet + 'px'}, 10);
} else {
- crnEl.animate({left: (offSet - unit + (crns[i].bay * unit)) + 'px'}, 19);
+ crnEl.animate({left: (offSet - unit + (crns[i].bay * unit)) + 'px'}, 10);
}
}
diff --git a/src/main/webapp/views/rgv.html b/src/main/webapp/views/rgv.html
index c5a8735..a36ad90 100644
--- a/src/main/webapp/views/rgv.html
+++ b/src/main/webapp/views/rgv.html
@@ -119,8 +119,10 @@
<th>宸ヤ綅1宸ヤ綔鍙�</th>
<th>宸ヤ綅2宸ヤ綔鍙�</th>
<th>鐘舵��</th>
- <th>鐩爣绔�</th>
-<!-- <th>婧愬簱浣�</th>-->
+ <th>璧拌鐩爣绔�</th>
+ <th>宸ヤ綅1鐩爣绔�</th>
+ <th>宸ヤ綅2鐩爣绔�</th>
+ <!-- <th>婧愬簱浣�</th>-->
<!-- <th>鐩爣搴撲綅</th>-->
<!-- <th>璧拌閫熷害锛坢/min)</th>-->
<!-- <th>鍗囬檷閫熷害锛坢/min)</th>-->
@@ -239,7 +241,7 @@
<!-- <button class="item" onclick="lock()">瑙ｉ攣</button>-->
<!-- <button class="item" onclick="pause()">鏆傚仠</button>-->
<!-- <button class="item" onclick="boot()">鍚姩</button>-->
-<!-- <button class="item" onclick="clearCommand()">娓呴櫎鍛戒护</button>-->
+ <button class="item" onclick="clearCommand()">娓呴櫎鍛戒护</button>
<!-- <button class="item" onclick="handleReset()">澶嶄綅</button>-->
</div>
</fieldset>
--
Gitblit v1.9.1