diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java index b891df5ef..6ab6b5b78 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java @@ -50,7 +50,7 @@ public class AgvWaitUtil { ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver; BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver; //agv诺宝对接位安全信号交互 - if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) { + if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) { manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver(); if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) { manipulatorAgvStationDeviceDriver.writing(2); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java index 25f555deb..225534d39 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java @@ -11,6 +11,10 @@ import org.openscada.opc.lib.da.ItemState; import org.springframework.beans.factory.annotation.Autowired; import java.util.*; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.CompletionException; +import java.util.concurrent.TimeUnit; +import java.util.concurrent.TimeoutException; public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements OpcDeviceDriver { UnifiedDataAccessor opcUdw; @@ -35,201 +39,223 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc public void checkcontrol(Map itemValues) throws Exception { - Group group = opcServerService.getServer(this.getOpcServer()); - Map write = new HashMap(); - Map readitems = new LinkedHashMap(); - List itemsString = new ArrayList(); - itemsString = new ArrayList<>(itemValues.keySet()); - Iterator is = itemsString.iterator(); - while (is.hasNext()) { - String string = (String) is.next(); + CompletableFuture future = CompletableFuture.supplyAsync(() -> { try { - readitems.put(string, group.addItem(string)); - } catch (Exception e) { - e.printStackTrace(); - } - } - int i = 0; - while (true) { - //下发信号 - try { - if (i == 0) { - control(itemValues); - } else { - controlByNewConn(itemValues); - } + Group group = opcServerService.getServer(this.getOpcServer()); + Map write = new HashMap(); + Map readitems = new LinkedHashMap(); + List itemsString = new ArrayList(); + itemsString = new ArrayList<>(itemValues.keySet()); + Iterator is = itemsString.iterator(); - } catch (Exception e) { - e.printStackTrace(); - } - Map read = new HashMap(); - Map itemStatus = null; - boolean check = true; - try { - if (i > 0) { - group = opcServerService.getServer(this.getOpcServer()); - itemsString = new ArrayList<>(itemValues.keySet()); - Iterator nis = itemsString.iterator(); - - while (nis.hasNext()) { - String string = (String) nis.next(); - try { - readitems.put(string, group.addItem(string)); - } catch (Exception e) { - e.printStackTrace(); - } + while (is.hasNext()) { + String string = (String) is.next(); + try { + readitems.put(string, group.addItem(string)); + } catch (Exception e) { + e.printStackTrace(); } - itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0])); - - } else { - itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0])); - } - Set items = itemStatus.keySet(); - Iterator var15 = items.iterator(); - while (var15.hasNext()) { - Item item = (Item) var15.next(); - ItemState itemState = (ItemState) itemStatus.get(item); - Object value = OpcUtl.getValue(item, itemState); - read.put(item.getId(), value); } + int i = 0; + while (true) { + //下发信号 - Iterator var24 = itemsString.iterator(); + try { + if (i == 0) { + control(itemValues); + } else { + controlByNewConn(itemValues); + } - while (var24.hasNext()) { - String itemString = (String) var24.next(); - if (!ObjectUtl.isEquals(String.valueOf(itemValues.get(itemString)), String.valueOf(read.get(itemString)))) { + } catch (Exception e) { + e.printStackTrace(); + } + Map read = new HashMap(); + Map itemStatus = null; + boolean check = true; + try { + if (i > 0) { + group = opcServerService.getServer(this.getOpcServer()); + itemsString = new ArrayList<>(itemValues.keySet()); + Iterator nis = itemsString.iterator(); + + while (nis.hasNext()) { + String string = (String) nis.next(); + try { + readitems.put(string, group.addItem(string)); + } catch (Exception e) { + e.printStackTrace(); + } + } + itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0])); + + } else { + itemStatus = group.read(true, (Item[]) readitems.values().toArray(new Item[0])); + } + Set items = itemStatus.keySet(); + Iterator var15 = items.iterator(); + while (var15.hasNext()) { + Item item = (Item) var15.next(); + ItemState itemState = (ItemState) itemStatus.get(item); + Object value = OpcUtl.getValue(item, itemState); + read.put(item.getId(), value); + } + + Iterator var24 = itemsString.iterator(); + + while (var24.hasNext()) { + String itemString = (String) var24.next(); + if (!ObjectUtl.isEquals(String.valueOf(itemValues.get(itemString)), String.valueOf(read.get(itemString)))) { + check = false; + } + } + } catch (Exception e) { + e.printStackTrace(); check = false; } + + if (check) { + return ""; + } + + if (i > 0) { + ThreadUtl.sleep(100L); + } + + if (i >= 3) { +// log.info("写入次数超过3次而失败"); + throw new RuntimeException("写入次数超过3次而失败"); + } + ++i; } } catch (Exception e) { - e.printStackTrace(); - check = false; + Thread.currentThread().interrupt(); + throw new IllegalStateException("Interrupted", e); } - - if (check) { - return; + }); + try { + String result = future.get(2, TimeUnit.SECONDS); // 设置超时时间为2秒 + System.out.println(result); + } catch (CompletionException e) { + Throwable cause = e.getCause(); + if (cause instanceof TimeoutException) { + System.out.println("Operation timed out"); + } else { + throw e; // rethrow other exceptions } - - if (i > 0) { - ThreadUtl.sleep(100L); - } - - if (i >= 3) { -// log.info("写入次数超过3次而失败"); - throw new RuntimeException("写入次数超过3次而失败"); - } - ++i; + } catch (Exception e) { + throw new RuntimeException(e); } - } + } - public boolean controlByNewConn(Map itemValues) { + public boolean controlByNewConn (Map < String, Object > itemValues){ - Iterator> it = itemValues.entrySet().iterator(); + Iterator> it = itemValues.entrySet().iterator(); - ItemValue[] p2; - p2 = new ItemValue[itemValues.size()]; - int i = 0; - while (it.hasNext()) { - Map.Entry entry = it.next(); - System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue()); - p2[i] = new ItemValue(); - p2[i].setItem_code(entry.getKey()); - p2[i].setItem_value(entry.getValue()); - i++; - } - - return this.controlByNewConn(p2); - } - - public boolean control(Map itemValues) { - - Iterator> it = itemValues.entrySet().iterator(); - - ItemValue[] p2; - p2 = new ItemValue[itemValues.size()]; - int i = 0; - while (it.hasNext()) { - Map.Entry entry = it.next(); - System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue()); - p2[i] = new ItemValue(); - p2[i].setItem_code(entry.getKey()); - p2[i].setItem_value(entry.getValue()); - i++; - } - - return this.control(p2); - } - - - public boolean control(ItemValue[] itemValues) { - if (itemValues != null && itemValues.length != 0) { - String this_items = JsonUtl.parseWithoutException(itemValues); - boolean need_write = false; - StringBuilder sb = new StringBuilder(); - ItemValue[] var5 = itemValues; - int var6 = itemValues.length; - - for (int var7 = 0; var7 < var6; ++var7) { - ItemValue itemValue = var5[var7]; - String code = itemValue.getItem_code(); - Object udw_value = this.getUdwValue(code); - Object write_value = itemValue.getItem_value(); - sb.append(code); - sb.append(":"); - sb.append(JsonUtl.parseWithoutException(udw_value)); - sb.append(";"); - if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) { - need_write = true; - } else { - //log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value ); + ItemValue[] p2; + p2 = new ItemValue[itemValues.size()]; + int i = 0; + while (it.hasNext()) { + Map.Entry entry = it.next(); + System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue()); + p2[i] = new ItemValue(); + p2[i].setItem_code(entry.getKey()); + p2[i].setItem_value(entry.getValue()); + i++; } - } - // need_write = true; - if (need_write) { - Date date = new Date(); + return this.controlByNewConn(p2); + } + + public boolean control (Map < String, Object > itemValues){ + + Iterator> it = itemValues.entrySet().iterator(); + + ItemValue[] p2; + p2 = new ItemValue[itemValues.size()]; + int i = 0; + while (it.hasNext()) { + Map.Entry entry = it.next(); + System.out.println("即将写入值:" + entry.getKey() + ":" + entry.getValue()); + p2[i] = new ItemValue(); + p2[i].setItem_code(entry.getKey()); + p2[i].setItem_value(entry.getValue()); + i++; + } + + return this.control(p2); + } + + + public boolean control (ItemValue[]itemValues){ + if (itemValues != null && itemValues.length != 0) { + String this_items = JsonUtl.parseWithoutException(itemValues); + boolean need_write = false; + StringBuilder sb = new StringBuilder(); + ItemValue[] var5 = itemValues; + int var6 = itemValues.length; + + for (int var7 = 0; var7 < var6; ++var7) { + ItemValue itemValue = var5[var7]; + String code = itemValue.getItem_code(); + Object udw_value = this.getUdwValue(code); + Object write_value = itemValue.getItem_value(); + sb.append(code); + sb.append(":"); + sb.append(JsonUtl.parseWithoutException(udw_value)); + sb.append(";"); + if (!need_write && !UnifiedDataAppService.isEquals(udw_value, write_value)) { + need_write = true; + } else { + //log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value ); + } + } + // need_write = true; + + if (need_write) { + Date date = new Date(); /*if (StringUtl.isEqual(this_items, this.last_items) && date.getTime() - this.sendTime.getTime() < (long) WcsConfig.opc_write_repeat_check) { log.trace("发送时间因为小于{}毫秒，而被无视", WcsConfig.opc_write_repeat_check); return false; }*/ - this.last_items = this_items; - this.sendTime = date; + this.last_items = this_items; + this.sendTime = date; /* this.execute_log.setResource(this.getDevice().getCode(), this.getDevice().getName()); this.execute_log.log("原始记录{}->变更为{}", new Object[]{sb, this_items}); OpcServerService opcServerService = OpcServerFactory.getOpcServerService();*/ - OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class); + OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class); - opcServerService.writeInteger(this.getOpcServer(), itemValues); - UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor(); - ItemValue[] var17 = itemValues; - int var18 = itemValues.length; + opcServerService.writeInteger(this.getOpcServer(), itemValues); + UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor(); + ItemValue[] var17 = itemValues; + int var18 = itemValues.length; - for (int var19 = 0; var19 < var18; ++var19) { - ItemValue itemValue = var17[var19]; - String code = itemValue.getItem_code(); - Object value = itemValue.getItem_value(); - opcValueAccessor.setValue(code, value); + for (int var19 = 0; var19 < var18; ++var19) { + ItemValue itemValue = var17[var19]; + String code = itemValue.getItem_code(); + Object value = itemValue.getItem_value(); + opcValueAccessor.setValue(code, value); + } + } + + return true; + } else { + throw new RuntimeException("下发 无内容"); } } - return true; - } else { - throw new RuntimeException("下发 无内容"); - } - } - - public boolean controlByNewConn(ItemValue[] itemValues) { - if (itemValues != null && itemValues.length != 0) { - String this_items = JsonUtl.parseWithoutException(itemValues); - boolean need_write = false; - StringBuilder sb = new StringBuilder(); - ItemValue[] var5 = itemValues; - int var6 = itemValues.length; + public boolean controlByNewConn (ItemValue[]itemValues){ + if (itemValues != null && itemValues.length != 0) { + String this_items = JsonUtl.parseWithoutException(itemValues); + boolean need_write = false; + StringBuilder sb = new StringBuilder(); + ItemValue[] var5 = itemValues; + int var6 = itemValues.length; // for (int var7 = 0; var7 < var6; ++var7) { // ItemValue itemValue = var5[var7]; // String code = itemValue.getItem_code(); @@ -245,36 +271,36 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc // log.warn("下发信号点位{} 当前写入值:{} 与系统内存值:{} 相同，不再写入 ", code, write_value, udw_value ); // } // } - need_write = true; - if (need_write) { - Date date = new Date(); + need_write = true; + if (need_write) { + Date date = new Date(); /*if (StringUtl.isEqual(this_items, this.last_items) && date.getTime() - this.sendTime.getTime() < (long) WcsConfig.opc_write_repeat_check) { log.trace("发送时间因为小于{}毫秒，而被无视", WcsConfig.opc_write_repeat_check); return false; }*/ - this.last_items = this_items; - this.sendTime = date; - OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class); + this.last_items = this_items; + this.sendTime = date; + OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class); - opcServerService.writeIntegerByNewConn(this.getOpcServer(), itemValues); + opcServerService.writeIntegerByNewConn(this.getOpcServer(), itemValues); - UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor(); - ItemValue[] var17 = itemValues; - int var18 = itemValues.length; + UnifiedDataAccessor opcValueAccessor = this.getOpcValueAccessor(); + ItemValue[] var17 = itemValues; + int var18 = itemValues.length; - for (int var19 = 0; var19 < var18; ++var19) { - ItemValue itemValue = var17[var19]; - String code = itemValue.getItem_code(); - Object value = itemValue.getItem_value(); - opcValueAccessor.setValue(code, value); + for (int var19 = 0; var19 < var18; ++var19) { + ItemValue itemValue = var17[var19]; + String code = itemValue.getItem_code(); + Object value = itemValue.getItem_value(); + opcValueAccessor.setValue(code, value); + } + } + + return true; + } else { + throw new RuntimeException("下发 无内容"); } } - - return true; - } else { - throw new RuntimeException("下发 无内容"); } - } -} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java index fa33818d6..e34ccb88a 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java @@ -229,30 +229,6 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i log.debug("设备运转模式:等待工作"); break; case 2: - //申请任务 - if (move > 0 && task == 0 && !requireSucess) { - instruction_require(); - }else { - String remark = ""; - ; - if (mode != 2) { - remark = "universal_remark2"; - } - if (move != 0) { - remark = "universal_remark3"; - } - if (task != 0) { - remark = "universal_remark4"; - if (ObjectUtil.isNotEmpty(this.inst)) { - this.inst = null; - } - } - if (requireSucess) { - remark = "universal_remark5"; - } - this.setNotCreateInstMessage(remark); - //} - } break; case 25: if ( StrUtil.isEmpty(material_barcode)) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java index fe1286642..6a0b61b4a 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java @@ -28,6 +28,7 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; import org.nl.acs.device_driver.led.led_screen.LedScreenDeviceDriver; import org.nl.acs.device_driver.one_manipulator.box_package_manipulator.InteractionJsonDTO; import org.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver; +import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver; import org.nl.acs.enums.StorageTypeEnum; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.history.ErrorUtil; @@ -298,9 +299,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv List toInstructions; //木箱入库申请入库任务 if (mode == 6 && !requireSucess) { - if (StrUtil.isEmpty(barcode)||StrUtil.isEmpty(material_barcode)) { + if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) { message = "托盘条码为空、或者子卷码为空"; - }else { + } else { applyIn(StorageTypeEnum.BOX_IN.getType(), mode); } @@ -310,7 +311,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (mode == 7 && move == 1 && !requireSucess) { if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) { message = "托盘条码为空、或者子卷码为空"; - }else { + } else { applyIn(StorageTypeEnum.STORAGE.getType(), mode); } @@ -321,7 +322,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (mode == 9 && move == 1 && !requireSucess) { if (container_type == 0 || StrUtil.isEmpty(barcode)) { message = "托盘类型为空"; - }else { + } else { applyEmptyTask(StorageTypeEnum.DISKS_IN.getType(), mode); } } @@ -330,7 +331,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (mode == 18 && move == 1 && !requireSucess) { if (StrUtil.isEmpty(barcode)) { message = "托盘条码为空"; - }else { + } else { applyBoxReturnTask(StorageTypeEnum.BOX_RETURN.getType(), mode); } @@ -339,7 +340,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (mode == 23 && !requireSucess) { if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) { message = "条码为空"; - }else { + } else { applyErrorHeight(); } @@ -406,7 +407,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (StrUtil.isNotEmpty(hand_barcode)) { param.put("vehicle_code", hand_barcode); } - if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) { + if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) { param.put("vehicle_code", barcode); } if (StrUtil.isNotEmpty(material_barcode)) { @@ -473,7 +474,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (StrUtil.isNotEmpty(hand_barcode)) { param.put("vehicle_code", hand_barcode); } - if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) { + if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) { param.put("vehicle_code", barcode); } if (StrUtil.isNotEmpty(material_barcode)) { @@ -589,7 +590,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (StrUtil.isNotEmpty(hand_barcode)) { param.put("vehicle_code", hand_barcode); } - if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) { + if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) { param.put("vehicle_code", barcode); } param.put("type", type); @@ -645,7 +646,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (StrUtil.isNotEmpty(hand_barcode)) { param.put("vehicle_code", hand_barcode); } - if (StrUtil.isNotEmpty(barcode)&&(barcode.startsWith("A")||barcode.startsWith("B"))) { + if (StrUtil.isNotEmpty(barcode) && (barcode.startsWith("A") || barcode.startsWith("B"))) { param.put("vehicle_code", barcode); } if (StrUtil.isNotEmpty(material_barcode)) { @@ -654,7 +655,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv if (StrUtil.isNotEmpty(hand_material_barcode)) { param.put("material_barcode", hand_material_barcode); } - if (mode == 7 && weight != 0){ + if (mode == 7 && weight != 0) { param.put("weight", weight); } param.put("type", type); @@ -796,21 +797,32 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv //判断有无出入库任务是相同路线 //判断有没有DDJ对接位出入库的指令 List byCodeAndExcute = instructionService.findByCodeAndExcute(next_device_code); - if (CollUtil.isNotEmpty(byCodeAndExcute)){ - Iterator iterator = byCodeAndExcute.iterator(); - while (iterator.hasNext()) { - Instruction instruction = iterator.next(); - Device nextDevice = deviceAppService.findDeviceByCode(instruction.getNext_device_code()); - if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.storage.name())){ - iterator.remove(); - } - } - } - if (CollUtil.isNotEmpty(byCodeAndExcute)){ - this.message="有DDJ对接位出入库的指令"; + if (CollUtil.isNotEmpty(byCodeAndExcute)) { + this.message = "有DDJ对接位出入库的指令"; requireSucess = false; return true; } + Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); + BeltConveyorDeviceDriver beltConveyorDeviceDriver; + if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) { + beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver(); + //判断对接位和关联站点光电信号 + getDeviceCodeList = beltConveyorDeviceDriver.getExtraDeviceCodes("link_device_code"); + if (CollUtil.isNotEmpty(getDeviceCodeList)) { + String linkDeviceCode = getDeviceCodeList.get(0); + Device linkDevice = deviceAppService.findDeviceByCode(linkDeviceCode); + BeltConveyorDeviceDriver linkDeviceDriver; + if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) { + linkDeviceDriver = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver(); + if ((beltConveyorDeviceDriver.getMode() == 0 || beltConveyorDeviceDriver.getMove() == 1) && (linkDeviceDriver.getMode() == 0 || linkDeviceDriver.getMove() == 1)) { + this.message = "DDJ对接位或关联输送线存在正在移动的货物或者未联机"; + requireSucess = false; + return true; + } + } + + } + } TaskDto dto = taskserver.findByCodeAndExcute(taskdto.getNext_device_code(), taskdto.getStart_device_code()); if (ObjectUtil.isNotEmpty(dto)) { requireSucess = false; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java index 4ac8ed7ad..a27486c0e 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java @@ -133,6 +133,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi //行架机械手申请任务成功标识 boolean requireSucess = false; + //行架请求动作标识 + boolean actionRequireSucess = false; private int instruction_finished_time_out; int branchProtocol = 0; @@ -185,9 +187,12 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi to_type = this.itemProtocol.getTo_type(); if (mode != last_mode) { - requireSucess = false; } + + if (action != last_action) { + actionRequireSucess = false; + } // 更新指令状态 if (mode == 3 && task > 0) { if (null!=inst) { @@ -196,13 +201,13 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi updateInstructionStatus(); } //四个点行架任务，满轴放货完成后调lms生成rgv任务 - if (action == 6 && task > 0 ){ + if (action == 6 && task > 0 && !actionRequireSucess ){ Integer actionType = ActionTypeEnum.RELEASE_FINISHING.getCode(); creatAGV(actionType,action); } //空载具取货完成 - if (action == 7 && task > 0 ){ + if (action == 7 && task > 0 && !actionRequireSucess ){ Integer actionType = ActionTypeEnum.IN_FINISHING.getCode(); creatAGV(actionType, action); } @@ -304,7 +309,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi map1.put("value", toCommand); list.add(map1); this.writing(list); - + this.actionRequireSucess = true; } else { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java index a06536da4..05b13c410 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java @@ -833,9 +833,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme map4.put("value", "0"); list.add(map4); Map map5 = new HashMap<>(); - map4.put("code", "to_task"); - map4.put("value", "0"); - list.add(map4); + map5.put("code", "to_task"); + map5.put("value", "0"); + list.add(map5); this.writing(list); message = null; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 4e674c810..8ab17083a 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -1949,7 +1949,7 @@ public class InstructionServiceImpl extends CommonServiceImpl findByCodeAndExcute(String next_code) { - List instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code) || item.getStart_device_code().equals(next_code)).collect(Collectors.toList()); + List instructionList = instructions.stream().filter(item -> item.getNext_device_code().equals(next_code) ).collect(Collectors.toList()); return instructionList; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java index a1260357f..83103cb6c 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java @@ -203,7 +203,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC if (!UnifiedDataAppService.isEquals(value, his)) { OpcItemDto itemDto = this.getItem(itemId); if (true) { - this.logItemChanged(itemId, accessor_value, value, itemDto); +// this.logItemChanged(itemId, accessor_value, value, itemDto); } if(!ObjectUtil.isEmpty(value) || "".equals(value)){ accessor_value.setValue(itemId, value); @@ -416,7 +416,7 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC sb.append("key:" + relate + "value:" + obj + ";"); } if (!itemDto.getItem_code().endsWith("heartbeat") && !itemDto.getItem_code().endsWith("time") && !itemDto.getItem_code().endsWith("consumption") - && !itemDto.getItem_code().endsWith("x") && !itemDto.getItem_code().endsWith("y")) { + && !itemDto.getItem_code().endsWith("x") && !itemDto.getItem_code().endsWith("y")) { // 存在上次点位值为null情况 则不记录日志 if(!(his instanceof Float) && !(value instanceof Float)){ LuceneLogDto luceneLogDto = new LuceneLogDto(itemDto.getOpc_server_code(), itemDto.getOpc_plc_code(),4, itemDto.getDevice_code(), itemDto.getItem_code().substring(itemDto.getItem_code().lastIndexOf(".") + 1), diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/belt_conveyor.vue b/acs2/nladmin-ui/src/views/acs/device/driver/belt_conveyor.vue index 4768b3194..3022c52c0 100644 --- a/acs2/nladmin-ui/src/views/acs/device/driver/belt_conveyor.vue +++ b/acs2/nladmin-ui/src/views/acs/device/driver/belt_conveyor.vue @@ -49,6 +49,24 @@ + + + + + + +