fix: 海康交互接口-base
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@@ -12,6 +12,7 @@ import org.nl.acs.device.domain.Device;
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import org.nl.acs.agv.hk.service.AcsToHkService;
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import org.nl.acs.agv.hk.service.HkToAcsService;
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import org.nl.acs.agv.hk.service.data.GenPreScheduleTaskReq;
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import org.nl.acs.device_driver.basedriver.robot_arm.RobotArmDeviceDriver;
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import org.nl.acs.ext.wms.service.AcsToWmsService;
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import org.nl.acs.instruction.domain.Instruction;
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import org.nl.acs.instruction.enums.InstTypeEnum;
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@@ -25,6 +26,8 @@ import org.nl.system.service.param.ISysParamService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.Optional;
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@@ -116,7 +119,7 @@ public class HkToAcsServiceImpl implements HkToAcsService {
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instruction.setUpdate_time(now);
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instructionService.update(instruction);
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}
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//method 回调4、取放料箱申请inApply
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//method 回调4、取料箱申请inApply
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else if (StrUtil.equals(method, "inApply")) {
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Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
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if (ObjectUtil.isEmpty(device)) {
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@@ -138,6 +141,16 @@ public class HkToAcsServiceImpl implements HkToAcsService {
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// standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
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// }
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// }
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// 机械手驱动
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RobotArmDeviceDriver robotArmDeviceDriver;
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if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
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robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
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Map<String, Object> map = new HashMap<>();
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map.put("to_out", "1");
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robotArmDeviceDriver.writing(map);
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robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
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robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
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}
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}
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//method 回调5、inApplyOk
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else if (StrUtil.equals(method, "inApplyOK")) {
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@@ -148,6 +161,16 @@ public class HkToAcsServiceImpl implements HkToAcsService {
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reqParam.put("point_code", instruction.getStart_point_code());
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acsToWmsService.takeFinish(reqParam);
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}
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Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
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RobotArmDeviceDriver robotArmDeviceDriver;
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if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
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robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
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Map<String, Object> map = new HashMap<>();
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map.put("to_out", "0");
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robotArmDeviceDriver.writing(map);
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robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
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robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
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}
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}
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//method 回调6、放料箱申请outApply
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else if (StrUtil.equals(method, "outApply")) {
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@@ -174,6 +197,28 @@ public class HkToAcsServiceImpl implements HkToAcsService {
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// standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
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// }
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// }
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RobotArmDeviceDriver robotArmDeviceDriver;
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if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
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robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
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Map<String, Object> map = new HashMap<>();
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map.put("to_in", "1");
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robotArmDeviceDriver.writing(map);
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robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
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robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
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}
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}
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//method 回调7、放货完成
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else if (StrUtil.equals(method, "outApplyOK")) {
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Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
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RobotArmDeviceDriver robotArmDeviceDriver;
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if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) {
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robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver();
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Map<String, Object> map = new HashMap<>();
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map.put("to_in", "0");
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robotArmDeviceDriver.writing(map);
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robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true);
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robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode);
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}
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}
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resp.put("code", "0");
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resp.put("message", "成功");
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@@ -181,6 +226,8 @@ public class HkToAcsServiceImpl implements HkToAcsService {
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return resp;
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}
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@Override
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public JSONObject warnCallback(JSONObject requestParam) {
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String reqCode = requestParam.getString("reqCode");
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@@ -1,17 +1,23 @@
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package org.nl.acs.device_driver.basedriver.robot_arm;
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import cn.hutool.core.util.ObjectUtil;
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import cn.hutool.core.util.StrUtil;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import lombok.Data;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.nl.acs.agv.hk.UnifiedResponse;
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import org.nl.acs.agv.hk.service.AcsToHkService;
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import org.nl.acs.agv.hk.service.data.ContinueTaskReq;
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import org.nl.acs.device.domain.Device;
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import org.nl.acs.device.service.DeviceService;
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import org.nl.acs.device_driver.DeviceDriver;
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import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
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import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
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import org.nl.acs.ext.wms.service.AcsToWmsService;
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import org.nl.acs.instruction.domain.Instruction;
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import org.nl.acs.instruction.enums.InstTypeEnum;
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import org.nl.acs.instruction.service.InstructionService;
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import org.nl.acs.log.service.DeviceExecuteLogService;
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import org.nl.acs.route.service.RouteLineService;
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@@ -46,11 +52,17 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev
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TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
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AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
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private final AcsToHkService acsToHkService = SpringContextHolder.getBean(AcsToHkService.class);
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String container;
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String container_type_desc;
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String last_container_type_desc;
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String last_container;
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/**
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* AGV请求取放货标记和指令号
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*/
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private volatile String reqAgvTakeInstCode = null;
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private volatile Boolean reqAgvTakeRequireSuccess = false;
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//放货准备锁
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String putReadyLock = null;
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//有货标记
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@@ -167,6 +179,26 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev
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acsToWmsService.applyTask(param);
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}
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}
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// 取货/放货信号写入需要初始化并允许离开
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if (this.reqAgvTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqAgvTakeInstCode)) {
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Instruction instruction = instructionService.findByCodeFromCache(this.reqAgvTakeInstCode);
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//判断是否是取货还是放货
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//如果是取货直接允许
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if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_device_code(), devicecode)) {
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// 判断是否写回成功
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if (to_out == 1) {
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this.continueTask();
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}
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}
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//如果是放货
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else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_device_code(), devicecode)) {
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// 判断是否写回成功
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if (to_in == 1) {
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this.continueTask();
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}
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}
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}
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}
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public synchronized String getStatus() {
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@@ -229,4 +261,16 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev
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log.info("下发PLC信号：{},{}", this.devicecode, "to_command:" + value);
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lucene.deviceExecuteLog(new LuceneLogDto(this.devicecode, message + param + " 写入 " + value));
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}
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private void continueTask() {
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ContinueTaskReq req = ContinueTaskReq.builder()
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.taskCode(this.reqAgvTakeInstCode)
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.build();
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UnifiedResponse unifiedResponse = acsToHkService.continueTask(req);
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// 初始化
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if (unifiedResponse.isSuccess()) {
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this.reqAgvTakeRequireSuccess = false;
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this.reqAgvTakeInstCode = null;
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}
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}
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}
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