package com.zy.core.model.protocol; import com.zy.asrs.entity.BasRgv; import com.zy.asrs.entity.BasRgvErrorLog; import com.zy.core.enums.RgvModeType; import com.zy.core.enums.RgvStatusType; import lombok.Data; import javax.swing.*; import java.util.HashMap; import java.util.Map; /** * Created by vincent on 2020/8/7 */ @Data public class RgvProtocol implements Cloneable{ private short RgvNo; /** * 1 = 手动模式 * 2 = 自动模式 * 3 = 电脑模式 */ public Short mode; public RgvModeType modeType; private transient Long loadingStartTime; /** * 执行优先级 * 0:不判断 * 1：工位1先执行 * 2：工位2先执行 */ public Short wrkTaskPri; public Short wrkTaskMove1; public Short wrkTaskMove2; /** * RGV当前状态工位1 * 0：空闲，无任务 * 1：作业中 * 2：报警 */ public Short status; /** * 状态枚举 */ public RgvStatusType statusType; /** * 工位1任务号 */ public Integer taskNo1 = 0; /** * 工位1目标站 */ public Integer staNo1 = 0; /** * RGV工位1当前状态 * 0：空闲，无任务 * 11：取货中 * 12：放货中 * 10：任务完成等待WCS确认 */ public Short status1; /** * 状态枚举 */ public RgvStatusType statusType1; /** * 工位1有物 */ public Boolean loaded1; /** * RGV当前位置 */ public Integer RgvPos; /** * RGV当前目的位置 */ public Integer RgvPosDestination; /** * 走行在定位 * 0 = 在定位 * 1 = 不在定位 */ public Short walkPos; /** * 急停触发 */ public Boolean err1; /** * */ public Boolean err2; /** * 有资料无物 */ public Boolean err3; /** * 命令错误走行联调冲突 */ public Boolean err4; /** * 目标为超过行走极限 */ public Boolean err5; /** * 变频器异常 */ public Boolean err6; /** * 光电异常 */ public Boolean err7; public Boolean err8; public Boolean err9; public Boolean err10; public Boolean err11; public Boolean err12; ////////////////////// 工位2定义 ////////////////////////////////////////////////// /** * 工位2任务号 */ public Integer taskNo2 = 0; /** * 工位1目标站 */ public Integer staNo2 = 0; /** * RGV工位2当前状态 * 0：空闲，无任务 * 11：取货中 * 12：放货中 * 10：任务完成等待WCS确认 */ public Short status2; /** * 状态枚举 */ public RgvStatusType statusType2; /** * 工位2有物 */ public Boolean loaded2; // /** // * 急停 // */ // public Boolean err21; // // /** // * 有物无资料 // */ // public Boolean err22; // // /** // * 有资料无物 // */ // public Boolean err23; // // /** // * 命令错误走行联调冲突 // */ // public Boolean err24; // // /** // * 目标为超过行走极限 // */ // public Boolean err25; // // /** // * 变频器异常 // */ // public Boolean err26; // // /** // * 光电异常 // */ // public Boolean err27; /////////////////////////////////////////////////////////////////////////////////////// //配置信号----------------------------------------------------------------------------- // 故障读取锁定标记 private boolean errorMk = false; //写入标记 private boolean writeMk = true; private Boolean chainForward1 = false; // 链条前进 1 private Boolean chainReverse1 = false; // 链条后退 1 private Boolean inverterAlarm = false; // 变频器报警 private Boolean leftOverlimit2 = false; // 左超限 2 private Boolean rightOverlimit2 = false; // 右超限 2 private Boolean leftAtPosition2 = false; // 左到位 2 private Boolean rightAtPosition2 = false; // 右到位 2 private Boolean cargoSpeedReduction = false; // 货物减速 private Boolean conveyorInverterAlarm2 = false; // 输送变频器报警 2 private Boolean emergencyStop = false; // 急停触发 private Boolean slot1EmptyNoData = false; // 1号位有物无资料 private Boolean slot2EmptyNoData = false; // 2号位有物无资料 private Boolean commandErrorChainConflict = false; // 命令错误走链条冲突 private Boolean targetPositionIssue = false; // 目标位下发错误 private Boolean travelInverterError = false; // 走行变频器异常 private Boolean photoelectric1Error = false; // 1号光电异常 private Boolean photoelectric2Error = false; // 2号光电异常 private Boolean timeoutConnectionWithLine = false; // 与输线时接超时 private Boolean leftRollerTimeout = false; // 左侧滚筒运行超时 private Boolean rightRollerTimeout = false; // 右侧滚筒运行超时 private Boolean rgvRunTimeout = false; // rgv运行超时 private Boolean position1ChainInverterError = false; // 1号工位链条变频器异常 private Boolean position2ChainInverterError = false; // 2号工位链条变频器异常 private Boolean frontRearLimit = false; // 前后极限位 private Boolean emergencyButton = false; // 急停按钮 private Boolean forwardButton = false; // 前进按钮 private Boolean reverseButton = false; // 后退按钮 private Boolean localRemote = false; // 本地/远程 private Boolean reset = false; // 复位 private Boolean travelBrakeSwitch = false; // 走行抱闸开关钮 private Boolean travelSpeedLimitPhotoelectric = false; // 走行强制减速光电 private Boolean leftOverlimit1 = false; // 左超限 1 private Boolean rightOverlimit1 = false; // 右超限 1 private Boolean leftAtPosition1 = false; // 左到位 1 private Boolean rightAtPosition1 = false; // 右到位 1 private Boolean rightConveyor2 = false; // 右输送 2 private Boolean leftConveyor2 = false; // 左输送 2 //--------------------------------------------------------------------- /** * 异常码 */ public Short alarm; /** * 心跳指令 1-2每秒切换一次 */ public Short heart; private Short temp1; private Short temp2; private Short temp3; private Short temp4; private Short temp5; /** * X行走行速度m/min */ private Float xSpeed; /** * 堆垛机累计走行距离km */ public Float xDistance; /** * 堆垛机累计走行时长h */ public Float xDuration; public BasRgvErrorLog toSqlModelError(){ BasRgvErrorLog basRgvErrorLog = new BasRgvErrorLog(); basRgvErrorLog.setRgvNo((int) RgvNo);// 设备号（假设有定义 siteId） basRgvErrorLog.setChainForward1(chainForward1 ? "Y" : "N"); // 链条前进 1 basRgvErrorLog.setChainReverse1(chainReverse1 ? "Y" : "N"); // 链条后退 1 basRgvErrorLog.setInverterAlarm(inverterAlarm ? "Y" : "N"); // 变频器报警 basRgvErrorLog.setLeftOverlimit2(leftOverlimit2 ? "Y" : "N"); // 左超限 2 basRgvErrorLog.setRightOverlimit2(rightOverlimit2 ? "Y" : "N"); // 右超限 2 basRgvErrorLog.setLeftAtPosition2(leftAtPosition2 ? "Y" : "N"); // 左到位 2 basRgvErrorLog.setRightAtPosition2(rightAtPosition2 ? "Y" : "N"); // 右到位 2 basRgvErrorLog.setCargoSpeedReduction(cargoSpeedReduction ? "Y" : "N"); // 货物减速 basRgvErrorLog.setConveyorInverterAlarm2(conveyorInverterAlarm2 ? "Y" : "N"); // 输送变频器报警 2 basRgvErrorLog.setEmergencyStop(emergencyStop ? "Y" : "N"); // 急停触发 basRgvErrorLog.setSlot1EmptyNoData(slot1EmptyNoData ? "Y" : "N"); // 1号位有物无资料 basRgvErrorLog.setSlot2EmptyNoData(slot2EmptyNoData ? "Y" : "N"); // 2号位有物无资料 basRgvErrorLog.setCommandErrorChainConflict(commandErrorChainConflict ? "Y" : "N"); // 命令错误走链条冲突 basRgvErrorLog.setTargetPositionIssue(targetPositionIssue ? "Y" : "N"); // 目标位下发错误 basRgvErrorLog.setTravelInverterError(travelInverterError ? "Y" : "N"); // 走行变频器异常 basRgvErrorLog.setPhotoelectric1Error(photoelectric1Error ? "Y" : "N"); // 1号光电异常 basRgvErrorLog.setPhotoelectric2Error(photoelectric2Error ? "Y" : "N"); // 2号光电异常 basRgvErrorLog.setTimeoutConnectionWithLine(timeoutConnectionWithLine ? "Y" : "N"); // 与输线时接超时 basRgvErrorLog.setLeftRollerTimeout(leftRollerTimeout ? "Y" : "N"); // 左侧滚筒运行超时 basRgvErrorLog.setRightRollerTimeout(rightRollerTimeout ? "Y" : "N"); // 右侧滚筒运行超时 basRgvErrorLog.setRgvRunTimeout(rgvRunTimeout ? "Y" : "N"); // rgv运行超时 basRgvErrorLog.setPosition1ChainInverterError(position1ChainInverterError ? "Y" : "N"); // 1号工位链条变频器异常 basRgvErrorLog.setPosition2ChainInverterError(position2ChainInverterError ? "Y" : "N"); // 2号工位链条变频器异常 basRgvErrorLog.setFrontRearLimit(frontRearLimit ? "Y" : "N"); // 前后极限位 basRgvErrorLog.setEmergencyButton(emergencyButton ? "Y" : "N"); // 急停按钮 basRgvErrorLog.setForwardButton(forwardButton ? "Y" : "N"); // 前进按钮 basRgvErrorLog.setReverseButton(reverseButton ? "Y" : "N"); // 后退按钮 basRgvErrorLog.setLocalRemote(localRemote ? "Y" : "N"); // 本地/远程 basRgvErrorLog.setReset(reset ? "Y" : "N"); // 复位 basRgvErrorLog.setTravelBrakeSwitch(travelBrakeSwitch ? "Y" : "N"); // 走行抱闸开关钮 basRgvErrorLog.setTravelSpeedLimitPhotoelectric(travelSpeedLimitPhotoelectric ? "Y" : "N"); // 走行强制减速光电 basRgvErrorLog.setLeftOverlimit1(leftOverlimit1 ? "Y" : "N"); // 左超限 1 basRgvErrorLog.setRightOverlimit1(rightOverlimit1 ? "Y" : "N"); // 右超限 1 basRgvErrorLog.setLeftAtPosition1(leftAtPosition1 ? "Y" : "N"); // 左到位 1 basRgvErrorLog.setRightAtPosition1(rightAtPosition1 ? "Y" : "N"); // 右到位 1 basRgvErrorLog.setRightConveyor2(rightConveyor2 ? "Y" : "N"); // 右输送 2 basRgvErrorLog.setLeftConveyor2(leftConveyor2 ? "Y" : "N"); // 左输送 2 return basRgvErrorLog; } public void setMode(Short mode) { this.mode = mode; this.modeType = RgvModeType.get(mode); } public void setMode(RgvModeType type) { this.modeType = type; this.mode = RgvModeType.get(type).id.shortValue(); } public void setStatus(Short status){ this.status = status; this.statusType = RgvStatusType.get(status); } public void setStatus(RgvStatusType type){ this.statusType = type; this.status = RgvStatusType.get(type).id.shortValue(); } public void setStatus1(Short status1){ this.status1 = status1; this.statusType1 = RgvStatusType.get(status1); } public void setStatus1(RgvStatusType type1){ this.statusType1 = type1; this.status1 = RgvStatusType.get(type1).id.shortValue(); } public void setStatus2(Short status2){ this.status2 = status2; this.statusType2 = RgvStatusType.get(status2); } public void setStatus2(RgvStatusType type2){ this.statusType2 = type2; this.status2 = RgvStatusType.get(type2).id.shortValue(); } public boolean isLoaded1ing() { return Boolean.TRUE.equals(this.loaded1); } public boolean isLoaded2ing() { return Boolean.TRUE.equals(this.loaded2); } /** * 最近一次入出库类型 * I:入库 * O:出库 */ private String lastIo = "I"; public BasRgv toSqlModel(BasRgv basRgv){ if (alarm!=null) { basRgv.setRgvErr(alarm.longValue()); } basRgv.setWrkNo1(taskNo1.intValue()); basRgv.setWrkNo2(taskNo2.intValue()); return basRgv; } public void setxSpeed(Short xSpeed) { this.xSpeed = Float.valueOf(xSpeed); } public void setxDistance(Short xDistance) { this.xDistance = Float.valueOf(xDistance); } public void setxDuration(Short xDuration) { this.xDuration = Float.valueOf(xDuration); } public Integer getRgvPosI(){ //需要根据现场改造 根据读到的值获取对应站点位置 Map map = new HashMap<>(); map.put((short) 1,1004);map.put((short) 2,1007); map.put((short) 3,1010);map.put((short) 4,1014); map.put((short) 5,1018);map.put((short) 6,1021); map.put((short) 7,1024); map.put((short) 8,1028); map.put((short) 9,1031);map.put((short) 10,1035); map.put((short) 11,2003);map.put((short) 12,2006); map.put((short) 13,2009);map.put((short) 14,2012); map.put((short) 15,2015);map.put((short) 16,2018); map.put((short) 17,2021);map.put((short) 18,2024); map.put((short) 19,2027);map.put((short) 20,2030); if (RgvPos==null) return 0; return map.get(RgvPos); } public Integer getRgvPosI2() { // key: 站点号 value: 基准物理位置 Map 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(2003, 314954); posMap.put(2006, 288094); posMap.put(2009, 246574); posMap.put(2012, 219584); posMap.put(2015, 177934); posMap.put(2018, 138126); posMap.put(2021, 102124); posMap.put(2024, 75174); posMap.put(2027, 33748); posMap.put(2030, 6449); int tolerance = 200; // 允许误差范围 for (Map.Entry entry : posMap.entrySet()) { int site = entry.getKey(); int basePos = entry.getValue(); if (Math.abs(RgvPos - basePos) <= tolerance) { return site; } } return 0; // 没匹配到站点 } @Override public RgvProtocol clone() { try { return (RgvProtocol) super.clone(); } catch (CloneNotSupportedException e) { e.printStackTrace(); } return null; } }