fix: 海康交互接口-base

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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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");

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;
+        }
+    }
 }