From 26466cee21861fa3e4ce3167785c3ad61d440bcd Mon Sep 17 00:00:00 2001 From: liyongde <1419499670@qq.com> Date: Sat, 31 Jan 2026 14:36:52 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E6=B5=B7=E5=BA=B7=E4=BA=A4=E4=BA=92?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3-base?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../hk/service/impl/HkToAcsServiceImpl.java | 49 ++++++++++++++++++- .../robot_arm/RobotArmDeviceDriver.java | 44 +++++++++++++++++ 2 files changed, 92 insertions(+), 1 deletion(-) diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java index 2765057..ca7c7ce 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java @@ -12,6 +12,7 @@ import org.nl.acs.device.domain.Device; import org.nl.acs.agv.hk.service.AcsToHkService; import org.nl.acs.agv.hk.service.HkToAcsService; import org.nl.acs.agv.hk.service.data.GenPreScheduleTaskReq; +import org.nl.acs.device_driver.basedriver.robot_arm.RobotArmDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.instruction.enums.InstTypeEnum; @@ -25,6 +26,8 @@ import org.nl.system.service.param.ISysParamService; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; +import java.util.HashMap; +import java.util.Map; import java.util.Optional; @@ -116,7 +119,7 @@ public class HkToAcsServiceImpl implements HkToAcsService { instruction.setUpdate_time(now); instructionService.update(instruction); } - //method 回调4、取放料箱申请inApply + //method 回调4、取料箱申请inApply else if (StrUtil.equals(method, "inApply")) { Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code()); if (ObjectUtil.isEmpty(device)) { @@ -138,6 +141,16 @@ public class HkToAcsServiceImpl implements HkToAcsService { // standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode); // } // } + // 机械手驱动 + RobotArmDeviceDriver robotArmDeviceDriver; + if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) { + robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver(); + Map map = new HashMap<>(); + map.put("to_out", "1"); + robotArmDeviceDriver.writing(map); + robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true); + robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode); + } } //method 回调5、inApplyOk else if (StrUtil.equals(method, "inApplyOK")) { @@ -148,6 +161,16 @@ public class HkToAcsServiceImpl implements HkToAcsService { reqParam.put("point_code", instruction.getStart_point_code()); acsToWmsService.takeFinish(reqParam); } + Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code()); + RobotArmDeviceDriver robotArmDeviceDriver; + if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) { + robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver(); + Map map = new HashMap<>(); + map.put("to_out", "0"); + robotArmDeviceDriver.writing(map); + robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true); + robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode); + } } //method 回调6、放料箱申请outApply else if (StrUtil.equals(method, "outApply")) { @@ -174,6 +197,28 @@ public class HkToAcsServiceImpl implements HkToAcsService { // standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode); // } // } + RobotArmDeviceDriver robotArmDeviceDriver; + if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) { + robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver(); + Map map = new HashMap<>(); + map.put("to_in", "1"); + robotArmDeviceDriver.writing(map); + robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true); + robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode); + } + } + //method 回调7、放货完成 + else if (StrUtil.equals(method, "outApplyOK")) { + Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code()); + RobotArmDeviceDriver robotArmDeviceDriver; + if (device.getDeviceDriver() instanceof RobotArmDeviceDriver) { + robotArmDeviceDriver = (RobotArmDeviceDriver) device.getDeviceDriver(); + Map map = new HashMap<>(); + map.put("to_in", "0"); + robotArmDeviceDriver.writing(map); + robotArmDeviceDriver.setReqAgvTakeRequireSuccess(true); + robotArmDeviceDriver.setReqAgvTakeInstCode(taskCode); + } } resp.put("code", "0"); resp.put("message", "成功"); @@ -181,6 +226,8 @@ public class HkToAcsServiceImpl implements HkToAcsService { return resp; } + + @Override public JSONObject warnCallback(JSONObject requestParam) { String reqCode = requestParam.getString("reqCode"); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java index e649008..c4dc0fa 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/robot_arm/RobotArmDeviceDriver.java @@ -1,17 +1,23 @@ package org.nl.acs.device_driver.basedriver.robot_arm; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.hk.UnifiedResponse; +import org.nl.acs.agv.hk.service.AcsToHkService; +import org.nl.acs.agv.hk.service.data.ContinueTaskReq; import org.nl.acs.device.domain.Device; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.enums.InstTypeEnum; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.route.service.RouteLineService; @@ -46,11 +52,17 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + private final AcsToHkService acsToHkService = SpringContextHolder.getBean(AcsToHkService.class); String container; String container_type_desc; String last_container_type_desc; String last_container; + /** + * AGV请求取放货标记和指令号 + */ + private volatile String reqAgvTakeInstCode = null; + private volatile Boolean reqAgvTakeRequireSuccess = false; //放货准备锁 String putReadyLock = null; //有货标记 @@ -167,6 +179,26 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev acsToWmsService.applyTask(param); } } + // 取货/放货信号写入需要初始化并允许离开 + if (this.reqAgvTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqAgvTakeInstCode)) { + Instruction instruction = instructionService.findByCodeFromCache(this.reqAgvTakeInstCode); + //判断是否是取货还是放货 + //如果是取货直接允许 + if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_device_code(), devicecode)) { + // 判断是否写回成功 + if (to_out == 1) { + this.continueTask(); + } + } + //如果是放货 + else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_device_code(), devicecode)) { + // 判断是否写回成功 + if (to_in == 1) { + this.continueTask(); + } + } + + } } public synchronized String getStatus() { @@ -229,4 +261,16 @@ public class RobotArmDeviceDriver extends AbstractOpcDeviceDriver implements Dev log.info("下发PLC信号：{},{}", this.devicecode, "to_command:" + value); lucene.deviceExecuteLog(new LuceneLogDto(this.devicecode, message + param + " 写入 " + value)); } + + private void continueTask() { + ContinueTaskReq req = ContinueTaskReq.builder() + .taskCode(this.reqAgvTakeInstCode) + .build(); + UnifiedResponse unifiedResponse = acsToHkService.continueTask(req); + // 初始化 + if (unifiedResponse.isSuccess()) { + this.reqAgvTakeRequireSuccess = false; + this.reqAgvTakeInstCode = null; + } + } }