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add RGV任务复位

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This commit is contained in:
周俊杰
2023-10-25 16:54:57 +08:00
parent d072f165f0
commit fd2c368833
2 changed files with 98 additions and 22 deletions
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106
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
View File

@@ -207,6 +207,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
if (mode == 2) {
inst = null;
this.setRequireSucess1(false);
log.info("任务复位完成");
logServer.deviceExecuteLog(this.device_code, "", "", "模式变待机，复位前工位请求标记requireSucess1:" + requireSucess1);
}
logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
@@ -227,6 +228,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
if (move1 != last_move1) {
if (move1 == 0) {
this.setRequireSucess1(false);
log.info("任务复位完成");
logServer.deviceExecuteLog(this.device_code, "", "", "前工位有货变无货，复位前工位请求标记requireSucess1:" + requireSucess1);
}
logServer.deviceItemValue(this.device_code, "move1", String.valueOf(move1));
@@ -302,7 +304,7 @@ 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 == 0 && move1 == 0 && task1 > 0 && action2 != 1) {
if (mode == 3 && error == 0 && status != 3 && action1 == 0 && move1 == 0 && task1 > 0 && action2 == 2) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String start_device_code = inst1.getStart_device_code();
Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
@@ -342,7 +344,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//前工位放货时判断放货位光电信号
if (mode == 3 && error == 0 && status != 3 && action1 == 2 && move1 != 0 && task1 > 0 && action2 == 3) {
if (mode == 3 && error == 0 && status != 3 && action1 == 2 && move1 != 0 && task1 > 0 && action2 != 1) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String next_device_code = inst1.getNext_device_code();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
@@ -464,10 +466,14 @@ 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 == 2 && move2 != 0 && task2 > 0 && action1 == 2) {
if (mode == 3 && error == 0 && status != 3 && action2 == 2 && move2 != 0 && task2 > 0 && action1 != 1) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String next_device_code = inst1.getNext_device_code2();
Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
String next_parent_code = inst1.getNext_parent_code();
String start_device_code=inst1.getStart_device_code();
//后工位单任务
Device nextDevice = deviceAppservice.findDeviceByCode(next_parent_code);
//双工位
Device nextDevice1 = deviceAppservice.findDeviceByCode(start_device_code);
if (nextDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver();
if (driver.getMode() != 0
@@ -476,6 +482,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
// && (driver.getAction() == 2 || driver.getAction() == 3)
) {
this.writing("to_command2", "2");
this.requireSucess1 = false;
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
} else {
@@ -497,9 +504,19 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
driver.setMessage(msg);
logServer.deviceExecuteLog(device_code, "", "", msg);
}
} else if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
this.writing("to_command2", "2");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
}
if(nextDevice1.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver){
LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice1.getDeviceDriver();
if (driver.getMode() != 0
&& driver.getMove() == 0
// && (driver.getIo_action() == 1 || driver.getIo_action() == 3)
// && (driver.getAction() == 2 || driver.getAction() == 3)
) {
this.writing("to_command2", "2");
this.requireSucess1 = false;
driver.setMessage("");
logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
}
}
}
@@ -529,7 +546,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
log.debug("设备运转模式:等待工作");
return;
case 2:
// 申请任务
if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && requireSucess1) {
log.info("没有复位");
}
if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) {
instruction_require();
}
@@ -579,10 +598,11 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
last_to_target2 = to_target2;
last_to_task2 = to_task2;
last_to_container_type = to_container_type;
}
//申请前工位任务
//任务申请
public synchronized boolean instruction_require() throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_apply_time2.getTime() < (long) this.instruction_require_time_out) {
@@ -669,6 +689,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
//下发4个点任务
if (ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2)) {
sendHeadBackSignalType(instdto);
log.info("下发五点任务，指令信息()",instdto);
requireSucess1 = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
if(ObjectUtil.isNotEmpty(start_device_code)){
@@ -680,13 +701,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
} else {
sendHeadSignalType(instdto);
requireSucess1 = true;
log.info("申请前工位任务成功,{}",requireSucess1);
logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
if(ObjectUtil.isNotEmpty(start_device_code)){
if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver();
lnshLaminatingMachineDeviceDriver.writing("to_command", "1");
}
}
}
} else {
//申请后工位任务
@@ -694,7 +710,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
List<String> getDeviceCodeList2 = this.getExtraDeviceCodes("get_device_code2");
//前工位放货关联设备
List<String> putDeviceCodeList2 = this.getExtraDeviceCodes("put_device_code2");
for (int i = 0; i < putDeviceCodeList.size(); i++) {
for (int i = 0; i < putDeviceCodeList2.size(); i++) {
if (ObjectUtil.isNotEmpty(taskserver.queryTaskByDeviceCode(getDeviceCodeList2.get(i).replace("\"", "")))) {
task2 = taskserver.queryTaskByDeviceCode(getDeviceCodeList2.get(i).replace("\"", "")).get(0);
}
@@ -712,6 +728,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String next_point_code = task2.getNext_point_code();
String next_device_code = task2.getNext_device_code();
String next_device_code2 = task2.getNext_device_code2();
String put_device_code=task2.getPut_device_code();
Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
Device startdevice2 = null;
@@ -761,6 +778,15 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
taskserver.update(task2);
sendBackSignalType(instdto);
requireSucess1 = true;
LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device addressdevice = appService.findDeviceByCode(put_device_code);
if(ObjectUtil.isNotEmpty(start_device_code)){
if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver();
lnshLaminatingMachineDeviceDriver.writing("to_command", "1");
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
}
}
@@ -1005,21 +1031,31 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
try {
finish_instruction(inst1);
} catch (Exception e) {
log.error("RGV 前工位完成指令异常", e);
log.error("RGV 双工位完成指令异常", e);
logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
}
log.info("五点任务完成");
writing("to_command1", "0");
writing("to_command1", "0");
writing("to_onset1", "0");
writing("to_onset1", "0");
writing("to_target1", "0");
writing("to_target1", "0");
writing("to_task1", "0");
writing("to_task1", "0");
writing("to_command2", "0");
writing("to_command2", "0");
writing("to_onset2", "0");
writing("to_onset2", "0");
writing("to_target2", "0");
writing("to_target2", "0");
writing("to_task2", "0");
writing("to_task2", "0");
writing("to_container_type", "0");
writing("to_container_type", "0");
requireSucess1 = false;
}
this.requireSucess1 = false;
log.info("前后工位任务完成复位");
//单独的后工位任务
} else if (action2 == 4 && move2 == 0 && task2 > 0 && action1 == 0 && move2 == 0 && task1 == 0) {
//inst_message
@@ -1028,16 +1064,21 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
try {
finish_instruction(inst2);
} catch (Exception e) {
log.error("RGV 前工位完成指令异常", e);
log.error("RGV 后工位完成指令异常", e);
logServer.deviceExecuteLog(this.device_code, "", "", "后工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
}
log.info("后工位任务完成");
writing("to_command2", "0");
writing("to_command2", "0");
writing("to_onset2", "0");
writing("to_onset2", "0");
writing("to_target2", "0");
writing("to_target2", "0");
writing("to_task2", "0");
requireSucess1 = false;
writing("to_task2", "0");
}
this.requireSucess1 = false;
log.info("后工位任务完成复位");
} else if (action1 == 4 && move1 == 0 && task1 > 0 && action2 == 0 && move2 == 0 && task2 == 0) {
inst1 = checkInst();
if (inst1 != null) {
@@ -1047,14 +1088,20 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
log.error("RGV 前工位完成指令异常", e);
logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage());
}
log.info("前工位任务完成");
writing("to_command1", "0");
writing("to_command1", "0");
writing("to_onset1", "0");
writing("to_onset1", "0");
writing("to_target1", "0");
writing("to_target1", "0");
writing("to_task1", "0");
writing("to_task1", "0");
writing("to_container_type", "0");
writing("to_container_type", "0");
requireSucess1 = false;
}
this.requireSucess1 = false;
log.info("前工位任务完成复位");
}
@@ -1130,8 +1177,12 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String start_addr = startDevice.getExtraValue().get("OPCServer").toString();
String next_addr = nextDevice.getExtraValue().get("OPCServer").toString();
this.writing("to_onset1", start_addr);
this.writing("to_onset1", start_addr);
this.writing("to_target1", next_addr);
this.writing("to_target1", next_addr);
this.writing("to_task1", dto.getInstruction_code());
this.writing("to_task1", dto.getInstruction_code());
this.writing("to_command1", "1");
this.writing("to_command1", "1");
}
@@ -1149,8 +1200,12 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String start_addr = startDevice.getExtraValue().get("OPCServer").toString();
String next_addr = nextDevice.getExtraValue().get("OPCServer").toString();
this.writing("to_onset2", start_addr);
this.writing("to_onset2", start_addr);
this.writing("to_target2", next_addr);
this.writing("to_target2", next_addr);
this.writing("to_task2", dto.getInstruction_code());
this.writing("to_task2", dto.getInstruction_code());
this.writing("to_command2", "1");
this.writing("to_command2", "1");
}
@@ -1176,12 +1231,19 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String start_addr2 = startDevice2.getExtraValue().get("OPCServer").toString();
String next_addr2 = nextDevice2.getExtraValue().get("OPCServer").toString();
this.writing("to_onset1", start_addr);
this.writing("to_onset1", start_addr);
this.writing("to_target1", next_addr);
this.writing("to_target1", next_addr);
this.writing("to_task1", dto.getInstruction_code());
this.writing("to_task1", dto.getInstruction_code());
//this.writing("to_command1", "1");
this.writing("to_onset2", start_addr2);
this.writing("to_onset2", start_addr2);
this.writing("to_target2", next_addr2);
this.writing("to_target2", next_addr2);
this.writing("to_task2", dto.getInstruction_code());
this.writing("to_task2", dto.getInstruction_code());
this.writing("to_command2", "1");
this.writing("to_command2", "1");
}

14
acs/nladmin-system/src/main/resources/log/LnshRGVDeviceDriver.xml Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?>
<?import java.lang.*?>
<?import java.util.*?>
<?import javafx.scene.*?>
<?import javafx.scene.control.*?>
<?import javafx.scene.layout.*?>
<AnchorPane xmlns="http://javafx.com/javafx"
xmlns:fx="http://javafx.com/fxml"
fx:controller="$CONTROLLER_NAME$"
prefHeight="400.0" prefWidth="600.0">
</AnchorPane>