From 78242a58e07919f70a2649bdd0e6d7407d9b6cd7 Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Tue, 21 May 2024 13:41:10 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E5=A0=86=E5=9E=9B=E6=9C=BA=E8=81=94?= =?UTF-8?q?=E8=B0=83=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../BeltConveyorDeviceDriver.java | 2 +- .../conveyor/belt_conveyor/ItemProtocol.java | 9 +- .../StandardStackerDeviceDriver.java | 141 ++++++++++-------- 3 files changed, 81 insertions(+), 71 deletions(-) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java index ea7e8c5ce..6f2106226 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java @@ -240,7 +240,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements to_target = this.itemProtocol.getTotarget(); to_task = this.itemProtocol.getTo_task(); to_container_no = this.itemProtocol.getContainer_direction(); - to_height_level = this.itemProtocol.getTo_height_level(); + if (mode != last_mode) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java index 1a6c60572..5ac2e1bc5 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java @@ -63,10 +63,7 @@ public class ItemProtocol { */ public static String item_to_target = "to_target"; - /** - * 下发高度等级 - */ - public static String item_to_height_level = "to_height_level"; + @@ -129,9 +126,6 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_container_type); } - public int getTo_height_level(){ - return this.getOpcIntegerValue(item_to_height_level); - } Boolean isonline; public int getOpcIntegerValue(String protocol) { @@ -187,7 +181,6 @@ public class ItemProtocol { list.add(new ItemDto(item_to_command, "下发命令", "DB102.W4")); list.add(new ItemDto(item_to_task, "下发任务号", "DB102.D1")); list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB102.B5")); - list.add(new ItemDto(item_to_height_level, "下发高度等级", "DB2.W10")); return list; } 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 1a3ab6a77..0d629197f 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 @@ -369,6 +369,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme message = "one_message7"; } else { if (error != 0) { + updateEXcuteMessage(error.toString()); //满入空出或者浅货位阻挡 erroBlock(); } @@ -457,7 +458,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme break; case 5: message = "universal_releasing_completed"; - if (updateCommand("5")) break; + if (updateCommand("11")) break; Map map = new HashMap<>(); map.put("code", "to_command"); map.put("value", 11); @@ -540,6 +541,15 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme last_fork_runingTimes = fork_runingTimes;*/ } + private void updateEXcuteMessage(String string) { + Instruction instruction0 = checkInst(); + if (ObjectUtil.isEmpty(instruction0)) { + message = "universal_message4"; + } + instruction0.setExecute_message(string); + instructionService.update(instruction0); + } + private static void packageDevicePoint(Device nextDevice, List list) { if (ObjectUtil.isNotEmpty(nextDevice.getExtraValue().get("z"))) { Map map = new HashMap(); @@ -578,8 +588,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme message = "universal_message3"; //指定库位满入 if (error == 5 && count < WcsConfig.stacker_error_in_count) { - //清警 - cleanErro(); applyUpdatePointCode(StandarStirageErroEnum.FILL.getType()); //相同任务时限制加一 if (Objects.equals(task, last_task)) { @@ -591,8 +599,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (error == 6) { try { applyUpdatePointCode(StandarStirageErroEnum.VOIDANCE.getType()); - //清警 - cleanErro(); + } catch (Exception e) { throw new RuntimeException(e); } @@ -600,8 +607,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme //浅货位有货 if (error == 16) { - //清警 - cleanErro(); //放货 if (forkCargo == 2 && count < WcsConfig.stacker_error_in_count) { //相同任务时限制加一 @@ -651,6 +656,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme JSONObject jo = JSON.parseObject(response); if (StrUtil.isNotEmpty(jo.getString("body")) || jo.getInteger("status") == 200) { try { + //清警 + cleanErro(); LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) .content("申请更新点位,参数,接口返回:" + jo) @@ -658,6 +665,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); String poinCode = jo.getString("point_code"); + String vehicleCode = jo.getString("vehicle_code"); if (StrUtil.isNotEmpty(poinCode)) { String[] split = poinCode.split("-"); Device point = deviceAppService.findDeviceByCode(split[0]); @@ -665,14 +673,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme message = "one_message18"; } - if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType()) || type.equals(StandarStirageErroEnum.VOIDANCE.getType())) { - updateData2(poinCode, instruction, point, split); + if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType())) { + updateData2(poinCode, instruction, point, split,vehicleCode); List list = new ArrayList(); String x = point.getExtraValue().get("x").toString(); String y = split[1]; String z = split[2]; pakagePLCData(list, x, y, z, "2", task.toString()); } + if (type.equals(StandarStirageErroEnum.VOIDANCE.getType())) { + updateData1(poinCode, instruction, point, split,vehicleCode); + List list = new ArrayList(); + String x = point.getExtraValue().get("x").toString(); + String y = split[1]; + String z = split[2]; + pakagePLCData(list, x, y, z, "1", task.toString()); + } } //取货潜货位阻挡做完移库任务 if (type.equals(StandarStirageErroEnum.BLOCK_OUT.getType())) { @@ -700,6 +716,18 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } } + private void updateData1(String poinCode, Instruction instruction, Device point, String[] split, String vehicleCode) { + Instruction instructionUpdate = checkInst(); + TaskDto taskUpdate = new TaskDto(); + instructionUpdate.setStart_point_code(poinCode); + instructionUpdate.setStart_device_code(split[0]); + taskUpdate.setStart_point_code(poinCode); + taskUpdate.setStart_device_code(split[0]); + taskUpdate.setTask_id(instructionUpdate.getTask_id()); + instructionService.update(instructionUpdate); + taskserver.update(taskUpdate); + } + private void pakagePLCData(List list, String x, String y, String z, String toCommand, String task) { HashMap map1 = new HashMap(); map1.put("code", "to_x"); @@ -754,7 +782,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme message = null; } - private void updateData2(String poinCode, Instruction instruction, Device point, String[] split) { + private void updateData2(String poinCode, Instruction instruction, Device point, String[] split, String vehicleCode) { Instruction instructionUpdate = checkInst(); TaskDto taskUpdate = new TaskDto(); instructionUpdate.setNext_point_code(poinCode); @@ -762,24 +790,11 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme taskUpdate.setNext_point_code(poinCode); taskUpdate.setNext_device_code(split[0]); taskUpdate.setTask_id(instructionUpdate.getTask_id()); - pakageData2(instruction, instructionUpdate, point, split, taskUpdate); instructionService.update(instructionUpdate); taskserver.update(taskUpdate); } - private void pakageData2(Instruction instruction, Instruction instructionUpdate, Device starPoint, String[] split, TaskDto taskUpdate) { - instructionUpdate.setTo_x(starPoint.getExtraValue().get("x").toString()); - instructionUpdate.setTo_y(split[1]); - instructionUpdate.setTo_z(split[2]); - instructionUpdate.setInstruction_code(String.valueOf(task)); - taskUpdate.setTo_x(starPoint.getExtraValue().get("x").toString()); - taskUpdate.setTo_y(split[1]); - taskUpdate.setTo_z(split[2]); - taskUpdate.setTask_code(instruction.getTask_code()); - } - - /** * 申请任务 * @@ -794,53 +809,55 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme //维修解警后重新向堆垛机下发指令 Instruction instructionErro = checkInst(); if (ObjectUtil.isNotEmpty(instructionErro) && InstructionStatusEnum.BUSY.getIndex().equals(instructionErro.getInstruction_status()) && StrUtil.isNotEmpty(instructionErro.getExecute_code())) { - String start_device_code = instructionErro.getStart_device_code(); - Device startDevice = deviceAppService.findDeviceByCode(start_device_code); - if (startDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) { - //放货完成 - if (forkCargo == 0) { - //取货中或者取货完成（分入库出库） - if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) { + if (StrUtil.isEmpty(instructionErro.getExecute_message())) { + String start_device_code = instructionErro.getStart_device_code(); + Device startDevice = deviceAppService.findDeviceByCode(start_device_code); + if (startDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) { + //放货完成 + if (forkCargo == 0) { + //取货中或者取货完成（分入库出库） + if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) { + List list = new ArrayList(); + String startDeviceCode = instructionErro.getStart_device_code(); + Device startDeviceError = deviceAppService.findDeviceByCode(startDeviceCode); + if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { + pakagePLCData(list, startDeviceError.getExtraValue().get("x").toString(), startDeviceError.getExtraValue().get("z").toString(), startDeviceError.getExtraValue().get("y").toString(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); + requireSucess = true; + return true; + } + } + } + //放货中报警 + if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) { List list = new ArrayList(); - String startDeviceCode = instructionErro.getStart_device_code(); - Device startDeviceError = deviceAppService.findDeviceByCode(startDeviceCode); if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { - pakagePLCData(list, startDeviceError.getExtraValue().get("x").toString(), startDeviceError.getExtraValue().get("z").toString(), startDeviceError.getExtraValue().get("y").toString(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); + pakagePLCData(list, instructionErro.getTo_x(), instructionErro.getTo_y(), instructionErro.getTo_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); requireSucess = true; return true; } } } - //放货中报警 - if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) { - List list = new ArrayList(); - if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { - pakagePLCData(list, instructionErro.getTo_x(), instructionErro.getTo_y(), instructionErro.getTo_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); - requireSucess = true; - return true; + //出库报警 + if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { + //取货报警 + if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) { + List list = new ArrayList(); + if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) { + pakagePLCData(list, instructionErro.getFrom_x(), instructionErro.getFrom_y(), instructionErro.getFrom_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); + requireSucess = true; + return true; + } } - } - } - //出库报警 - if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - //取货报警 - if ("1".equals(instructionErro.getExecute_code()) || "2".equals(instructionErro.getExecute_code())) { - List list = new ArrayList(); - if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) { - pakagePLCData(list, instructionErro.getFrom_x(), instructionErro.getFrom_y(), instructionErro.getFrom_z(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); - requireSucess = true; - return true; - } - } - //放货中报警 - if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) { - String next_device_code = instructionErro.getNext_device_code(); - Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); - List list = new ArrayList(); - if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { - pakagePLCData(list, nextDevice.getExtraValue().get("x").toString(), nextDevice.getExtraValue().get("z").toString(), nextDevice.getExtraValue().get("y").toString(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); - requireSucess = true; - return true; + //放货中报警 + if ("3".equals(instructionErro.getExecute_code()) && forkCargo == 2) { + String next_device_code = instructionErro.getNext_device_code(); + Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); + List list = new ArrayList(); + if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { + pakagePLCData(list, nextDevice.getExtraValue().get("x").toString(), nextDevice.getExtraValue().get("z").toString(), nextDevice.getExtraValue().get("y").toString(), instructionErro.getExecute_code(), instructionErro.getInstruction_code()); + requireSucess = true; + return true; + } } } }