From 533073eb11d8bc0fe3332b763fd8af5704cae366 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Wed, 7 Dec 2022 16:34:01 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../service/impl/DeviceServiceImpl.java | 5 + .../OvenGantryManipulatorDeviceDriver.java | 124 +++++- .../SlitTwoManipulatorDeviceDriver.java | 356 ++++++++++++++++-- acs/nladmin-ui/.env.production | 4 +- .../device/driver/slit_two_manipulator.vue | 84 ++++- .../src/views/acs/monitor/device/index.vue | 3 + .../src/views/acs/monitor/device/index2.vue | 3 + .../src/views/system/monitor/device/index.vue | 200 +++++----- 8 files changed, 630 insertions(+), 149 deletions(-) diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java index 43fc5808d..0760ceba9 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java @@ -22,6 +22,7 @@ import org.nl.acs.device.service.*; import org.nl.acs.device.service.dto.*; import org.nl.acs.device_driver.DeviceDriverDefination; import org.nl.acs.device_driver.ScannerDeviceDriver; +import org.nl.acs.device_driver.basedriver.slit_two_manipulator.SlitTwoManipulatorDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; @@ -868,6 +869,7 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial throw new BadRequestException("未找到对应设备:" + device_code); } StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; + SlitTwoManipulatorDeviceDriver slitTwoManipulatorDeviceDriver; //检测站点 StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { @@ -926,6 +928,9 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial standardInspectSiteDeviceDriver.setBatch(batch); device.setMaterial_type(material_type); device.setBatch(batch); + } else if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver){ + slitTwoManipulatorDeviceDriver = (SlitTwoManipulatorDeviceDriver) device.getDeviceDriver(); + slitTwoManipulatorDeviceDriver.setDeviceStatus(form); } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java index 7374f9735..38b070669 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java @@ -99,6 +99,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i String device_code; + //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成 + int now_steps_type = 0; + String notCreateTaskMessage = ""; + String notCreateInstMessage = ""; + String feedMessage = ""; + @Override public Device getDevice() { @@ -180,11 +186,40 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i hongXiangConveyorDeviceDriver.writing("to_open_door", "1"); if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) { this.writing("to_command", "2"); + this.setNow_steps_type(3); + }else { + if (this.getNow_steps_type() == 2){ + feedMessage = "请检查烘箱：door=1&&action==1&&error1=0"; + } } } else { this.writing("to_command", "2"); + this.setNow_steps_type(3); } } + } else { + if (this.getNow_steps_type() == 2){ + feedMessage = "请检查：mode == 3 && action == 1 && move == 0 && task > 0"; + } + } + + //取货完成关闭烘箱门 + if (mode == 3 && action == 2 && move == 1 && task > 0){ + Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task)); + if (ObjectUtil.isNotEmpty(inst2)) { + String start_device_code = inst2.getStart_device_code(); + Device device = deviceAppService.findDeviceByCode(start_device_code); + HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver; + if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { + hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver(); + hongXiangConveyorDeviceDriver.writing("to_close_door", "1"); + } + this.setNow_steps_type(4); + } + }else { + if (this.getNow_steps_type() == 3){ + feedMessage = "请检查：mode == 3 && action == 2 && move == 1 && task > 0"; + } } //申请放货 @@ -198,9 +233,17 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i hongXiangConveyorDeviceDriver.writing("to_open_door", "1"); if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) { this.writing("to_command", "3"); + this.setNow_steps_type(5); + }else { + feedMessage = "请检查烘箱：door=1&&action==1&&error1=0"; } } else { this.writing("to_command", "3"); + this.setNow_steps_type(5); + } + }else { + if (this.getNow_steps_type() == 4){ + feedMessage = "请检查：mode == 3 && action == 3 && move == 1 && task > 0"; } } @@ -226,24 +269,31 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i } } String next_device_code = taskDto.getNext_device_code(); - String start_device_code = taskDto.getStart_device_code(); - Device startDevice = deviceAppService.findDeviceByCode(start_device_code); + //String start_device_code = taskDto.getStart_device_code(); + //Device startDevice = deviceAppService.findDeviceByCode(start_device_code); Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver; - if (startDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startDevice.getDeviceDriver(); - hongXiangConveyorDeviceDriver.writing("to_close_door", "1"); - } +// if (startDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { +// hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startDevice.getDeviceDriver(); +// hongXiangConveyorDeviceDriver.writing("to_close_door", "1"); +// } if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver(); hongXiangConveyorDeviceDriver.writing("to_close_door", "1"); } - this.writing("to_command", "0"); - this.writing("to_onset", "0"); - this.writing("to_target", "0"); - this.writing("to_task", "0"); + this.writing("to_command", "4"); + this.setNow_steps_type(6); + this.setNow_steps_type(0); + feedMessage = ""; +// this.writing("to_onset", "0"); +// this.writing("to_target", "0"); +// this.writing("to_task", "0"); } } + }else { + if (this.getNow_steps_type() == 5){ + feedMessage = "请检查：mode == 3 && action == 4 && move == 0 && task > 0"; + } } } catch (Exception var17) { @@ -275,6 +325,20 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i //行架机械手申请任务 if (mode == 2 && move == 0 && task == 0 && !requireSucess) { applyTask(); + }else { + if (!requireSucess) { + String remark = ""; + if (mode != 2) { + remark = remark + "mode不为2,"; + } + if (move != 0) { + remark = remark + "move不为0,"; + } + if (task != 0) { + remark = remark + "task不为0,"; + } + this.setNotCreateTaskMessage(remark); + } } } @@ -318,15 +382,13 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i String startDeviceCode = getDeviceCodeList.get(i); List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode); if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); TaskDto taskDto = taskDtos.get(0); Instruction instruction = instructionService.findByTaskcode(taskDto.getTask_code()); instruction.setInstruction_status("1"); instruction.setUpdate_time(DateUtil.now()); instructionService.update(instruction); -// int start_addrIndex = getDeviceCodeList.indexOf(instruction.getStart_device_code()); -// int next_addrIndex = putDeviceCodeList.indexOf(instruction.getNext_device_code()); -// writing("to_onset", String.valueOf(start_addrIndex + 1)); -// writing("to_target", String.valueOf(next_addrIndex + 1)); Device startDevice = deviceAppService.findDeviceByCode(instruction.getStart_device_code()); Device nextDevice = deviceAppService.findDeviceByCode(instruction.getNext_device_code()); if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))){ @@ -341,11 +403,14 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i this.writing("to_target", next_addr); this.writing("to_task", instruction.getInstruction_code()); this.writing("to_command", "1"); + this.setNow_steps_type(2); this.setRequireSucess(true); return true; } else { List taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode); if (ObjectUtil.isNotEmpty(taskDtoList)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtoList = this.sortTask(taskDtoList); task = taskDtoList.get(0); } if (ObjectUtil.isNotEmpty(task)) break; @@ -385,23 +450,22 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i try { instructionService.create(instdto); } catch (Exception e) { + notCreateInstMessage = e.getMessage(); e.printStackTrace(); + return false; } //创建指令后修改任务状态 task.setTask_status("1"); task.setUpdate_time(DateUtil.now()); taskserver.update(task); - //根据获取托盘信息返回的结果 得到对应抓取工位/放货工位设备编码所在的索引位置 -// int start_addrIndex = getDeviceCodeList.indexOf(start_device_code); -// int next_addrIndex = putDeviceCodeList.indexOf(next_device_code); -// writing("to_onset", String.valueOf(start_addrIndex + 1)); -// writing("to_target", String.valueOf(next_addrIndex + 1)); Device startDevice = deviceAppService.findDeviceByCode(instdto.getStart_device_code()); Device nextDevice = deviceAppService.findDeviceByCode(instdto.getNext_device_code()); if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))){ + notCreateInstMessage = "设备：" + startDevice.getDevice_code() + "未设置电气调度号！"; throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！"); } if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))){ + notCreateInstMessage = "设备：" + nextDevice.getDevice_code() + "未设置电气调度号！"; throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！"); } String start_addr = startDevice.getExtraValue().get("address").toString(); @@ -410,7 +474,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i this.writing("to_target", next_addr); this.writing("to_task", instdto.getInstruction_code()); this.writing("to_command", "1"); + this.setNow_steps_type(2); this.setRequireSucess(true); + notCreateInstMessage = ""; + notCreateTaskMessage = ""; + } else { + notCreateInstMessage = "未找到关联设备的任务，指令无法创建"; } return true; } @@ -464,6 +533,23 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i return devicesList; } + public List sortTask(List taskDtos){ + Collections.sort(taskDtos, new Comparator() { + @Override + public int compare(TaskDto t1, TaskDto t2) { + //优先级从大到小 + int i = t2.getPriority().compareTo(t1.getPriority()); + //如果优先级相等 + if (i == 0){ + //时间从早到晚 + i = t1.getCreate_time().compareTo(t2.getCreate_time()); + } + return i; + } + }); + return taskDtos; + } + @Override public JSONObject getDeviceStatusName() { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java index aea14f73b..2cd37e48a 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java @@ -58,6 +58,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + //分切行架机械手是否禁用 0否 1是 + private int is_disable = 0; + //工作模式 int mode = 0; int last_mode = 0; @@ -103,16 +106,33 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域 int flag; + //前工位任务执行当前步骤 + //0未执行 1更改指令状态 2下发电气任务信息 3前工位允许取货 4前工位允许放货 5放货完成 + int now_steps_type1 = 0; + //后工位当前执行步骤 + //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4后工位允许放货 5放货完成 + int now_steps_type2 = 0; + //双工位任务当前执行步骤 + //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4前工位允许取货 5后工位允许放货 6后工位放货完成 7前工位允许放货 8前工位放货完成 + int now_steps_type3 = 0; + String device_code; + //请求超时时间 private int instruction_require_time_out = 3000; + //后工位申请任务请求时间 private Date instruction_require_time = new Date(); //前工位申请任务请求时间 private Date instruction_head_time = new Date(); + String notCreateTaskMessage = ""; + String notCreateInstMessage = ""; + String feedMessage = ""; + + @Override public Device getDevice() { return this.device; @@ -189,6 +209,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); if (inst1 != null) { if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + //当前执行步骤为更新任务状态 inst1.setInstruction_status("1"); instructionService.update(inst1); TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code()); @@ -203,6 +224,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } } ; + //this.setNow_steps_type1(1); } } } @@ -213,6 +235,8 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); if (inst2 != null) { if (StrUtil.equals(inst2.getInstruction_status(), "0")) { + //当前指令更新状态 + now_steps_type2 = 1; inst2.setInstruction_status("1"); instructionService.update(inst2); TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code()); @@ -227,6 +251,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } } ; + // this.setNow_steps_type2(1); } } } @@ -237,6 +262,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task1)); if (inst2 != null) { if (StrUtil.equals(inst2.getInstruction_status(), "0")) { + //当前指令更新状态 inst2.setInstruction_status("1"); instructionService.update(inst2); TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code()); @@ -251,6 +277,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } } ; + // this.setNow_steps_type3(1); } } } @@ -275,12 +302,18 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } ; this.writing("to_command1", "4"); + this.setNow_steps_type1(5); + this.setNow_steps_type1(0); // this.writing("to_onset1", "0"); // this.writing("to_target1", "0"); // this.writing("to_task1", "0"); // this.writing("to_type", "0"); } } + } else { + if (this.getNow_steps_type1() == 4) { + feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1"; + } } //单任务 后工位放货完成 任务完成 @@ -303,17 +336,28 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } ; this.writing("to_command2", "4"); - this.writing("to_onset2", "0"); - this.writing("to_target2", "0"); - this.writing("to_task2", "0"); - this.writing("to_type", "0"); + this.setNow_steps_type2(5); + this.setNow_steps_type2(0); +// this.writing("to_onset2", "0"); +// this.writing("to_target2", "0"); +// this.writing("to_task2", "0"); +// this.writing("to_type", "0"); } } + } else { + if (this.getNow_steps_type2() == 4) { + feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2"; + } } //双任务后工位反馈4 - if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3 ){ + if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3) { this.writing("to_command2", "4"); + this.setNow_steps_type3(6); + } else { + if (this.getNow_steps_type3() == 5) { + feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3"; + } } //双工位 任务完成 前工位反馈4 @@ -333,8 +377,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl array.add(map); acsToWmsService.feedbackTaskStatusToWms(array); } - }; + } + ; this.writing("to_command1", "4"); + this.setNow_steps_type3(8); + this.setNow_steps_type3(0); // this.writing("to_onset1", "0"); // this.writing("to_target1", "0"); // this.writing("to_task1", "0"); @@ -344,6 +391,10 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl // this.writing("to_type", "0"); } } + } else { + if (this.getNow_steps_type3() == 7) { + feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3"; + } } @@ -351,10 +402,10 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl if (mode == 3 && action2 == 1 && move2 == 0 && task2 > 0) { Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2)); String start_device_code = ""; - if (type == 2){ + if (type == 2) { start_device_code = inst1.getStart_device_code(); } - if (type == 3){ + if (type == 3) { start_device_code = inst1.getStart_device_code2(); } Device startDevice = deviceAppservice.findDeviceByCode(start_device_code); @@ -365,20 +416,50 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl int mode = siemensConveyorDeviceDriver.getMode(); if (mode == 2 && move == 1) { this.writing("to_command2", "2"); + if (type == 2) { + this.setNow_steps_type2(3); + } else if (type == 3) { + this.setNow_steps_type3(3); + } } else { log.warn("前工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move); + if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) { + feedMessage = "请检查输送线：mode == 2 && move == 1"; + } } } + } else { + if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) { + feedMessage = "请检查：mode == 3 && action2 == 1 && move2 == 0 && task2 > 0"; + } } //后工位允许放货 if (mode == 3 && action2 == 3 && move2 == 1 && task2 > 0) { this.writing("to_command2", "3"); + if (type == 2) { + this.setNow_steps_type2(4); + } else if (type == 3) { + this.setNow_steps_type3(5); + } + } else { + if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 4) { + feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0"; + } } //前工位允许取货 if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0) { this.writing("to_command1", "2"); + if (type == 1) { + this.setNow_steps_type1(3); + } else if (type == 2) { + this.setNow_steps_type3(4); + } + } else { + if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 3) { + feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0"; + } } //前工位放货时判断放货位光电信号 @@ -393,10 +474,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl int mode = siemensConveyorDeviceDriver.getMode(); if (move == 0 && mode == 2) { this.writing("to_command1", "3"); + if (type == 1) { + this.setNow_steps_type1(4); + } else if (type == 2) { + this.setNow_steps_type3(7); + } } else { log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move); + if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) { + feedMessage = "请检查输送线：move == 0 && mode == 2"; + } } } + } else { + if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) { + feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0"; + } } } catch (Exception var17) { @@ -428,8 +521,58 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl case 2: //申请任务 if (mode == 2 && move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess) { + //获取关联设备驱动信息 判断关联设备是否禁用 + Device device = deviceAppservice.findDeviceByCode(device_code); + SlitTwoManipulatorDeviceDriver slitTwoManipulatorDeviceDriver; + if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver) { + slitTwoManipulatorDeviceDriver = (SlitTwoManipulatorDeviceDriver) device.getDeviceDriver(); + //如果禁用 + if (slitTwoManipulatorDeviceDriver.getIs_disable() == 1) { + boolean flag = false; + try { + //就去走关联设备异常取放货工位的任务 任务生成成功返回true 就不会走下面正常生成任务的逻辑 + flag = instruction_require2(); + } catch (Exception e) { + flag = false; + } + if (flag) { + break; + } + } + } + //没有生成异常取放货工位的任务 就生成正常关联取放货工位的任务 instruction_require(); + feedMessage = ""; logServer.deviceExecuteLog(device_code, "", String.valueOf(task1), "move2:" + move2 + ",action2:" + action2 + ",move1:" + move1 + ",action1:" + action1 + ",requireSucess:" + requireSucess); + } else { +// if (!requireSucess) { +// remark = remark + "请求标记为true,请检查mode是否由其他值变为2！"; +// } + if (!requireSucess) { + String remark = ""; + if (mode != 2) { + remark = remark + "mode不为2,"; + } + if (move1 != 0) { + remark = remark + "move1不为0,"; + } + if (move2 != 0) { + remark = remark + "move2不为0,"; + } + if (action1 != 0) { + remark = remark + "action1不为0,"; + } + if (action2 != 0) { + remark = remark + "action2不为0,"; + } + if (task1 != 0) { + remark = remark + "task1不为0,"; + } + if (task2 != 0) { + remark = remark + "task2不为0,"; + } + this.setNotCreateTaskMessage(remark); + } } break; case 3: @@ -450,8 +593,82 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl last_task2 = task2; } - //申请任务 + //关联设备异常申请任务 + public synchronized boolean instruction_require2() { + Boolean flag = false; + Date date = new Date(); + if (date.getTime() - this.instruction_head_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_head_time); + return false; + } else { + this.instruction_head_time = date; + //前工位取货关联设备 + List getDeviceCodeList = this.getExtraDeviceCodes("error_head_get_device_code"); + //后工位取货关联设备 + List backGetDeviceCodeList = this.getExtraDeviceCodes("error_back_get_device_code"); + TaskDto taskDto = null; + //遍历前工位取货点设备 + for (String getDeviceCode : getDeviceCodeList) { + //去任务表中查询是否有前工位关联设备的重新创建指令的任务 + List taskDtos = taskserver.queryTaskByStartAndIntStatus(getDeviceCode); + //如果有 + if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); + taskDto = taskDtos.get(0); + flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + return flag; + } else { + //去任务表中查询是否有前工位关联设备的就绪状态下的任务 + taskDtos = taskserver.queryTaskByStartDeviceCode(getDeviceCode); + if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); + taskDto = taskDtos.get(0); + break; + } + } + } + //如果任务表中起点1或起点2中 无前工位取货点关联设备 + //就去查询任务表中查找起点1或起点2为后工位取货点关联设备的任务 + if (ObjectUtil.isEmpty(taskDto)) { + for (String backGetDeviceCode : backGetDeviceCodeList) { + //去任务表中查询是否有前工位关联设备的重新创建指令的任务 + List taskDtos = taskserver.queryTaskByNextAndIntStatus(backGetDeviceCode); + if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); + taskDto = taskDtos.get(0); + flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + return flag; + } else { + //去任务表中查询是否有后工位关联设备的就绪状态下的任务 + taskDtos = taskserver.queryTaskByStartDeviceCode(backGetDeviceCode); + if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); + taskDto = taskDtos.get(0); + break; + } + } + } + } + if (!ObjectUtil.isEmpty(taskDto)) { + flag = this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + if (flag) { + notCreateInstMessage = ""; + } + } else { + notCreateTaskMessage = ""; + notCreateInstMessage = "未找到关联设备禁用的任务!"; + } + } + return flag; + } + + //正常申请任务 public synchronized boolean instruction_require() { + boolean flag = false; Date date = new Date(); if (date.getTime() - this.instruction_head_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_head_time); @@ -469,13 +686,17 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl List taskDtos = taskserver.queryTaskByStartAndIntStatus(getDeviceCode); //如果有 if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); taskDto = taskDtos.get(0); - this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); - return true; + flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + return flag; } else { //去任务表中查询是否有前工位关联设备的就绪状态下的任务 taskDtos = taskserver.queryTaskByStartDeviceCode(getDeviceCode); if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); taskDto = taskDtos.get(0); break; } @@ -488,28 +709,40 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl //去任务表中查询是否有前工位关联设备的重新创建指令的任务 List taskDtos = taskserver.queryTaskByNextAndIntStatus(backGetDeviceCode); if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); taskDto = taskDtos.get(0); - this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); - return true; + flag = this.executeBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + return flag; } else { //去任务表中查询是否有后工位关联设备的就绪状态下的任务 taskDtos = taskserver.queryTaskByStartDeviceCode(backGetDeviceCode); if (ObjectUtil.isNotEmpty(taskDtos)) { + //按照优先级排序 优先级相等按照创建时间排序 + taskDtos = this.sortTask(taskDtos); taskDto = taskDtos.get(0); break; } } } } + if (!ObjectUtil.isEmpty(taskDto)) { - this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + flag = this.executeReadyBusiness(taskDto, getDeviceCodeList, backGetDeviceCodeList); + if (flag) { + notCreateInstMessage = ""; + } + } else { + notCreateTaskMessage = ""; + notCreateInstMessage = "未找到正常关联设备的任务!"; } } - return true; + return flag; } //执行重新生成指令的任务 - public void executeBusiness(TaskDto taskDto, List getDeviceCodeList, List backGetDeviceCodeList) { + public synchronized boolean executeBusiness(TaskDto taskDto, List getDeviceCodeList, List backGetDeviceCodeList) { + boolean flag = false; //任务类型 1.前工位任务 2.后工位任务 3.双工位任务 String type = ""; //获取指令信息 @@ -552,17 +785,33 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl //修改指令状态 instructionDto.setInstruction_status("1"); instructionDto.setUpdate_time(DateUtil.now()); - instructionService.update(instructionDto); + try { + instructionService.update(instructionDto); + if (StrUtil.equals(type, "1")) { + this.setNow_steps_type1(1); + } + if (StrUtil.equals(type, "2")) { + this.setNow_steps_type2(1); + } + if (StrUtil.equals(type, "3")) { + this.setNow_steps_type3(1); + } + flag = true; + } catch (Exception e) { + logServer.deviceExecuteLog(device_code, "", instructionDto.getInstruction_code(), "执行重新生成指令的任务失败，原因->" + e.getMessage()); + } //下发电气信号 this.sendSignalType(instructionDto, type); //请求任务成功 this.setRequireSucess(true); + return flag; } //执行就绪状态下的任务 - public void executeReadyBusiness(TaskDto taskDto, List getDeviceCodeList, List backGetDeviceCodeList) { + public synchronized boolean executeReadyBusiness(TaskDto taskDto, List getDeviceCodeList, List backGetDeviceCodeList) { + boolean flag = false; //任务类型 1.前工位任务 2.后工位任务 3.双工位任务 String type = ""; //获取任务表中的取货点1 @@ -639,8 +888,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl try { instructionService.create(instdto); + flag = true; } catch (Exception e) { - e.printStackTrace(); + notCreateInstMessage = e.getMessage(); logServer.deviceExecuteLog(device_code, "", instdto.getInstruction_code(), "指令创建失败，原因->" + e.getMessage()); } @@ -654,10 +904,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl //请求任务成功 this.setRequireSucess(true); + return flag; } //下发电气信号 - public void sendSignalType(Instruction dto, String type) { + public synchronized void sendSignalType(Instruction dto, String type) { String start_device_code = dto.getStart_device_code(); String next_device_code = dto.getNext_device_code(); Device startDevice = deviceAppservice.findDeviceByCode(start_device_code); @@ -670,12 +921,14 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl this.writing("to_task1", dto.getInstruction_code()); this.writing("to_command1", "1"); this.writing("to_type", "1"); + this.setNow_steps_type1(2); } else if (StrUtil.equals(type, "2")) { this.writing("to_onset2", start_addr); this.writing("to_target2", next_addr); this.writing("to_task2", dto.getInstruction_code()); this.writing("to_command2", "1"); this.writing("to_type", "2"); + this.setNow_steps_type2(2); } else if (StrUtil.equals(type, "3")) { String start_device_code2 = dto.getStart_device_code2(); String next_device_code2 = dto.getNext_device_code2(); @@ -692,6 +945,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl this.writing("to_task2", dto.getInstruction_code()); this.writing("to_command2", "1"); this.writing("to_type", "3"); + this.setNow_steps_type3(2); } } @@ -699,6 +953,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl public void isSetAddress(Device device) { if (ObjectUtil.isEmpty(device.getExtraValue().get("address"))) { logServer.deviceExecuteLog(device_code, "", "task1:" + task1 + ",task2:" + task2, "设备：" + device.getDevice_code() + "未设置电气调度号！"); + notCreateInstMessage = "设备：" + device.getDevice_code() + "未设置电气调度号！"; throw new BadRequestException("设备：" + device.getDevice_code() + "未设置电气调度号！"); } } @@ -795,16 +1050,35 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl return devicesList; } + public List sortTask(List taskDtos){ + Collections.sort(taskDtos, new Comparator() { + @Override + public int compare(TaskDto t1, TaskDto t2) { + //优先级从大到小 + int i = t2.getPriority().compareTo(t1.getPriority()); + //如果优先级相等 + if (i == 0){ + //时间从早到晚 + i = t1.getCreate_time().compareTo(t2.getCreate_time()); + } + return i; + } + }); + return taskDtos; + } + @Override public JSONObject getDeviceStatusName() { JSONObject jo = new JSONObject(); - String move1 = ""; - String move2 = ""; + String move_1 = ""; + String move_2 = ""; String action1 = ""; String action2 = ""; String walk_y = ""; String mode = ""; String status = ""; + String is_disable = ""; + if (this.getMode() == 0) { mode = "脱机"; @@ -816,7 +1090,9 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl mode = "运行中"; } - if (this.getStatus() == 1) { + if (this.getStatus() == 0) { + status = "0"; + } else if (this.getStatus() == 1) { status = "待机"; } else if (this.getStatus() == 2) { status = "生产中"; @@ -825,15 +1101,15 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } if (this.getMove1() == 0) { - move1 = "无货"; + move_1 = "无货"; } else if (this.getMove1() == 1) { - move1 = "有货"; + move_1 = "有货"; } if (this.getMove2() == 0) { - move2 = "无货"; + move_2 = "无货"; } else if (this.getMove2() == 1) { - move2 = "有货"; + move_2 = "有货"; } if (this.getAction1() == 1) { @@ -862,25 +1138,41 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl walk_y = "非原位"; } + if (this.getIs_disable() == 0) { + is_disable = "正常"; + } else if (this.getIs_disable() == 1) { + is_disable = "禁用"; + } + jo.put("device_name", this.getDevice().getDevice_name()); jo.put("mode", mode); jo.put("status", status); - jo.put("move1", move1); - jo.put("move2", move2); - jo.put("action1", action1); - jo.put("action2", action2); + jo.put("move_1", move_1); + jo.put("move_2", move_2); + jo.put("action_1", action1); + jo.put("action_2", action2); jo.put("walk_y", walk_y); jo.put("error", this.getError()); jo.put("task1", this.getTask1()); jo.put("task2", this.getTask2()); jo.put("isOnline", this.getIsonline()); jo.put("isError", this.getIserror()); + jo.put("is_disable1", this.getIs_disable()); + jo.put("is_disable", is_disable); jo.put("message", this.getMessage()); + jo.put("is_click", true); + jo.put("driver_type", "slit_two_manipulator"); + jo.put("notCreateTaskMessage", notCreateTaskMessage); + jo.put("notCreateInstMessage", notCreateInstMessage); + jo.put("feedMessage", feedMessage); return jo; } @Override public void setDeviceStatus(JSONObject data) { - + String is_disable = data.getString("is_disable"); + if (StrUtil.isNotEmpty(is_disable)) { + this.setIs_disable(Integer.parseInt(is_disable)); + } } } diff --git a/acs/nladmin-ui/.env.production b/acs/nladmin-ui/.env.production index 786bd4276..762ac12e7 100644 --- a/acs/nladmin-ui/.env.production +++ b/acs/nladmin-ui/.env.production @@ -2,6 +2,6 @@ ENV = 'production' # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http -VUE_APP_BASE_API = 'http://47.97.157.227:8010' +VUE_APP_BASE_API = 'http://127.0.0.1:8010' # 如果接口是 http 形式， wss 需要改为 ws -VUE_APP_WS_API = 'ws://47.97.157.227:8010' +VUE_APP_WS_API = 'ws://127.0.0.1:8010' diff --git a/acs/nladmin-ui/src/views/acs/device/driver/slit_two_manipulator.vue b/acs/nladmin-ui/src/views/acs/device/driver/slit_two_manipulator.vue index 038258353..f94b58060 100644 --- a/acs/nladmin-ui/src/views/acs/device/driver/slit_two_manipulator.vue +++ b/acs/nladmin-ui/src/views/acs/device/driver/slit_two_manipulator.vue @@ -101,7 +101,6 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -377,7 +451,11 @@ export default { head_get_device_code: [], back_get_device_code: [], head_put_device_code: [], - back_put_device_code: [] + back_put_device_code: [], + error_head_get_device_code: [], + error_back_get_device_code: [], + error_head_put_device_code: [], + error_back_put_device_code: [] }, rules: {} } diff --git a/acs/nladmin-ui/src/views/acs/monitor/device/index.vue b/acs/nladmin-ui/src/views/acs/monitor/device/index.vue index b94839715..a06ec01b7 100644 --- a/acs/nladmin-ui/src/views/acs/monitor/device/index.vue +++ b/acs/nladmin-ui/src/views/acs/monitor/device/index.vue @@ -485,6 +485,9 @@ export default { } else if (val === 'error_num') { const obj = { name: '故障次数', value: data[val] } arr.push(obj) + } else if (val === 'is_disable') { + const obj = { name: '是否禁用', value: data[val] } + arr.push(obj) } } return arr diff --git a/acs/nladmin-ui/src/views/acs/monitor/device/index2.vue b/acs/nladmin-ui/src/views/acs/monitor/device/index2.vue index b94839715..a06ec01b7 100644 --- a/acs/nladmin-ui/src/views/acs/monitor/device/index2.vue +++ b/acs/nladmin-ui/src/views/acs/monitor/device/index2.vue @@ -485,6 +485,9 @@ export default { } else if (val === 'error_num') { const obj = { name: '故障次数', value: data[val] } arr.push(obj) + } else if (val === 'is_disable') { + const obj = { name: '是否禁用', value: data[val] } + arr.push(obj) } } return arr diff --git a/acs/nladmin-ui/src/views/system/monitor/device/index.vue b/acs/nladmin-ui/src/views/system/monitor/device/index.vue index 28c16ab2c..4a6870247 100644 --- a/acs/nladmin-ui/src/views/system/monitor/device/index.vue +++ b/acs/nladmin-ui/src/views/system/monitor/device/index.vue @@ -1,7 +1,7 @@