From 9bd955804174cd26cfe275d672a33220ae5a199f Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 16 五月 2023 14:31:18 +0800
Subject: [PATCH] 堆垛机管理
---
src/main/java/com/zy/core/model/protocol/CrnProtocol.java | 406 ++++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 364 insertions(+), 42 deletions(-)
diff --git a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
index 63a2a49..87c0781 100644
--- a/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/CrnProtocol.java
@@ -1,5 +1,7 @@
package com.zy.core.model.protocol;
+import com.zy.asrs.entity.BasCrnp;
+import com.zy.core.enums.*;
import lombok.Data;
/**
@@ -12,57 +14,170 @@
* 1 = 鎵嬪姩妯″紡
* 2 = 鑷姩妯″紡
* 3 = 鐢佃剳妯″紡
- * 4 = 鎵嬪姩妯″紡鍚姩涓�
- * 5 = 鑷姩妯″紡鍚姩涓�
- * 6 = 鐢佃剳妯″紡鍚姩涓�
*/
- public short mode;
+ public Short mode;
+
+ public CrnModeType modeType;
+
+ /**
+ * 鍫嗗灈鏈轰换鍔″畬鎴�
+ */
+ public Short taskFinish;
+
+ /**
+ * 鏍￠獙缁撴灉 1琛ㄧず妫�楠屾垚鍔�
+ */
+ public Short valid;
/**
* 1 = 鎬ュ仠
*/
- public short eStop;
-
- /**
- * 寮傚父鐮�
- */
- public short alarm;
+ public Short eStop;
/**
* 浠诲姟鍙�
*/
- public short taskNo;
+ public Short taskNo = 0;
/**
* 鍫嗗灈鏈哄綋鍓嶇姸鎬�
- * 0 = 鏈煡
- * 1 = 绌洪棽
- * 2 = 妫�鏌ヤ换鍔℃暟鎹�
- * 3 = 瀹氫綅鍒板彇璐т綅
- * 7 = 鍙栬揣瀹屾垚
- * 8 = 绛夊緟璋冨害鏌滃厑璁�
- * 9 = 绉诲姩鍒版斁璐т綅缃�
- * 10 = 鏀捐揣涓�
- * 13 = 鎼繍瀹屾垚
- * 14 = 绌鸿浇閬胯
- * 15 = 妫�鏌ヤ换鍔℃暟鎹�
- * 20 = 妫�鏌ユ簮浣嶇疆
- * 21 = 妫�鏌ョ洰鏍囦綅缃�
- * 50 = 绉诲姩浠诲姟
- * 98 = 浠诲姟瀹屾垚锛寃cs鏈‘璁�
- * 99 = 鎶ヨ
+ * 0锛氱┖闂诧紝鏃犱换鍔�
+ * 1锛氬彇璐у畾浣嶄腑
+ * 2锛氬彇璐т腑
+ * 3锛氬彇璐у畬鎴愶紝鏀捐揣瀹氫綅涓�
+ * 4锛氭斁璐т腑
+ * 5锛氬洖鍘熺偣涓�
+ * 6锛氬弽鍘熺偣
+ * 7锛氬簱浣嶇Щ浣�
+ * 90锛氫换鍔″畬鎴愮瓑寰匴CS纭
+ * 99锛氭姤璀�
*/
- public short status;
+ public Short status;
+
+ /**
+ * 鐘舵�佹灇涓�
+ */
+ public CrnStatusType statusType;
/**
* 鍫嗗灈鏈哄綋鍓嶅垪鍙�
*/
- public short bay;
+ public Short bay;
/**
* 鍫嗗灈鏈哄綋鍓嶅眰鍙�
*/
- public short level;
+ public Short level;
+
+ /**
+ * 鍫嗗灈鏈哄綋鍓嶆帓
+ */
+ public Short row;
+
+ /**
+ * 鍫嗗灈鏈哄綋鍓嶅贩閬撳彿
+ */
+ public Short lane;
+
+ /**
+ * 鍫嗗灈鏈洪�氳鐘舵��
+ */
+ public Boolean connStatus;
+
+ /**
+ * 鐢宠鍏ュ簱淇
+ */
+ public Boolean correction;
+
+ /**
+ * 鎵樼洏鍙烽敊
+ */
+ public Boolean tuError;
+
+ /**
+ * 鍙栬揣鏃犵
+ */
+ public Boolean noneError;
+
+ /**
+ * 鍙岄噸鍏ュ簱
+ */
+ public Boolean stockError;
+
+ /**
+ * 浣滀笟鏁版嵁鏃犳晥
+ */
+ public Boolean jobInvalid;
+
+ /**
+ * 绌洪棽鐘舵��
+ */
+ public Boolean idle;
+
+ /**
+ * 鎺у埗鏌滀娇鑳�
+ */
+ public Boolean control;
+
+ /**
+ * 鍋滃噯
+ */
+ public Boolean stopQuasi;
+
+ /**
+ * 杩愯
+ */
+ public Boolean running;
+
+ /**
+ * 鏁呴殰
+ */
+ public Boolean fault;
+
+ /**
+ * 璐у弶涓綅
+ */
+ public Boolean forkHome;
+ /**
+ * 鍗曚几浣嶈揣鍙夊乏浣�
+ */
+ public Boolean forkSingleLeft;
+ /**
+ * 鍗曚几浣嶈揣鍙夊彸浣�
+ */
+ public Boolean forkSingleRight;
+ /**
+ * 鍙屼几浣嶈揣鍙夊乏浣�
+ */
+ public Boolean forkDoubleLeft;
+ /**
+ * 鍙屼几浣嶈揣鍙夊彸浣�
+ */
+ public Boolean forkDoubleRight;
+ /**
+ * 鍗曚几浣嶉珮浣�
+ */
+ public Boolean singleHigh;
+ /**
+ * 鍗曚几浣嶄綆浣�
+ */
+ public Boolean singleLow;
+ /**
+ * 鍙屼几浣嶉珮浣�
+ */
+ public Boolean doubleHigh;
+ /**
+ * 鍙屼几浣嶄綆浣�
+ */
+ public Boolean doubleLow;
+ /**
+ * 绔欏彴楂樹綅
+ */
+ public Boolean platformHigh;
+ /**
+ * 绔欏彴浣庝綅
+ */
+ public Boolean platformLow;
/**
* 褰撳墠璐у弶浣嶇疆
@@ -70,45 +185,252 @@
* 1 = 璐у弶鍦ㄥ乏渚�
* 2 = 璐у弶鍦ㄥ彸渚�
*/
- public short forkPos;
+ public Short forkPos = -1;
+
+ public CrnForkPosType forkPosType = CrnForkPosType.NONE;
/**
* 褰撳墠杞借揣鍙颁綅缃�
* 0 = 涓嬪畾浣�
* 1 = 涓婂畾浣�
*/
- public short liftPos;
+ public Short liftPos = -1;
+
+ public CrnLiftPosType liftPosType = CrnLiftPosType.ERROR;
/**
* 璧拌鍦ㄥ畾浣�
* 0 = 鍦ㄥ畾浣�
* 1 = 涓嶅湪瀹氫綅
*/
- public short walkPos;
+ public Short walkPos = 0;
/**
- * 鍫嗗灈鏈轰换鍔″畬鎴�
+ * 鎷ㄦ寚浣嶇疆
+ * 0 = 涓嶅湪瀹氫綅
+ * 1 = 涓婂畾浣�
+ * 2 = 涓嬪畾浣�
*/
- public short taskFinish;
+ public Short fingerPos;
+
+ public CrnFingerPosType fingerPosType;
/**
* 杞借揣鍙版湁鐗�
*/
- public short loaded;
+ public Short loaded;
/**
- * 鍫嗗灈鏈虹疮璁¤蛋琛岃窛绂�
+ * 鍫嗗灈鏈哄瀭鐩存晠闅滀唬鐮侊紙鏁板�兼樉绀猴級
*/
- public int xDistance;
+ private Integer alarm1 = 0;
/**
- * 鍫嗗灈鏈虹疮璁″崌闄嶈窛绂�
+ * 鍫嗗灈鏈烘按骞虫晠闅滀唬鐮侊紙鏁板�兼樉绀猴級
*/
- public int yDistance;
+ private Integer alarm2 = 0;;
/**
- * 鍫嗗灈鏈虹疮璁¤繍琛屾椂闀�
+ * 鍫嗗灈鏈鸿揣鍙夋晠闅滀唬鐮侊紙鏁板�兼樉绀猴級
*/
- public int duration;
+ private Integer alarm3 = 0;;
+ /**
+ * 鍫嗗灈鏈虹姸鎬佹晠闅滀唬鐮侊紙鏁板�兼樉绀猴級
+ */
+ private Integer alarm4 = 0;;
+
+ /**
+ * 寮傚父1
+ */
+ private boolean[] error1;
+
+ private CrnError1 crnError1;
+
+ /**
+ * 寮傚父2
+ */
+ private boolean[] error2;
+
+ private CrnError2 crnError2;
+
+ /**
+ * 寮傚父3
+ */
+ private boolean[] error3;
+
+ private CrnError3 crnError3;
+
+ /**
+ * 寮傚父4
+ */
+ private boolean[] error4;
+
+ private CrnError4 crnError4;
+
+ /**
+ * X琛岃蛋绾块�熷害m/min
+ */
+ private Float xSpeed = 0F;
+
+ /**
+ * Y琛岃蛋绾块�熷害m/min
+ */
+ private Float ySpeed = 0F;
+
+ /**
+ * Z琛岃蛋绾块�熷害m/min
+ */
+ private Float zSpeed = 0F;
+
+ /**
+ * 鍫嗗灈鏈虹疮璁¤蛋琛岃窛绂籯m
+ */
+ public Float xDistance = 0F;
+
+ /**
+ * 鍫嗗灈鏈虹疮璁″崌闄嶈窛绂籯m
+ */
+ public Float yDistance = 0F;
+
+ /**
+ * 鍫嗗灈鏈虹疮璁¤蛋琛屾椂闀縣
+ */
+ public Float xDuration = 0F;
+
+ /**w
+ * 鍫嗗灈鏈虹疮璁″崌闄嶆椂闀縣
+ */
+ public Float yDuration = 0F;
+
+ public void setMode(Short mode) {
+ this.mode = mode;
+ this.modeType = CrnModeType.get(mode);
+ }
+
+ public void setMode(CrnModeType type) {
+ this.modeType = type;
+ this.mode = CrnModeType.get(type).id.shortValue();
+ }
+
+ public void setForkPos(Short forkPos) {
+ this.forkPos = forkPos;
+ this.forkPosType = CrnForkPosType.get(forkPos);
+ }
+
+ public void setForkPos(CrnForkPosType type) {
+ this.forkPosType = type;
+ this.forkPos = CrnForkPosType.get(type).id.shortValue();
+ }
+
+ public void setLiftPos(Short liftPos) {
+ this.liftPos = liftPos;
+ this.liftPosType = CrnLiftPosType.get(liftPos);
+ }
+
+ public void setLiftPos(CrnLiftPosType type) {
+ this.liftPosType = type;
+ this.liftPos = CrnLiftPosType.get(type).id.shortValue();
+ }
+
+ public void setStatus(Short status){
+ this.status = status;
+ this.statusType = CrnStatusType.get(status);
+ }
+
+ public void setStatus(CrnStatusType type){
+ this.statusType = type;
+ this.status = CrnStatusType.get(type).id.shortValue();
+ }
+
+ public void setFingerPos(Short type) {
+ this.fingerPos = type;
+ this.fingerPosType = CrnFingerPosType.get(type);
+ }
+
+ public void setError1(boolean[] error1){
+ this.error1 = error1;
+ this.crnError1 = new CrnError1();
+ this.crnError1.remoteStop = error1[0];
+ this.crnError1.mainStop = error1[1];
+ this.crnError1.controlStop = error1[2];
+ this.crnError1.xCoverErr = error1[3];
+ this.crnError1.yCoverErr = error1[4];
+ this.crnError1.zCoverErr = error1[5];
+ this.crnError1.laserErr = error1[6];
+ this.crnError1.barcodeErr = error1[7];
+ this.crnError1.xFrontLimitErr = error1[8];
+ this.crnError1.xBackLimitErr = error1[9];
+ this.crnError1.yUpLimitErr = error1[10];
+ this.crnError1.yDownLimitErr = error1[11];
+ this.crnError1.zLeftLimitErr = error1[12];
+ this.crnError1.zRightLimitErr = error1[13];
+ this.crnError1.leftOverWidthErr1 = error1[14];
+ this.crnError1.leftOverWidthErr2 = error1[15];
+ }
+
+ public void setError2(boolean[] error2){
+ this.error2 = error2;
+ this.crnError2 = new CrnError2();
+ this.crnError2.leftOverLenErr1 = error2[0];
+ this.crnError2.leftOverLenErr2 = error2[1];
+ this.crnError2.leftOverHighErr = error2[2];
+ this.crnError2.rightOverWidthErr1 = error2[3];
+ this.crnError2.rightOverWidthErr2 = error2[4];
+ this.crnError2.rightOverLenErr1 = error2[5];
+ this.crnError2.rightOverLenErr2 = error2[6];
+ this.crnError2.rightOverHighErr = error2[7];
+ this.crnError2.leftLooseRopeErr = error2[8];
+ this.crnError2.rightLooseRopeErr = error2[9];
+ this.crnError2.frontDoorErr = error2[10];
+ this.crnError2.backDoorErr = error2[11];
+ this.crnError2.startupErr = error2[12];
+ this.crnError2.xFrontLocaUpErr = error2[13];
+ this.crnError2.xFrontLocaDownErr = error2[14];
+ this.crnError2.xBackLocaUpErr = error2[15];
+ }
+
+ public void setError3(boolean[] error3) {
+ this.error3 = error3;
+ this.crnError3 = new CrnError3();
+ this.crnError3.xBackLocaDownErr = error3[0];
+ this.crnError3.yUpLocaUpErr = error3[1];
+ this.crnError3.yUpLocaDownErr = error3[2];
+ this.crnError3.yDownLocaUpErr = error3[3];
+ this.crnError3.yDownLocaDownErr = error3[4];
+ this.crnError3.zLeftLocaUpErr = error3[5];
+ this.crnError3.zLeftLocaDownErr = error3[6];
+ this.crnError3.zRightLocaUpErr = error3[7];
+ this.crnError3.zRightLocaDownErr = error3[8];
+ this.crnError3.leftTakeNoneErr = error3[9];
+ this.crnError3.rightTakeNoneErr = error3[10];
+ this.crnError3.leftTakeThenLoadErr = error3[11];
+ this.crnError3.rightTakeThenLoadErr = error3[12];
+ this.crnError3.leftPutAndLoadErr = error3[13];
+ this.crnError3.rightPutAndLoadErr = error3[14];
+ this.crnError3.leftPutThenNoneErr = error3[15];
+ }
+
+ public void setError4(boolean[] error4) {
+ this.error4 = error4;
+ this.crnError4 = new CrnError4();
+ this.crnError4.rightPutThenNoneErr = error4[0];
+ this.crnError4.xLooseBrakeTimeout = error4[1];
+ this.crnError4.yLooseBrakeTimeout = error4[2];
+ this.crnError4.zLooseBrakeTimeout = error4[3];
+ }
+
+ /**
+ * 鏈�杩戜竴娆″叆鍑哄簱绫诲瀷
+ * I:鍏ュ簱
+ * O:鍑哄簱
+ */
+ private String lastIo = "I";
+
+
+ public BasCrnp toSqlModel(BasCrnp basCrnp){
+ basCrnp.setCrnErr(alarm1.longValue());
+ basCrnp.setWrkNo(taskNo.intValue());
+ return basCrnp;
+ }
}
--
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