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add 测试场地完成和agv交互 现场实际需要调整 任务链

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This commit is contained in:
USER-20220102CG\noblelift
2023-04-20 15:24:14 +08:00
parent 2898675e8b
commit a532e4af87
3 changed files with 183 additions and 57 deletions
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3
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java
View File

@@ -67,6 +67,8 @@ public class ItemProtocol {
public static String to_di_height = "to_di_height";
//虚拟低电平写
public static String to_di_low = "to_di_low";
//下发任务链
public static String to_line = "to_line";
public int getIs_charging() {
@@ -353,6 +355,7 @@ public class ItemProtocol {
list.add(new ItemDto(to_clear_error, "to_clear_error", "40090"));
list.add(new ItemDto(to_di_height, "虚拟高电平写", "40063"));
list.add(new ItemDto(to_di_low, "虚拟低电平写", "40064"));
list.add(new ItemDto(to_line, "to_line", "40043"));
return list;
}

221
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java
View File

@@ -61,7 +61,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
String last_mode = "0";
private Date instruction_require_time = new Date();
private int instruction_require_time_out = 1000;
private int instruction_require_time_out = 3000;
int is_charging = 0;
int stop = 0;
int DI0 = 0;
@@ -186,6 +186,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
}
if (address != last_address) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + "变更从" + this.last_address + "->" + this.address);
@@ -249,11 +250,11 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
if (ObjectUtil.isEmpty(inst)) {
if (electricity != 0 && electricity < min_electric && address != charge_point && (navigation_status == 0 || navigation_status == 4)) {
log.info("下发充电:{}", charge_point);
writing("to_address", charge_point);
feedAgvTaskStatus(inst, "5");
}
if (electricity != 0 && electricity > cancle_electric && address == charge_point && (navigation_status == 0 || navigation_status == 4)) {
log.info("下发回休息点:{}", relax_point);
writing("to_address", relax_point);
}
} else {
TaskDto task = taskserver.findByCodeFromCache(inst.getTask_code());
@@ -268,40 +269,42 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
if (StrUtil.equals("0", inst.getInstruction_status())) {
log.info("下发指令号{}，起点{}", inst.getInstruction_code(), start_device);
//判断指令起点与任务起点是否相同
if(StrUtil.equals(task.getStart_device_code(),inst.getStart_device_code())){
feedAgvTaskStatus(inst, "1");
} else {
//不同的话是按照路由生成的指令
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", start_device_code);
inst.setInstruction_status("1");
instructionService.update(inst);
}
feedAgvTaskStatus(inst, "1");
}
//取货完成请求离开
if (StrUtil.equals("1", inst.getInstruction_status()) && address == start_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) {
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 5 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) {
//请求wms是否允许从取货点离开
feedAgvTaskStatus(inst, "2");
}
//请求放货
if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 2 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
//请求wms是否允许进入放货
feedAgvTaskStatus(inst, "3");
}
//放货完成 完成任务回休息点
if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 1 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
feedAgvTaskStatus(inst, "4");
}
}
//请求开门
if ( (address == 3 || address == 11 ) && stop == 1 ) {
feedAgvAction("5");
}
//请求关门
if ( (address == 9 || address == 10 ) && stop == 1 ) {
feedAgvAction("6");
}
//请求充电
if ( address == 4 && stop == 1 ) {
feedAgvAction( "7");
}
last_home_relocation = home_relocation;
last_address = address;
last_next_address = next_address;
@@ -326,9 +329,13 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
JSONObject jo = new JSONObject();
String mode = "";
jo.put("device_name", this.getDevice().getDevice_name());
jo.put("mode", mode);
jo.put("message", this.getMessage());
jo.put("is_click", true);
jo.put("address", address);
jo.put("stop", stop);
jo.put("electricity", electricity);
jo.put("is_charging", is_charging);
return jo;
}
@@ -350,12 +357,13 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
//请求WMS允许取货
if (StrUtil.equals(type, "1")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
@@ -364,22 +372,30 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
jo.put("task_code", inst.getTask_code());
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("请求参数:" + ja.toString() );
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(logDto);
if (resp.getStatus() ==200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", start_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("1");
instructionService.update(inst);
writing("to_line", 1);
} else {
writing("to_line", 1);
}
//取货完成请求离开
} else if (StrUtil.equals(type, "2")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
@@ -389,13 +405,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() ==200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", next_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("2");
instructionService.update(inst);
@@ -404,6 +414,10 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
}
//请求放货
} else if (StrUtil.equals(type, "3")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
@@ -413,20 +427,17 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() ==200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
inst.setInstruction_status("1");
inst.setExecute_status("3");
instructionService.update(inst);
writing("to_address", start_device_code);
} else {
}
} else if (StrUtil.equals(type, "4")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
@@ -440,16 +451,128 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_line + " value:" + 2);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", relax_point);
writing("to_line", 2);
inst.setInstruction_status("2");
inst.setInstruction_status("1");
inst.setExecute_status("4");
instructionService.finish(inst);
} else {
}
} else if (StrUtil.equals(type, "5")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "5");
jo.put("device_code", this.address);
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_low", 0);
writing("to_di_height", 0);
} else {
}
} else if (StrUtil.equals(type, "6")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "6");
jo.put("device_code", this.device_code);
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_height", 0);
writing("to_di_low", 0);
} else {
}
} else if (StrUtil.equals(type, "7")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "7");
jo.put("device_code", this.device_code);
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_low", 0);
} else {
}
}
}
return true;
}
public boolean feedAgvAction(String type) throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
if (StrUtil.equals(type, "5")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "5");
jo.put("device_code", "A4");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_low", 0);
writing("to_di_height", 0);
} else {
writing("to_di_low", 0);
writing("to_di_height", 0);
}
} else if (StrUtil.equals(type, "6")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "6");
jo.put("device_code", "A4");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_height", 0);
writing("to_di_low", 0);
} else {
writing("to_di_height", 0);
writing("to_di_low", 0);
}
} else if (StrUtil.equals(type, "7")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "7");
jo.put("device_code", "A4");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_di_low + " value:" + 0);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_di_height", 0);
} else {
writing("to_di_height", 0);
}
}
}
return true;

16
acs/nladmin-ui/src/views/system/monitor/device/index.vue
View File

@@ -456,11 +456,11 @@ export default {
} else if (val === 'tray_crib_qty') {
const obj = { name: '托盘垛数', value: data[val] }
this.arr.push(obj)
} else if (val === 'move_1') {
const obj = { name: '前工位光电信号', value: data[val] }
} else if (val === 'address') {
const obj = { name: '当前站点', value: data[val] }
this.arr.push(obj)
} else if (val === 'move_2') {
const obj = { name: '后工位光电信号', value: data[val] }
} else if (val === 'stop') {
const obj = { name: '是否停止', value: data[val] }
this.arr.push(obj)
} else if (val === 'action_1') {
const obj = { name: '前工位动作信号', value: data[val] }
@@ -471,11 +471,11 @@ export default {
} else if (val === 'walk_y') {
const obj = { name: '行走列', value: data[val] }
this.arr.push(obj)
} else if (val === 'task1') {
const obj = { name: '前工位任务号', value: data[val] }
} else if (val === 'is_charging') {
const obj = { name: '是否充电', value: data[val] }
this.arr.push(obj)
} else if (val === 'task2') {
const obj = { name: '后工位任务号', value: data[val] }
} else if (val === 'electricity') {
const obj = { name: '电量', value: data[val] }
this.arr.push(obj)
} else if (val === 'task') {
const obj = { name: '任务号', value: data[val] }