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rev：输送机和堆垛机业务

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gengby
2024-06-20 09:00:28 +08:00
parent 804ef3a786
commit 0694fb53fd
6 changed files with 476 additions and 90 deletions
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6
nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/ItemProtocol.java
View File

@@ -14,7 +14,7 @@ public enum ItemProtocol implements DeviceDriverBaseReader.KeyProvider {
STACKER_ERROR("stacker_error", "堆垛机主体报警", "DB101.B3"),
ACTION("action", "行走动作信号", "DB101.B5"),
FRONT_COMMAND("front_command", "前叉作业状态", "DB101.B31"),
FRONT_TASK("front_task", "前叉任务号", "DB101.B32"),
FRONT_TASK("front_task", "前叉任务号", "DB101.D32"),
FRONT_YERROR("front_Yerror", "前叉Y轴报警（载货台）", "DB101.B36"),
FRONT_ZERROR("front_Zerror", "前叉Z轴报警（货叉）", "DB101.B37"),
FRONT_Z("front_z", "前叉行走排号", "DB101.B38"),
@@ -26,7 +26,7 @@ public enum ItemProtocol implements DeviceDriverBaseReader.KeyProvider {
FRONT_FORKLOCATION("front_forkLocation", "前叉货叉位置信号", "DB101.B49"),
FRONT_FORKACTION("front_forkAction", "前叉货叉动作信号", "DB101.B50"),
BACK_COMMAND("back_command", "后叉作业状态", "DB101.B101"),
BACK_TASK("back_task", "后叉任务号", "DB101.B102"),
BACK_TASK("back_task", "后叉任务号", "DB101.D102"),
BACK_YERROR("back_Yerror", "后叉Y轴报警（载货台）", "DB101.B106"),
BACK_ZERROR("back_Zerror", "后叉Z轴报警（货叉）", "DB101.B107"),
BACK_Z("back_z", "后叉行走排号", "DB101.B108"),
@@ -39,7 +39,7 @@ public enum ItemProtocol implements DeviceDriverBaseReader.KeyProvider {
BACK_FORKACTION("back_forkAction", "后叉货叉动作信号", "DB101.B120"),
TO_DEVICE_CODE("to_device_code", "调度号", "DB100.B1"),
TO_COMMAND("to_command", "作业命令", "DB100.B2"),
TO_CHOOSE_FORK("to_choose_fork", "货叉选择", "DB100.B4"),
TO_CHOOSE_FORK("to_choose_fork", "货叉选择", "DB100.W4"),
TO_Z("to_z", "作业排", "DB100.B6"),
TO_X("to_x", "作业列", "DB100.B7"),
TO_Y("to_y", "作业层", "DB100.B8"),

124
nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java
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@@ -290,6 +290,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
*/
private int stackerNum = 1;
private boolean againRequireSuccess = false;
@Override
public Device getDevice() {
return this.device;
@@ -382,13 +385,132 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
return device == null ? false : device.getDeviceDriver() instanceof StandardStorageDeviceDriver;
}
private static final List<Integer> AGAIN_ERROR = Arrays.asList(5, 6, 16);
@SneakyThrows
@Override
public void executeLogic() {
stackerNum = Optional.ofNullable(this.getExtraValue().get("stackerNum")).map(Object::toString).map(Integer::parseInt).orElse(1);
if (this.back_command != this.lastBack_command || this.front_command != this.lastFront_command) {
this.requireSuccess = false;
}
if (front_Zerror != lastFront_Zerror || back_Zerror != lastBack_Zerror) {
if (AGAIN_ERROR.contains(front_Zerror) || AGAIN_ERROR.contains(back_Zerror)) {
this.againRequireSuccess = false;
}
}
//前叉满入
if (front_Zerror == 5) {
//先解警
//重新下发放货点位信息
//
if (!againRequireSuccess) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_FRONT_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(2, 25, 5, this.front_task, SendSignalEnum.CHOOSE_FORK_ONE.getSignalNum(), SendSignalEnum.COMMAND_TWO.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
return;
}
//后叉满入
else if (back_Zerror == 5) {
//先解警
//重新下发放货点位信息
if (!againRequireSuccess) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_BACK_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(2, 30, 6, this.back_task, SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_TWO.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
return;
}
//前叉空出
if (front_Zerror == 6) {
//先解警
//重新下发取货点位信息
if (!againRequireSuccess) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_FRONT_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(2, 25, 5, this.front_task, SendSignalEnum.CHOOSE_FORK_ONE.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
return;
}
//后叉空出
else if (back_Zerror == 6) {
//先解警
//重新下发取货点位信息
if (!againRequireSuccess) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_BACK_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(2, 30, 5, this.front_task, SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
return;
}
//前叉浅货位有货
if (front_Zerror == 16) {
//先解警
//重新下发取放货点位信息
if (!againRequireSuccess) {
//判断是取货阻挡还是放货阻挡
//取货阻挡
if (this.front_command == 1) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_FRONT_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(3, 18, 6, this.front_task, SendSignalEnum.CHOOSE_FORK_ONE.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
//放货阻挡
else if (this.front_command == 3) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_FRONT_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(3, 22, 6, this.front_task, SendSignalEnum.CHOOSE_FORK_ONE.getSignalNum(), SendSignalEnum.COMMAND_TWO.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
}
return;
}
//后叉前货位有货
else if (back_Zerror == 16) {
//先解警
//重新下发取放货点位信息
if (!againRequireSuccess) {
//判断是取货阻挡还是放货阻挡
//取货阻挡
if (this.back_command == 1) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_BACK_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(3, 50, 2, this.front_task, SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_ONE.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
//放货阻挡
else if (this.back_command == 3) {
List<String> keys = Arrays.asList(ItemProtocol.TO_Z.getKey(), ItemProtocol.TO_X.getKey(), ItemProtocol.TO_Y.getKey(), ItemProtocol.TO_BACK_TASK.getKey(), ItemProtocol.TO_CHOOSE_FORK.getKey(), ItemProtocol.TO_COMMAND.getKey());
List<Object> values = Arrays.asList(3, 60, 2, this.back_task, SendSignalEnum.CHOOSE_FORK_TWO.getSignalNum(), SendSignalEnum.COMMAND_TWO.getSignalNum());
this.writing(ItemProtocol.TO_COMMAND.getKey(), 5);
this.writing(keys, values);
this.againRequireSuccess = true;
}
}
return;
}
this.updateInstStatus();
if (!this.online) {
this.message = "设备离线";
} else if (this.mode != ModeEnum.MODE_3.getNum()) {
@@ -407,10 +529,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
if (ObjectUtil.isEmpty(frontInst) && ObjectUtil.isEmpty(backInst)) {
if (this.to_command != 0) {
this.writing(ItemProtocol.TO_COMMAND.getKey(), 0);
Thread.sleep(1000);
}
this.applyTask();
} else {
this.sendPutInfoToPlc(frontInst, backInst);
this.requireSuccess = true;
}
}
//取货中

99
nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
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@@ -1,5 +1,6 @@
package org.nl.acs.ext.wms.service.impl;
import cn.hutool.core.lang.Assert;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
@@ -10,6 +11,9 @@ import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device.domain.Device;
import org.nl.acs.device.driver.conveyor.appearance_inspection_scannner_conveyor.AppearanceInspectionScannerConveyorDeviceDriver;
import org.nl.acs.device.driver.conveyor.strip_conveyor.StripConveyorDeviceDriver;
import org.nl.acs.ext.wms.data.*;
import org.nl.acs.ext.wms.service.AcsToLiKuService;
@@ -20,6 +24,7 @@ import org.nl.acs.storage_cell.domain.StorageCell;
import org.nl.acs.storage_cell.service.mapper.StorageCellMapper;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.common.exception.BadRequestException;
import org.nl.config.SpringContextHolder;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.system.service.param.ISysParamService;
@@ -29,6 +34,7 @@ import org.springframework.stereotype.Service;
import java.util.List;
import java.util.Map;
import java.util.Optional;
@Service
@RequiredArgsConstructor
@@ -354,4 +360,97 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
return null;
}
@Override
public JSONObject switchInOut(JSONObject reqs) {
Assert.notNull(reqs);
String device_code = reqs.getString("device_code");
if (StrUtil.isBlank(device_code)) {
throw new BadRequestException("设备号不能为空!");
}
String type = reqs.getString("type");
if (StrUtil.isBlank(type)) {
throw new BadRequestException("出入库类型不能为空!");
}
Device device = deviceAppService.findDeviceByCode(device_code);
String belongToConveyorDeviceCode = Optional.ofNullable(device.getExtraValue().get("belongToConveyor")).map(Object::toString).orElse(null);
Device belongToConveyorDevice = deviceAppService.findDeviceByCode(belongToConveyorDeviceCode);
if (belongToConveyorDevice != null && belongToConveyorDevice.getDeviceDriver() instanceof StripConveyorDeviceDriver) {
StripConveyorDeviceDriver stripConveyorDeviceDriver = (StripConveyorDeviceDriver) belongToConveyorDevice.getDeviceDriver();
//切换为入库
if ("1".equals(type)) {
String samePoint = Optional.ofNullable(device.getExtraValue().get("samePoint")).map(Object::toString).orElse(null);
TaskDto taskDto;
if (StrUtil.isNotEmpty(samePoint)) {
taskDto = taskserver.findByNextCode(samePoint);
} else {
taskDto = taskserver.findByNextCode(device_code);
}
if (ObjectUtil.isNotEmpty(taskDto)) {
throw new BadRequestException("ACS存在出库任务,无法切换为入库模式");
}
if (stripConveyorDeviceDriver.getInOutMode() == 0) {
throw new BadRequestException("已经是入库模式，无法再次切换为入库模式");
} else {
if (stripConveyorDeviceDriver.getSwitchInOut() == 0) {
throw new BadRequestException("输送线不允许切换为入库模式");
}
}
stripConveyorDeviceDriver.writing("toCommand", 0);
}
//切换为出库
else if ("2".equals(type)) {
String samePoint = Optional.ofNullable(device.getExtraValue().get("samePoint")).map(Object::toString).orElse(null);
TaskDto taskDto;
if (StrUtil.isNotEmpty(samePoint)) {
taskDto = taskserver.findByStartCode(samePoint);
} else {
taskDto = taskserver.findByStartCode(device_code);
}
if (ObjectUtil.isNotEmpty(taskDto)) {
throw new BadRequestException("ACS存在入库任务,无法切换为出库模式");
}
if (stripConveyorDeviceDriver.getInOutMode() == 1) {
throw new BadRequestException("已经是出库模式，无法再次切换为出库模式");
} else {
if (stripConveyorDeviceDriver.getSwitchInOut() == 0) {
throw new BadRequestException("输送线不允许切换为出库模式");
}
}
stripConveyorDeviceDriver.writing("toCommand", 1);
}
}
JSONObject resp = new JSONObject();
resp.put("status", 200);
resp.put("message", "切换出入库模式成功");
return null;
}
@Override
public JSONObject pinkStartStop(JSONObject reqs) {
Assert.notNull(reqs);
JSONObject resp = new JSONObject();
String device_code = reqs.getString("device_code");
if (StrUtil.isBlank(device_code)) {
throw new BadRequestException("设备号不能为空!");
}
String type = reqs.getString("type");
if (StrUtil.isEmpty(type)) {
throw new BadRequestException("启停类型不能为空!");
}
Device device = deviceAppService.findDeviceByCode(device_code);
if (device != null && device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver = (AppearanceInspectionScannerConveyorDeviceDriver) device.getDeviceDriver();
if ("1".equals(type)) {
appearanceInspectionScannerConveyorDeviceDriver.writing("mode", 2);
} else {
appearanceInspectionScannerConveyorDeviceDriver.writing("mode", 0);
}
} else {
throw new BadRequestException("设备不存在");
}
resp.put("status", 200);
resp.put("message", "切换成功");
return resp;
}
}

2
nladmin-system/nlsso-server/src/main/java/org/nl/config/mqtt2/MqttService.java
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@@ -222,7 +222,7 @@ public class MqttService {
topicMap.get(topic).add(payload);
System.out.println("接收到消息---" + topic + "内容:" + payload);
} else {
log.info("topic---{} does not exist", topic);
log.info("topic---{} , payload----{} ", topic, payload);
}
}