From f89ca17a1a365f5cd349bca3ebf6b2c80f0e534d Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <xltys1995>
Date: 星期五, 28 八月 2020 13:47:21 +0800
Subject: [PATCH] #v2.1
---
src/main/java/com/zy/asrs/controller/CrnController.java | 89 +++++++++++++++++++++++++++-----------------
1 files changed, 54 insertions(+), 35 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java
index 79d8420..52a5495 100644
--- a/src/main/java/com/zy/asrs/controller/CrnController.java
+++ b/src/main/java/com/zy/asrs/controller/CrnController.java
@@ -9,11 +9,14 @@
import com.zy.asrs.domain.vo.CommandLogVo;
import com.zy.asrs.domain.vo.CrnMsgTableVo;
import com.zy.asrs.domain.vo.CrnStateTableVo;
+import com.zy.asrs.entity.BasCrnError;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.CrnLiftPosType;
import com.zy.core.enums.CrnModeType;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
@@ -31,7 +34,6 @@
import java.util.ArrayList;
import java.util.List;
-import java.util.concurrent.atomic.AtomicInteger;
/**
* 鍫嗗灈鏈烘帴鍙�
@@ -46,6 +48,9 @@
private SlaveProperties slaveProperties;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private BasCrnErrorMapper basCrnErrorMapper;
+
@ManagerAuth(memo = "杩涜涓殑鍛戒护")
@PostMapping("/command/ongoing")
@@ -100,15 +105,19 @@
vo.setStatusType(CrnStatusType.process(wrkMast.getIoType()).getDesc()); // 妯″紡鐘舵��
}
} else {
- vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatusType(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
vo.setStatus(crnProtocol.getStatusType().desc); // 鐘舵��
- vo.setWarn(""); // 鎶ヨ todo
- vo.setLoading(crnProtocol.getLoaded()==1?"Y":"N"); // 鏈夌墿
+ vo.setLoading(crnProtocol.getLoaded()==1?"鏈夌墿":"鏃犵墿"); // 鏈夌墿
vo.setBay(crnProtocol.getBay()); // 鍒�
vo.setLev(crnProtocol.getLevel()); // 灞�
- vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
- vo.setLiftPos(crnProtocol.getLiftPosType().desc); // 杞借揣鍙颁綅缃�
+ vo.setXOrigin(crnProtocol.getBay()==1?"鏄�":"鍚�"); // 璧拌鍘熺偣
+ vo.setYOrigin(crnProtocol.getLevel()==1?"鏄�":"鍚�"); // 鍗囬檷鍘熺偣
+ vo.setForkOffset(crnProtocol.getForkPosType().desc); // 璐у弶浣嶇疆
+ vo.setXLocation(crnProtocol.getWalkPos() == 1?"鏄�":"鍚�"); // 璧拌瀹氫綅
+ vo.setYLocation(crnProtocol.getLiftPosType().equals(CrnLiftPosType.NONE)?"鍚�":"鏄�"); // 鍗囬檷瀹氫綅
+ vo.setStop(crnProtocol.getCrnTemp1().stop?"鏄�":"鍚�"); // 鎬ュ仠
+ vo.setWarnCode(String.valueOf(crnProtocol.getAlarm())); // 寮傚父鐮�
list.add(vo);
}
return R.ok().add(list);
@@ -132,6 +141,10 @@
CrnMsgTableVo vo = new CrnMsgTableVo();
vo.setCrnNo(crn.getId()); // 鍫嗗灈鏈哄彿
vo.setWorkNo(crnProtocol.getTaskNo()); // 浠诲姟鍙�
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+ if (null != crnError) {
+ vo.setError(crnError.getErrorCode() + crnError.getErrName());
+ }
if (crnProtocol.getTaskNo()>0) {
WrkMast wrkMast = wrkMastService.selectById(crnProtocol.getTaskNo());
if (wrkMast != null) {
@@ -142,8 +155,15 @@
vo.setLocNo(wrkMast.getLocNo()); // 鐩爣搴撲綅
}
} else {
- vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.AUTO.getDesc(): CrnStatusType.UN_AUTO.getDesc()); // 妯″紡鐘舵��
+ vo.setStatus(crnProtocol.modeType.equals(CrnModeType.AUTO)? CrnStatusType.MACHINE_AUTO.getDesc(): CrnStatusType.MACHINE_UN_AUTO.getDesc()); // 妯″紡鐘舵��
}
+ vo.setXspeed(crnProtocol.getXSpeed()); // 璧拌閫熷害锛坢/min)
+ vo.setYspeed(crnProtocol.getYSpeed()); // 鍗囬檷閫熷害锛坢/min)
+ vo.setZspeed(crnProtocol.getZSpeed()); // 鍙夌墮閫熷害锛坢/min)
+ vo.setXdistance(crnProtocol.getXDistance()); // 璧拌璺濈(Km)
+ vo.setYdistance(crnProtocol.getYDistance()); // 鍗囬檷璺濈(Km)
+ vo.setXduration(crnProtocol.getXDuration()); // 璧拌鏃堕暱(H)
+ vo.setYduration(crnProtocol.getYDuration()); // 鍗囬檷鏃堕暱(H)
list.add(vo);
}
@@ -156,11 +176,10 @@
StringBuilder str = new StringBuilder();
String s;
int i = 0;
- while( (s = OutputQueue.CRN.poll()) != null && i <=10) {
+ while((s = OutputQueue.CRN.poll()) != null && i <=10) {
str.append("\n").append(s);
i++;
}
-// str = new StringBuilder("\n" + new Date().toLocaleString() + "銆�2020-5-29 13:14:22銆戞壂鎻弍lcA 鐩爣绔�--273283723728327636432343234323422732837237283276364323432343234227328372372832763643234323432342");
return R.ok().add(str.toString());
}
@@ -237,23 +256,6 @@
return crnControl(command)?R.ok():R.error();
}
- @ManagerAuth(memo = "鍧愭爣绉诲姩")
- @PostMapping("/operator/coorMove")
- public R crnCoorMove(CrnOperatorParam param){
- 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.OFFSET_MOVE); // 浠诲姟妯″紡
- command.setSourcePosX((short) 0); // 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((short) 0); // 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�
- return crnControl(command)?R.ok():R.error();
- }
-
@ManagerAuth(memo = "鍥炲師鐐�")
@PostMapping("/operator/bacOrigin")
public R crnBacOrigin(CrnOperatorParam param){
@@ -267,7 +269,7 @@
command.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
- command.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ command.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
return crnControl(command)?R.ok():R.error();
}
@@ -285,6 +287,23 @@
command.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
command.setDestinationPosY((short) 34); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ((short) 5); // 鐩爣搴撲綅灞�
+ return crnControl(command)?R.ok():R.error();
+ }
+
+ @ManagerAuth(memo = "鍧愭爣绉诲姩")
+ @PostMapping("/operator/coorMove")
+ public R crnCoorMove(CrnOperatorParam param){
+ 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.OFFSET_MOVE); // 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�
return crnControl(command)?R.ok():R.error();
}
@@ -346,10 +365,10 @@
throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
// 鍙湁鍑虹幇鎸囧畾寮傚父鎵嶈繘琛屽浣�
- if (crnProtocol.getCrnError2().leftTakeNoneErr
- || crnProtocol.getCrnError2().rightTakeNoneErr
- || crnProtocol.getCrnError2().leftPutLoadErr
- || crnProtocol.getCrnError2().rightPutLoadErr) {
+ if (crnProtocol.getCrnError3().leftTakeNoneErr
+ || crnProtocol.getCrnError3().rightTakeNoneErr
+ || crnProtocol.getCrnError3().leftTakeThenLoadErr
+ || crnProtocol.getCrnError3().rightTakeThenLoadErr) {
CrnCommand command = new CrnCommand();
command.setCrnNo(param.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
command.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
@@ -384,15 +403,15 @@
throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ嚎");
}
// 绌洪棽鍒ゆ柇
- 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("鍛戒护涓嬪彂澶辫触");
}
- } else {
- throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
- }
+// } else {
+// throw new CoolException("鍫嗗灈鏈轰笉鍦ㄧ┖闂茬姸鎬�");
+// }
}
}
return false;
--
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