From 85acd8805a3a980ff84fe5540e2a534c1d385e10 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Wed, 23 Nov 2022 18:36:29 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=20=E5=88=86=E5=88=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../SlitTwoManipulatorDeviceDriver.java | 361 +++++++++++++++++- 1 file changed, 358 insertions(+), 3 deletions(-) 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 abf8641c4..eb9efd9af 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 @@ -1,5 +1,10 @@ package org.nl.acs.device_driver.basedriver.slit_two_manipulator; +import cn.hutool.core.date.DateUtil; +import cn.hutool.core.util.IdUtil; +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; @@ -8,6 +13,7 @@ import org.nl.acs.device.device_driver.standard_inspect.ReadUtil; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.RouteableDeviceDriver; +import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; @@ -20,6 +26,7 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; import org.nl.modules.wql.util.SpringContextHolder; import org.openscada.opc.lib.da.Server; import org.springframework.beans.factory.annotation.Autowired; @@ -83,7 +90,6 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl int last_task2 = 0; - Boolean isonline = true; //后工位申请任务请求标记 Boolean requireBackSucess = false; @@ -104,6 +110,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl //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(); + @Override public Device getDevice() { return this.device; @@ -167,6 +178,139 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl logServer.deviceExecuteLog(this.device_code, "", "", "信号task2：" + last_task2 + "->" + task2); } + //前工位任务就绪->执行 + if (task1 > 0) { + Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + inst1.setInstruction_status("1"); + instructionService.update(inst1); + TaskDto taskDto = taskserver.findByCode(inst1.getTask_code()); + JSONArray array = new JSONArray(); + JSONObject map = new JSONObject(); + map.put("task_id", taskDto.getExt_task_id()); + map.put("task_status", "1"); + array.add(map); + acsToWmsService.feedbackTaskStatusToWms(array); + } + } + } + + //前工位放货完成 任务完成 + if (action1 == 4 && move1 == 0 && task1 > 0) { + //inst_message + Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "1")) { + finish_instruction(inst1); + JSONArray array = new JSONArray(); + TaskDto taskDto = taskserver.findByCode(inst1.getTask_code()); + JSONObject map = new JSONObject(); + map.put("task_id", taskDto.getExt_task_id()); + map.put("task_status", "2"); + map.put("finished_type", "1"); + array.add(map); + acsToWmsService.feedbackTaskStatusToWms(array); + writing("to_command1", "0"); + writing("to_onset1", "0"); + writing("to_target1", "0"); + writing("to_task1", "0"); + } + } + } + + //后工位任务就绪->执行 + if (task2 > 0) { + //inst_message + Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); + if (inst2 != null) { + if (StrUtil.equals(inst2.getInstruction_status(), "0")) { + inst2.setInstruction_status("1"); + instructionService.update(inst2); + TaskDto taskDto = taskserver.findByCode(inst2.getTask_code()); + JSONArray array = new JSONArray(); + JSONObject map = new JSONObject(); + map.put("task_id", taskDto.getExt_task_id()); + map.put("task_status", "1"); + array.add(map); + acsToWmsService.feedbackTaskStatusToWms(array); + } + } + } + //后工位放货完成 任务完成 + if (action2 == 4 && move2 == 0 && task2 > 0) { + //inst_message + Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); + if (inst2 != null) { + if (StrUtil.equals(inst2.getInstruction_status(), "1")) { + finish_instruction(inst2); + JSONArray array = new JSONArray(); + TaskDto taskDto = taskserver.findByCode(inst1.getTask_code()); + JSONObject map = new JSONObject(); + map.put("task_id", taskDto.getExt_task_id()); + map.put("task_status", "2"); + map.put("finished_type", "1"); + array.add(map); + acsToWmsService.feedbackTaskStatusToWms(array); + writing("to_command2", "0"); + writing("to_onset2", "0"); + writing("to_target2", "0"); + writing("to_task2", "0"); + } + } + } + + //双任务 - 前工位取货时判断取货位光电信号 + if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0 && task2 > 0) { + Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + String start_device_code = inst1.getStart_device_code(); + Device startDevice = deviceAppservice.findDeviceByCode(start_device_code); + SiemensConveyorDeviceDriver siemensConveyorDeviceDriver; + if (startDevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) { + siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) startDevice.getDeviceDriver(); + int move = siemensConveyorDeviceDriver.getMove(); + int mode = siemensConveyorDeviceDriver.getMode(); + if (mode == 2 && move == 1) { + this.writing("to_command1", "2"); + } else { + log.warn("前工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move); + } + } + } + + //单任务 - 前工位直接允许取货 + if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0 && task2 == 0) { + this.writing("to_command1", "2"); + } + + //前工位放货时判断放货位光电信号 + if (mode == 3 && action1 == 3 && move1 == 1 && task1 > 0) { + this.writing("to_command1", "3"); + } + + //后工位取货时判断取货位光电信号 + if (mode == 3 && action2 == 2 && move2 == 0 && task2 > 0) { + this.writing("to_command2", "2"); + } + + //后工位放货时判断放货位光电信号 + if (mode == 3 && action2 == 3 && move2 == 1 && task2 > 0) { + Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2)); + String next_device_code = inst1.getNext_device_code(); + Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code); + SiemensConveyorDeviceDriver siemensConveyorDeviceDriver; + if (nextDevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) { + siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) nextDevice.getDeviceDriver(); + int move = siemensConveyorDeviceDriver.getMove(); + int mode = siemensConveyorDeviceDriver.getMode(); + if (move == 0 && mode == 2) { + this.writing("to_command2", "3"); + } else { + log.warn("后工位放货位有货,放货位:{},mode:{},moce:{}", next_device_code, mode, move); + } + } + } + } catch (Exception var17) { return; } @@ -192,7 +336,29 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl message = ""; Instruction instruction = null; List toInstructions; - + switch (mode) { + case 1: + log.debug("设备运转模式:等待工作"); + return; + case 2: + //前工位申请任务 取空放空 + if (move1 == 0 && action1 == 0 && !requireHeadSucess) { + instruction_require(); + logServer.deviceExecuteLog(device_code, "", String.valueOf(task1), "move1:" + move1 + ",action1:" + action1 + ",move2:" + move2 + ",task1:" + task1 + ",requireHeadSucess:" + requireHeadSucess); + } + //后工位申请任务 取满放满 + if (move2 == 0 && action2 == 0 && task2 == 0 && move1 == 0 && task1 > 0 && !requireBackSucess) { + instruction_require2(); + logServer.deviceExecuteLog(device_code, "", String.valueOf(task1), "move2:" + move2 + ",action2:" + action2 + ",move1:" + move1 + ",task2:" + task2 + ",requireBackSucess:" + requireBackSucess); + } + break; + case 3: + //后工位申请任务 取满放满 + if (task1 > 0 && move1 == 1 && action1 == 1 && move2 == 0 && action2 == 0 && !requireBackSucess) { + instruction_require2(); + logServer.deviceExecuteLog(device_code, "", String.valueOf(task1), "move2:" + move2 + ",action2:" + action2 + ",move1:" + move1 + ",task2:" + task2 + ",requireBackSucess:" + requireBackSucess); + } + } } last_mode = mode; @@ -207,6 +373,195 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl last_task2 = task2; } + //申请前工位任务 + public synchronized boolean instruction_require() throws Exception { + 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; + //后工位取货关联设备 + List getDeviceCodeList = this.getExtraDeviceCodes("head_get_device_code"); + //后工位放货关联设备 + List putDeviceCodeList = this.getExtraDeviceCodes("head_put_device_code"); + TaskDto task = null; + for (int i = 0; i < getDeviceCodeList.size(); i++) { + String startDeviceCode = getDeviceCodeList.get(i); + List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode); + if (ObjectUtil.isNotEmpty(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()); + this.writing("to_onset1", String.valueOf(start_addrIndex)); + this.writing("to_target1", String.valueOf(next_addrIndex)); + this.writing("to_task1", instruction.getInstruction_code()); + this.writing("to_command1", "1"); + requireHeadSucess = true; + return true; + } else { + List taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode); + if (ObjectUtil.isNotEmpty(taskDtoList)) { + task = taskDtoList.get(0); + } + if (ObjectUtil.isNotEmpty(task)) break; + } + } + + if (!ObjectUtil.isEmpty(task)) { + String taskid = task.getTask_id(); + String taskcode = task.getTask_code(); + String vehiclecode = task.getVehicle_code(); + String priority = task.getPriority(); + String start_point_code = task.getStart_point_code(); + String start_device_code = task.getStart_device_code(); + String route_plan_code = task.getRoute_plan_code(); + String next_point_code = task.getNext_point_code(); + String next_device_code = task.getNext_device_code(); + + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(task.getRemark()); + instdto.setMaterial(task.getMaterial()); + instdto.setQuantity(task.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + instdto.setStart_device_code(start_device_code); + instdto.setNext_device_code(next_device_code); + instdto.setStart_point_code(start_point_code); + instdto.setNext_point_code(next_point_code); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + + try { + instructionService.create(instdto); + } catch (Exception e) { + e.printStackTrace(); + } + + //创建指令后修改任务状态 + task.setTask_status("1"); + task.setUpdate_time(DateUtil.now()); + taskserver.update(task); + + //根据查询的任务起始点位 得出取放工位的索引值 写入后工位电气中 + int start_addrIndex = getDeviceCodeList.indexOf(start_device_code); + int next_addrIndex = putDeviceCodeList.indexOf(next_device_code); + this.writing("to_onset1", String.valueOf(start_addrIndex)); + this.writing("to_target1", String.valueOf(next_addrIndex)); + this.writing("to_task1", instdto.getInstruction_code()); + this.writing("to_command1", "1"); + requireHeadSucess = true; + } + } + return true; + } + + //申请后工位任务 + public synchronized boolean instruction_require2() 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); + return false; + } else { + this.instruction_require_time = date; + + //后工位取货关联设备 + List getDeviceCodeList = this.getExtraDeviceCodes("back_get_device_code"); + //后工位放货关联设备 + List putDeviceCodeList = this.getExtraDeviceCodes("back_put_device_code"); + + TaskDto task = null; + for (int i = 0; i < getDeviceCodeList.size(); i++) { + String startDeviceCode = getDeviceCodeList.get(i); + List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode); + if (ObjectUtil.isNotEmpty(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()); + this.writing("to_onset2", String.valueOf(start_addrIndex)); + this.writing("to_target2", String.valueOf(next_addrIndex)); + this.writing("to_task2", instruction.getInstruction_code()); + this.writing("to_command2", "1"); + requireBackSucess = true; + return true; + } else { + List taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode); + if (ObjectUtil.isNotEmpty(taskDtoList)) { + task = taskDtoList.get(0); + } + if (ObjectUtil.isNotEmpty(task)) break; + } + } + + if (!ObjectUtil.isEmpty(task)) { + String taskid = task.getTask_id(); + String taskcode = task.getTask_code(); + String vehiclecode = task.getVehicle_code(); + String priority = task.getPriority(); + String start_point_code = task.getStart_point_code(); + String start_device_code = task.getStart_device_code(); + String route_plan_code = task.getRoute_plan_code(); + String next_point_code = task.getNext_point_code(); + String next_device_code = task.getNext_device_code(); + + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(task.getRemark()); + instdto.setMaterial(task.getMaterial()); + instdto.setQuantity(task.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + instdto.setStart_device_code(start_device_code); + instdto.setNext_device_code(next_device_code); + instdto.setStart_point_code(start_point_code); + instdto.setNext_point_code(next_point_code); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + + try { + instructionService.create(instdto); + } catch (Exception e) { + e.printStackTrace(); + } + + //创建指令后修改任务状态 + task.setTask_status("1"); + taskserver.update(task); + + //根据查询的任务起始点位 得出取放工位的索引值 写入后工位电气中 + int start_addrIndex = getDeviceCodeList.indexOf(start_device_code); + int next_addrIndex = putDeviceCodeList.indexOf(next_device_code); + this.writing("to_onset2", String.valueOf(start_addrIndex)); + this.writing("to_target2", String.valueOf(next_addrIndex)); + this.writing("to_task2", instdto.getInstruction_code()); + this.writing("to_command2", "1"); + requireBackSucess = true; + } + } + return true; + } + public boolean exe_error() { if (this.error == 0) { @@ -289,7 +644,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl } //将扩展表中的字符串数组数据转换成集合 - public List getExtraDeviceCodes(String extraName){ + public List getExtraDeviceCodes(String extraName) { String extraValue = (String) this.getDevice().getExtraValue().get(extraName); String devicesString = extraValue.substring(1, extraValue.length() - 1); List devicesList = new ArrayList<>();