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AGV与RGV驱动更新

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This commit is contained in:
周俊杰
2023-10-19 22:08:47 +08:00
parent aca6a33ec3
commit f961f6114e
6 changed files with 47 additions and 38 deletions
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18
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -493,12 +493,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-机械手对接位
if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver();
lnshPalletizingManipulatorSiteDeviceDriver.writing(3);
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0
&& lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)
) {
inst.setExecute_status("5");
lnshPalletizingManipulatorSiteDeviceDriver.writing(3);
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
lnshPalletizingManipulatorSiteDeviceDriver.setMessage("");
@@ -526,11 +526,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-工位(交互模板) LnshStationDeviceDriver
if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){
lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
lnshStationDeviceDriver.writing(3);
if (lnshStationDeviceDriver.getMode() != 0
&& lnshStationDeviceDriver.getMove() == 0
&& (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)
) {
lnshStationDeviceDriver.writing(3);
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -754,11 +754,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-机械手对接位
if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver();
lnshPalletizingManipulatorSiteDeviceDriver.writing(4);
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0
&& lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3)
&& (lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 2 || lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 3)) {
lnshPalletizingManipulatorSiteDeviceDriver.writing(4);
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -790,11 +790,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-工位(交互模板)
if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){
lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
lnshStationDeviceDriver.writing(4);
if (lnshStationDeviceDriver.getMode() != 0
&& lnshStationDeviceDriver.getMove() == 0
&& (lnshStationDeviceDriver.getIo_action() == 1 || lnshStationDeviceDriver.getIo_action() == 3)
&& (lnshStationDeviceDriver.getAction() == 2 || lnshStationDeviceDriver.getAction() == 3)) {
lnshStationDeviceDriver.writing(4);
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -831,6 +831,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
&& conveyorPressStationDeviceDriver.getMove() == 0
&& (conveyorPressStationDeviceDriver.getIo_action() == 1 || conveyorPressStationDeviceDriver.getIo_action() == 3)
&& (conveyorPressStationDeviceDriver.getAction() == 2 || conveyorPressStationDeviceDriver.getAction() == 3)) {
conveyorPressStationDeviceDriver.writing(4);
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -879,10 +880,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-下发条码输送线
if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){
conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver();
conveyorBarcodeDeviceDriver.writing(4);
if (conveyorBarcodeDeviceDriver.getMode() == 2
&& conveyorBarcodeDeviceDriver.getMove() == 0
){
if (conveyorBarcodeDeviceDriver.getMode() == 2&& conveyorBarcodeDeviceDriver.getMove()==0){
conveyorBarcodeDeviceDriver.writing(4);
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -908,12 +907,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//标准版-叠盘机
if(device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver){
lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver();
lnshFoldDiscSiteDeviceDriver.writing(4);
if (lnshFoldDiscSiteDeviceDriver.getMode() != 0
// && lnshFoldDiscSiteDeviceDriver.getContainer_qty() == 0
// && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 1 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 3)
// && (lnshFoldDiscSiteDeviceDriver.getAction() == 2 || lnshFoldDiscSiteDeviceDriver.getAction() == 3)
) {
lnshFoldDiscSiteDeviceDriver.writing(4);
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
@@ -1053,6 +1052,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else {
String message = "";
if (lnshStationDeviceDriver.getMode() == 0) {
message += "站点未联机，";
} else {
if (lnshStationDeviceDriver.getMove() == 0) {

3
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
View File

@@ -406,7 +406,8 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
jo.put("isError", iserror);
jo.put("isOnline", isonline);
jo.put("hasGoods", hasGoods);
jo.put("message", message);
jo.put("requireSucess",requireSucess);
return jo;
}

1
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_fold_disc_site/LnshFoldDiscSiteDeviceDriver.java
View File

@@ -403,6 +403,7 @@ public class LnshFoldDiscSiteDeviceDriver extends AbstractOpcDeviceDriver implem
jo.put("isError", iserror);
jo.put("isOnline", isonline);
jo.put("message", message);
jo.put("requireSucess",requireSucess);
return jo;
}

8
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java
View File

@@ -71,7 +71,6 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
int mode = 0;
int move = 0;
Float weight = 0f;
String material_code="";
int error = 0;
int action = 0;
@@ -109,6 +108,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
Float last_height1=0f;
Float last_height2=0f;
Float last_height3=0f;
Float last_weight = 0f;
Float last_height4=0f;
Float last_width1=0f;
Float last_width2=0f;
@@ -146,6 +146,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
Float len = 0f;
Float volume = 0f;
Float flatness =0f;
Float weight =0f;
Float unqualified_qty=0f;
@@ -342,7 +343,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
last_volume = volume;
last_flatness = flatness;
last_unqualified_qty = unqualified_qty;
last_weight=weight;
}
@@ -394,10 +395,11 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
request.setUnqualified_qty(String.valueOf(unqualified_qty));
message = RequestMethodEnum.getName("apply_one_grab") + "apply_one_grab 接口请求LMS...";
lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message + "参数:" + JSON.toJSONString(request)));
logServer.deviceExecuteLog(this.device_code, "", "", "参数：" + JSON.toJSONString(request));
ApplyTaskResponse resp = JSON.toJavaObject(JSONObject.parseObject(acsToWmsService.applyTask(request)),ApplyTaskResponse.class);
if (resp.getCode() == 200) {
this.writing(200);
this.writing(0);
this.setRequireSucess(true);
message = RequestMethodEnum.getName("apply_one_grab") + "apply_one_grab 接口请求成功" + resp.getMessage();
lucene.deviceExecuteLog(new LuceneLogDto(this.device_code, message + "返回参数:" + JSON.toJSONString(resp)));

9
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
View File

@@ -357,10 +357,10 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
// logServer.deviceItemValue(this.device_code, "io_action", String.valueOf(io_action));
// logServer.deviceExecuteLog(this.device_code, "", "", "信号io_action: " + last_ioaction + " -> " + io_action);
// }
// if (weight != last_weight) {
// logServer.deviceItemValue(this.device_code, "weight", String.valueOf(weight));
// logServer.deviceExecuteLog(this.device_code, "", "", "信号weight: " + last_weight + " -> " + weight);
// }
if (weight != last_weight) {
logServer.deviceItemValue(this.device_code, "weight", String.valueOf(weight));
logServer.deviceExecuteLog(this.device_code, "", "", "信号weight: " + last_weight + " -> " + weight);
}
// if (!StrUtil.equals(material, last_material)) {
// logServer.deviceItemValue(this.device_code, "material", material);
// logServer.deviceExecuteLog(this.device_code, "", "", "信号material：" + last_material + " -> " + material);
@@ -1316,6 +1316,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
jo.put("isOnline", isonline);
jo.put("hasGoods", hasGoods);
jo.put("message", message);
jo.put("requireSucess",requireSucess);
return jo;
}

46
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
View File

@@ -302,7 +302,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//前工位取货时判断取货位光电信号
if (mode == 3 && error == 0 && status != 3 && action1 == 1 && move1 == 0 && task1 > 0 && action2 != 1) {
if (mode == 3 && error == 0 && status != 3 && action1 == 0 && move1 == 0 && task1 > 0 && action2 != 1) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String start_device_code = inst1.getStart_device_code();
Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@@ -313,7 +313,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
// && (driver.getIo_action() == 3 || driver.getIo_action() == 1)
// && (driver.getAction() == 3 || driver.getAction() == 1)
) {
this.writing("to_command1", "2");
this.writing("to_command1", "1");
driver.setMessage("");
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。");
} else {
@@ -336,13 +336,13 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", msg);
}
} else if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
this.writing("to_command1", "2");
this.writing("to_command1", "3");
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。");
}
}
//前工位放货时判断放货位光电信号
if (mode == 3 && error == 0 && status != 3 && action1 == 3 && move1 != 0 && task1 > 0 && action2 != 3) {
if (mode == 3 && error == 0 && status != 3 && action1 == 2 && move1 != 0 && task1 > 0 && action2 == 3) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String next_device_code = inst1.getNext_device_code();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
@@ -350,9 +350,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
LnshStationDeviceDriver driver = (LnshStationDeviceDriver) nextDevice.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() == 0
&& (driver.getAction() == 2 || driver.getAction() == 3)
&& (driver.getIo_action() == 1 || driver.getIo_action() == 3)) {
this.writing("to_command1", "3");
// && (driver.getAction() == 2 || driver.getAction() == 3)
// && (driver.getIo_action() == 1 || driver.getIo_action() == 3)
) {
this.writing("to_command1", "2");
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。");
} else {
@@ -378,9 +379,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
LnshPackageSiteDeviceDriver driver = (LnshPackageSiteDeviceDriver) nextDevice.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() == 0
&& (driver.getAction() == 2 || driver.getAction() == 3)
&& (driver.getIoaction() == 1 || driver.getIoaction() == 3)) {
this.writing("to_command1", "3");
// && (driver.getAction() == 2 || driver.getAction() == 3)
// && (driver.getIoaction() == 1 || driver.getIoaction() == 3)
) {
this.writing("to_command1", "2");
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。");
} else {
@@ -405,8 +407,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
}
//后工位取货时判断取货位光电信号
if (mode == 3 && error == 0 && status != 3 && action2 == 1 && move2 == 0 && task2 > 0) {
//后工位取货时判断取货位光电信号 没问题
if (mode == 2 && error == 0 && status != 3 && action2 == 1 && move2 == 0 && task2 > 0) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String start_device_code = inst1.getStart_device_code();
Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@@ -414,7 +416,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
LnshLaminatingMachineDeviceDriver driver = (LnshLaminatingMachineDeviceDriver) startDevice.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() != 0) {
this.writing("to_command2", "2");
this.writing("to_command2", "1");
driver.setMessage("");
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。");
} else {
@@ -436,7 +438,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
&& driver.getMove() != 0
&& (driver.getIo_action() == 3 || driver.getIo_action() == 1)
&& (driver.getAction() == 3 || driver.getAction() == 1)) {
this.writing("to_command2", "2");
this.writing("to_command2", "1");
driver.setMessage("");
logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。");
} else {
@@ -462,9 +464,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//后工位放货时判断放货位光电信号
if (mode == 3 && error == 0 && status != 3 && action2 == 3 && move2 != 0 && task2 > 0 && action1 != 1) {
if (mode == 3 && error == 0 && status != 3 && action2 == 2 && move2 != 0 && task2 > 0 && action1 == 2) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String next_device_code = inst1.getNext_device_code();
String next_device_code = inst1.getNext_device_code2();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
if (nextDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver();
@@ -473,7 +475,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
// && (driver.getIo_action() == 1 || driver.getIo_action() == 3)
// && (driver.getAction() == 2 || driver.getAction() == 3)
) {
this.writing("to_command2", "3");
this.writing("to_command2", "2");
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
} else {
@@ -496,7 +498,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
logServer.deviceExecuteLog(device_code, "", "", msg);
}
} else if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
this.writing("to_command2", "3");
this.writing("to_command2", "2");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
}
}
@@ -608,6 +610,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String priority = task.getPriority();
String start_point_code = task.getStart_point_code();
String start_device_code = task.getStart_device_code();
String put_device_code=task.getPut_device_code();
String start_device_code2 = task.getStart_device_code2();
String route_plan_code = task.getRoute_plan_code();
String next_point_code = task.getNext_point_code();
@@ -662,7 +665,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
taskserver.update(task);
LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device addressdevice = appService.findDeviceByCode(start_device_code);
Device addressdevice = appService.findDeviceByCode(put_device_code);
//下发4个点任务
if (ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2)) {
sendHeadBackSignalType(instdto);
@@ -1014,7 +1017,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
writing("to_target2", "0");
writing("to_task2", "0");
writing("to_container_type", "0");
requireSucess1 = false;
}
this.requireSucess1 = false;
//单独的后工位任务
@@ -1032,7 +1035,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
writing("to_onset2", "0");
writing("to_target2", "0");
writing("to_task2", "0");
requireSucess1 = false;
}
this.requireSucess1 = false;
} else if (action1 == 4 && move1 == 0 && task1 > 0 && action2 == 0 && move2 == 0 && task2 == 0) {
@@ -1049,6 +1052,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
writing("to_target1", "0");
writing("to_task1", "0");
writing("to_container_type", "0");
requireSucess1 = false;
}
this.requireSucess1 = false;
}