From 86e5cfe90f800ba197c466fdd659c65873a813e1 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 23 十一月 2023 17:04:08 +0800
Subject: [PATCH] #堆垛机出入库
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 26 +++++++-
src/main/java/com/zy/asrs/entity/TaskWrk.java | 6 +
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 6 +-
src/main/java/com/zy/asrs/controller/CrnController.java | 82 +++++++++++++++++++--------
src/main/java/com/zy/core/model/command/CrnCommand.java | 9 +++
src/main/webapp/views/deviceOperate/crnOperate.html | 8 +-
src/main/java/com/zy/asrs/service/OpenService.java | 1
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 34 +++++-----
src/main/resources/application.yml | 2
src/main/java/com/zy/asrs/entity/param/taskCreateParam.java | 4
10 files changed, 119 insertions(+), 59 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index d6d2be9..e7b9991 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -2,6 +2,7 @@
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.plugins.Page;
import com.core.annotations.ManagerAuth;
@@ -22,6 +23,7 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -37,8 +39,10 @@
import com.zy.core.properties.SystemProperties;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;
+import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
@@ -51,6 +55,11 @@
@Slf4j
@RestController
public class CrnController {
+
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.movePath}")
+ private String movePath;
@@ -586,14 +595,6 @@
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
-// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
-// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
-// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
command.setAuto((short)1);
return crnControl2(command)?R.ok():R.error();
@@ -605,37 +606,68 @@
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
-// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
-// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
-// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
command.setAuto((short)2);
return crnControl2(command)?R.ok():R.error();
}
@ManagerAuth(memo = "鍒囨崲鎵嬪姩妯″紡")
@PostMapping("/crn/operator/hand")
+ public R onlineWrk1(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setAuto((short)3);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鐢宠瀹屾垚浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk1")
+ public R onlineWrk2(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk1((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鐢宠鍙栨秷浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk2")
+ public R onlineWrk3(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk2((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "娓呴櫎鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk3")
+ public R onlineWrk4(CrnOperatorParam param){
+ short[] array = new short[9];
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo((short) 0); // 宸ヤ綔鍙�
+ command.setOnlineWrk3((short)1);
+
+ return crnControl2(command)?R.ok():R.error();
+ }
+ @ManagerAuth(memo = "鎭㈠鑱旀満浠诲姟")
+ @PostMapping("/crn/operator/onlineWrk4")
public R crnHand(CrnOperatorParam param){
short[] array = new short[9];
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setTaskNo((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
-// command.setSourcePosX(param.getSourceRow()); // 婧愬簱浣嶆帓
-// command.setSourcePosY(param.getSourceBay()); // 婧愬簱浣嶅垪
-// command.setSourcePosZ(param.getSourceLev()); // 婧愬簱浣嶅眰
-// command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺�
-// command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒�
-// command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞�
- command.setAuto((short)3);
+ command.setOnlineWrk4((short)1);
return crnControl2(command)?R.ok():R.error();
}
+
+
+
private boolean crnControl2(CrnCommand command){
if (command.getCrnNo() == null) {
throw new CoolException("璇烽�夋嫨鍫嗗灈鏈�");
diff --git a/src/main/java/com/zy/asrs/entity/TaskWrk.java b/src/main/java/com/zy/asrs/entity/TaskWrk.java
index 1d95280..e61d8df 100644
--- a/src/main/java/com/zy/asrs/entity/TaskWrk.java
+++ b/src/main/java/com/zy/asrs/entity/TaskWrk.java
@@ -5,6 +5,8 @@
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;
+
+import io.swagger.models.auth.In;
import org.springframework.format.annotation.DateTimeFormat;
import com.core.common.SpringUtils;
import com.zy.asrs.service.BasWrkIotypeService;
@@ -78,7 +80,7 @@
*/
@ApiModelProperty(value= "浼樺厛绾�")
@TableField("io_pri")
- private Double ioPri;
+ private Integer ioPri;
/**
* 璧风偣
@@ -180,7 +182,7 @@
public TaskWrk() {}
- public TaskWrk(String taskNo,Integer status,Integer wrkNo,Date createTime,Integer ioType,Double ioPri,String startPoint,String targetPoint,Long modiUser,Date modiTime,String memo,String barcode,Date assignTime,Date executeTime,Date completeTime,Date cancelTime,Integer wrkSts) {
+ public TaskWrk(String taskNo,Integer status,Integer wrkNo,Date createTime,Integer ioType,Integer ioPri,String startPoint,String targetPoint,Long modiUser,Date modiTime,String memo,String barcode,Date assignTime,Date executeTime,Date completeTime,Date cancelTime,Integer wrkSts) {
this.taskNo = taskNo;
this.status = status;
this.wrkNo = wrkNo;
diff --git a/src/main/java/com/zy/asrs/entity/param/taskCreateParam.java b/src/main/java/com/zy/asrs/entity/param/taskCreateParam.java
index 6d5c6f5..417f464 100644
--- a/src/main/java/com/zy/asrs/entity/param/taskCreateParam.java
+++ b/src/main/java/com/zy/asrs/entity/param/taskCreateParam.java
@@ -15,7 +15,7 @@
private String startPoint;
//浼樺厛绾�
- private Double taskPriority;
+ private Integer taskPriority;
//缁堢偣
private String targetPoint;
@@ -35,7 +35,7 @@
this.taskNo = param.getTaskNo();
this.ioType = convertParamIoType(param.getTaskType());
this.barcode = param.getContainerCode();
- this.taskPriority = (double) param.getTaskPriority();
+ this.taskPriority = param.getTaskPriority();
this.startPoint = param.getSourceLocationCode();
this.targetPoint = param.getTargetLocationCode();
this.emptyContainer = param.getEmptyContainer();
diff --git a/src/main/java/com/zy/asrs/service/OpenService.java b/src/main/java/com/zy/asrs/service/OpenService.java
index 57699cc..005ab8b 100644
--- a/src/main/java/com/zy/asrs/service/OpenService.java
+++ b/src/main/java/com/zy/asrs/service/OpenService.java
@@ -1,5 +1,6 @@
package com.zy.asrs.service;
+import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
public interface OpenService {
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 a32a627..364c976 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -92,7 +92,7 @@
} else {
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
// 鏌ヨ宸ヤ綔妗�
TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
if (taskWrk == null) {
@@ -109,7 +109,7 @@
}
// 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
- && crnProtocol.getTaskFinish() == 1
+ && crnProtocol.getTaskFinish() == 0
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -447,7 +447,7 @@
continue;
}
// 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2)) {
+ if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
taskWrk.setWrkSts(4);
} else {
continue;
diff --git a/src/main/java/com/zy/core/model/command/CrnCommand.java b/src/main/java/com/zy/core/model/command/CrnCommand.java
index 8eedc95..15e1d8e 100644
--- a/src/main/java/com/zy/core/model/command/CrnCommand.java
+++ b/src/main/java/com/zy/core/model/command/CrnCommand.java
@@ -75,6 +75,15 @@
//鑱旀満妯″紡
private Short auto = 0;
+ //鐢宠瀹屾垚浠诲姟
+ private Short onlineWrk1 = 0;
+ //鐢宠鍙栨秷浠诲姟
+ private Short onlineWrk2 = 0;
+ //娓呴櫎鑱旀満浠诲姟
+ private Short onlineWrk3 = 0;
+ //鎭㈠鑱旀満浠诲姟
+ private Short onlineWrk4 = 0;
+
// 浠诲姟纭 0锛氭湭纭 1锛氬凡纭
private Short command = 0;
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index e63f0ce..4c4b1c8 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -392,7 +392,7 @@
}
command.setCrnNo(slave.getId());
- short[] array = new short[12];
+ short[] array = new short[10];
if (Cools.isEmpty(command.getAckFinish())) {
array[0] = 5;
} else {
@@ -429,9 +429,7 @@
// }
array[8] = command.getDestinationPosY();
array[9] = command.getCommand();
- if (!Cools.isEmpty(command.getAuto())){
- array[10] = command.getAuto();
- }
+
// 浣滀笟淇℃伅
@@ -527,9 +525,27 @@
log.error("鍫嗗灈鏈哄啓鍏ュ懡浠や负绌�");
return false;
}
+ OperateResult result = new OperateResult();
short[] array = new short[1];
array[0] = command.getAuto();
- OperateResult result = siemensNet.Write("DB100.20", array);
+ if(command.getAuto() !=0){
+ array[0] = command.getAuto();
+ result = siemensNet.Write("DB103.0", array);
+ }else if (command.getOnlineWrk1() != 0){
+ array[0] = command.getOnlineWrk1();
+ result = siemensNet.Write("DB103.2", array);
+ }else if (command.getOnlineWrk2() !=0){
+ array[0] = command.getOnlineWrk2();
+ result = siemensNet.Write("DB103.4", array);
+ }else if (command.getOnlineWrk3() != 0){
+ array[0] = command.getOnlineWrk3();
+ result = siemensNet.Write("DB103.6", array);
+ }else if (command.getOnlineWrk4() != 0){
+ array[0] = command.getOnlineWrk4();
+ result = siemensNet.Write("DB103.8", array);
+ }
+
+
//鏇存柊鍛戒护鏃ュ織
CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 82f75cd..1c4f054 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -246,23 +246,23 @@
//
// }
- //RGV鍙拌溅浣嶇疆
- Thread.sleep(200);
- OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.0",(short)4);
- if (result3.IsSuccess) {
- for (int i = 0; i < 2; i++) {
- Integer siteId = i==0 ? 112 : 212; // 绔欑偣缂栧彿
- StaProtocol staProtocol = station.get(siteId);
- if (null == staProtocol) {
- staProtocol = new StaProtocol();
- staProtocol.setSiteId(siteId);
- station.put(siteId, staProtocol);
- }
- staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
-// String aa = staProtocol.getNearbySta();
-// System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
- }
- }
+// //RGV鍙拌溅浣嶇疆
+// Thread.sleep(200);
+// OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.0",(short)4);
+// if (result3.IsSuccess) {
+// for (int i = 0; i < 2; i++) {
+// Integer siteId = i==0 ? 1 : 2; // 绔欑偣缂栧彿
+// StaProtocol staProtocol = station.get(siteId);
+// if (null == staProtocol) {
+// staProtocol = new StaProtocol();
+// staProtocol.setSiteId(siteId);
+// station.put(siteId, staProtocol);
+// }
+// staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
+//// String aa = staProtocol.getNearbySta();
+//// System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
+// }
+// }
// OperateResultExOne<Short> result2 = siemensS7Net.ReadInt16("DB200.0");
// if (result2.IsSuccess) {
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index d3476ca..02a6873 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -39,7 +39,7 @@
# 鏄惁寮�鍚笂鎶�
start: true
# WMS绯荤粺ip
- url: 10.12.20.12:5001
+ url: 10.32.53.195:8080
# 鍏ュ簱浠诲姟鐢宠鎺ュ彛
inboundTaskApplyPath: api/InterFace/get_InterFace_TestStorage
# 浠诲姟鐘舵�佸弽棣堟帴鍙�
diff --git a/src/main/webapp/views/deviceOperate/crnOperate.html b/src/main/webapp/views/deviceOperate/crnOperate.html
index 432afb9..da33cc7 100644
--- a/src/main/webapp/views/deviceOperate/crnOperate.html
+++ b/src/main/webapp/views/deviceOperate/crnOperate.html
@@ -85,12 +85,12 @@
<el-button @click="requestOperate('auto')" type="warning">鑱旀満</el-button>
<el-button @click="requestOperate('semiAutomatic')" type="warning">鍗婅嚜鍔�</el-button>
<el-button @click="requestOperate('hand')" type="warning">鎵嬪姩</el-button>
- <el-button @click="requestOperate('restoreOnlineWrk')" type="warning">鎭㈠鑱旀満浠诲姟</el-button>
- <el-button @click="requestOperate('cancelOnlineWrk')" type="warning">鍙栨秷鑱旀満浠诲姟</el-button>
- <el-button @click="requestOperate('finishWrk')" type="warning">鐢宠瀹屾垚浠诲姟</el-button>
+ <el-button @click="requestOperate('onlineWrk4')" type="warning">鎭㈠鑱旀満浠诲姟</el-button>
+ <el-button @click="requestOperate('onlineWrk3')" type="warning">娓呴櫎鑱旀満浠诲姟</el-button>
+ <el-button @click="requestOperate('onlineWrk1')" type="warning">鐢宠瀹屾垚浠诲姟</el-button>
<br/>
<br/>
- <el-button @click="requestOperate('cancelWrk')" type="warning">鐢宠鍙栨秷浠诲姟</el-button>
+ <el-button @click="requestOperate('onlineWrk2')" type="warning">鐢宠鍙栨秷浠诲姟</el-button>
</div>
</div>
</el-card>
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