diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index 039714dbc..bf0d11f1b 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -25,7 +25,15 @@ public enum DriverTypeEnum { AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv"), - HONGXIANG_DEVICE(8, "hongxiang_device", "烘箱设备点位", "conveyor"); + HONGXIANG_DEVICE(9, "hongxiang_device", "烘箱设备点位", "conveyor"), + + OVEN_MANIPULATOR(10, "oven_manipulator", "烘箱-行架机械手", "station"), + + SLIT_TWO_MANIPULATOR(11, "slit_two_manipulator", "分切双工位-行架机械手", "station"), + + BOX_PALLETIZING_MANIPULATOR(12, "box_palletizing_manipulator", "木箱码垛-行架机械手", "station"), + + SIEMENS_CONVEYOR(13, "siemens_conveyor", "西门子-输送机驱动", "conveyor"); //驱动索引 diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDefination.java new file mode 100644 index 000000000..5b7d1fc1a --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDefination.java @@ -0,0 +1,64 @@ +package org.nl.acs.device_driver.basedriver.box_palletizing_manipulator; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 木箱码垛-行架机械手 + * + */ +@Service +public class BoxPalletizingManipulatorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "box_palletizing_manipulator"; + } + + @Override + public String getDriverName() { + return "木箱码垛-行架机械手"; + } + + @Override + public String getDriverDescription() { + return "木箱码垛-行架机械手"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new BoxPalletizingManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return BoxPalletizingManipulatorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.station); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java new file mode 100644 index 000000000..cd1a6a1c5 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java @@ -0,0 +1,282 @@ +package org.nl.acs.device_driver.basedriver.box_palletizing_manipulator; + +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +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.modules.wql.util.SpringContextHolder; +import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.*; + +/** + * 木箱码垛-行架机械手 + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class BoxPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + @Autowired + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + + //工作模式 + int mode = 0; + int last_mode = 0; + //光电信号 + int move = 0; + int last_move = 0; + //动作信号 + int action = 0; + int last_action = 0; + //行走列 + int walk_y = 0; + int last_walk_y = 0; + //报警信号 + int error = 0; + int last_error = 0; + //任务号 + int task = 0; + int last_task = 0; + + + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + + private int instruction_require_time_out; + //行架机械手申请任务成功标识 + boolean requireSucess = false; + + private int instruction_finished_time_out; + + int branchProtocol = 0; + + + //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; + + String device_code; + + + @Override + public Device getDevice() { + return this.device; + } + + + @Override + public void execute() { + String message = null; + try { + device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + move = this.itemProtocol.getMove(); + action = this.itemProtocol.getAction(); + walk_y = this.itemProtocol.getWalk_y(); + error = this.itemProtocol.getError(); + task = this.itemProtocol.getTask(); + if (mode != last_mode) { + logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); + } + if (move != last_move) { + logServer.deviceItemValue(this.device_code, "move", String.valueOf(move)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); + } + if (action != last_action) { + logServer.deviceItemValue(this.device_code, "action", String.valueOf(action)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action); + } + if (error != last_error) { + logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); + } + if (walk_y != last_walk_y) { + logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); + } + if (task != last_task) { + logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); + } + + } catch (Exception var17) { + return; + } + + if (!this.itemProtocol.getIsonline()) { + this.setIsonline(false); + this.setIserror(true); + message = "信号量同步异常"; + //未联机 + } else if (mode == 0) { + this.setIsonline(false); + this.setIserror(true); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIsonline(false); + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + + } + last_mode = mode; + last_move = move; + last_action = action; + last_walk_y = walk_y; + last_error = error; + last_task = task; + } + + + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + public boolean exe_business() { + return true; + } + + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + + public void writing(String param, String value) { + + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + param; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + + itemMap.put(to_param, value); +// itemMap.put(to_param, Integer.parseInt(value)); + ReadUtil.write(itemMap, server); + } + + public void executing(Server server, Map itemMap) { + ReadUtil.write(itemMap, server); + } + + public void writing(int command) { + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + ReadUtil.write(itemMap, server); + + } + + //将扩展表中的字符串数据转换成集合 + 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<>(); + String[] devices = devicesString.split(","); + for (int i = 0; i < devices.length; i++) { + String s = devices[i].replace("\"", "").replace("\"", ""); + devicesList.add(s); + } + return devicesList; + } + + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String move = ""; + String action = ""; + String walk_y = ""; + if (this.getMode() == 0) { + mode = "脱机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "待机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + } else if (this.getMove() == 1) { + move = "有货"; + } + + if (this.getAction() == 1) { + action = "取货中"; + } else if (this.getAction() == 2) { + action = "取货完成"; + } else if (this.getAction() == 3) { + action = "放货中"; + } else if (this.getAction() == 4) { + action = "放货完成"; + } + + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("action", action); + jo.put("task", task); + jo.put("walk_y", walk_y); + jo.put("isOnline", this.getIsonline()); + jo.put("error", this.getError()); + jo.put("isError", this.getIserror()); + jo.put("message", this.getMessage()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/ItemProtocol.java new file mode 100644 index 000000000..cdf7fbc18 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/ItemProtocol.java @@ -0,0 +1,109 @@ +package org.nl.acs.device_driver.basedriver.box_palletizing_manipulator; + +import cn.hutool.core.util.StrUtil; +import lombok.Data; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; + +import java.util.ArrayList; +import java.util.List; + +@Slf4j +@Data +public class ItemProtocol { + + //心跳 + public static String item_heartbeat = "heartbeat"; + //工作模式 + public static String item_mode = "mode"; + //光电信号 + public static String item_move = "move"; + //动作信号 + public static String item_action = "action"; + //行走列 + public static String item_walk_y = "walk_y"; + //报警 + public static String item_error = "error"; + //任务号 + public static String item_task = "task"; + + + private BoxPalletizingManipulatorDeviceDriver driver; + + public ItemProtocol(BoxPalletizingManipulatorDeviceDriver driver) { + this.driver = driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getMove() { + return this.getOpcIntegerValue(item_move); + } + + public int getAction() { + return this.getOpcIntegerValue(item_action); + } + + public int getWalk_y() { + return this.getOpcIntegerValue(item_walk_y); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(protocol); + if (value == null) { + log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public String getOpcStringValue(String protocol) { + String value = this.driver.getStringValue(protocol); + if (StrUtil.isEmpty(value)) { + + } else { + return value; + } + return "0"; + } + + public static List getReadableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0")); + list.add(new ItemDto(item_mode, "工作模式", "DB1.B1")); + list.add(new ItemDto(item_move, "光电信号", "DB1.B2")); + list.add(new ItemDto(item_action, "动作信号", "DB1.B3")); + list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4")); + list.add(new ItemDto(item_error, "报警信号", "DB1.B5")); + list.add(new ItemDto(item_task, "任务号", "DB1.D6")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + return list; + } + +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java new file mode 100644 index 000000000..344d1e4d3 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java @@ -0,0 +1,122 @@ +package org.nl.acs.device_driver.basedriver.oven_manipulator; + +import cn.hutool.core.util.StrUtil; +import lombok.Data; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; + +import java.util.ArrayList; +import java.util.List; + +@Slf4j +@Data +public class ItemProtocol { + + //心跳 + public static String item_heartbeat = "heartbeat"; + //工作模式 + public static String item_mode = "mode"; + //光电信号 + public static String item_move = "move"; + //动作信号 + public static String item_action = "action"; + //行走列 + public static String item_walk_y = "walk_y"; + //报警 + public static String item_error = "error"; + //任务号 + public static String item_task = "task"; + + //下发命令 + public static String item_to_command = "to_command"; + //下发起始站 + public static String item_to_onset = "to_onset"; + //下发目标站 + public static String item_to_target = "to_target"; + //下发任务号 + public static String item_to_task = "to_task"; + + + private OvenGantryManipulatorDeviceDriver driver; + + public ItemProtocol(OvenGantryManipulatorDeviceDriver driver) { + this.driver = driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getMove() { + return this.getOpcIntegerValue(item_move); + } + + public int getAction() { + return this.getOpcIntegerValue(item_action); + } + + public int getWalk_y() { + return this.getOpcIntegerValue(item_walk_y); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(protocol); + if (value == null) { + log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public String getOpcStringValue(String protocol) { + String value = this.driver.getStringValue(protocol); + if (StrUtil.isEmpty(value)) { + + } else { + return value; + } + return "0"; + } + + public static List getReadableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0")); + list.add(new ItemDto(item_mode, "工作模式", "DB1.B1")); + list.add(new ItemDto(item_move, "光电信号", "DB1.B2")); + list.add(new ItemDto(item_action, "动作信号", "DB1.B3")); + list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4")); + list.add(new ItemDto(item_error, "报警信号", "DB1.B5")); + list.add(new ItemDto(item_task, "任务号", "DB1.D6")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_to_command, "下发命令", "DB2.W0")); + list.add(new ItemDto(item_to_onset, "下发起始站", "DB2.W2")); + list.add(new ItemDto(item_to_target, "下发目标站", "DB2.W4")); + list.add(new ItemDto(item_to_task, "下发任务号", "DB2.D6")); + return list; + } + +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDefination.java new file mode 100644 index 000000000..e22c4a532 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDefination.java @@ -0,0 +1,64 @@ +package org.nl.acs.device_driver.basedriver.oven_manipulator; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 烘箱-行架机械手 + * + */ +@Service +public class OvenGantryManipulatorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "oven_manipulator"; + } + + @Override + public String getDriverName() { + return "烘箱-行架机械手"; + } + + @Override + public String getDriverDescription() { + return "烘箱-行架机械手"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new OvenGantryManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return OvenGantryManipulatorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.station); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } + +} 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 new file mode 100644 index 000000000..965b8b834 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java @@ -0,0 +1,301 @@ +package org.nl.acs.device_driver.basedriver.oven_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; +import lombok.extern.slf4j.Slf4j; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +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.modules.wql.util.SpringContextHolder; +import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.*; + +/** + * 烘箱-行架机械手 + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + @Autowired + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + + //工作模式 + int mode = 0; + int last_mode = 0; + //光电信号 + int move = 0; + int last_move = 0; + //动作信号 + int action = 0; + int last_action = 0; + //行走列 + int walk_y = 0; + int last_walk_y = 0; + //报警信号 + int error = 0; + int last_error = 0; + //任务号 + int task = 0; + int last_task = 0; + + + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + + private int instruction_require_time_out; + //行架机械手申请任务成功标识 + boolean requireSucess = false; + + private int instruction_finished_time_out; + + int branchProtocol = 0; + + + //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; + + String device_code; + + + @Override + public Device getDevice() { + return this.device; + } + + + @Override + public void execute() { + String message = null; + try { + device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + move = this.itemProtocol.getMove(); + action = this.itemProtocol.getAction(); + walk_y = this.itemProtocol.getWalk_y(); + error = this.itemProtocol.getError(); + task = this.itemProtocol.getTask(); + if (mode != last_mode) { + logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); + } + if (move != last_move) { + logServer.deviceItemValue(this.device_code, "move", String.valueOf(move)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); + } + if (action != last_action) { + logServer.deviceItemValue(this.device_code, "action", String.valueOf(action)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action); + } + if (error != last_error) { + logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); + } + if (walk_y != last_walk_y) { + logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); + } + if (task != last_task) { + logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); + } + + } catch (Exception var17) { + return; + } + + if (!this.itemProtocol.getIsonline()) { + this.setIsonline(false); + this.setIserror(true); + message = "信号量同步异常"; + //未联机 + } else if (mode == 0) { + this.setIsonline(false); + this.setIserror(true); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIsonline(false); + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + + } + last_mode = mode; + last_move = move; + last_action = action; + last_walk_y = walk_y; + last_error = error; + last_task = task; + } + + + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + public boolean exe_business() { + return true; + } + + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + + public void writing(String param, String value) { + + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + param; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + + itemMap.put(to_param, value); +// itemMap.put(to_param, Integer.parseInt(value)); + ReadUtil.write(itemMap, server); + } + + public void executing(Server server, Map itemMap) { + ReadUtil.write(itemMap, server); + } + + public void writing(int command) { + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + ReadUtil.write(itemMap, server); + + } + + //将扩展表中的字符串数据转换成集合 + 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<>(); + String[] devices = devicesString.split(","); + for (int i = 0; i < devices.length; i++) { + String s = devices[i].replace("\"", "").replace("\"", ""); + devicesList.add(s); + } + return devicesList; + } + + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String move = ""; + String action = ""; + String walk_y = ""; + if (this.getMode() == 0) { + mode = "脱机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "待机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + } else if (this.getMove() == 1) { + move = "有货"; + } + + if (this.getAction() == 1) { + action = "取货中"; + } else if (this.getAction() == 2) { + action = "取货完成"; + } else if (this.getAction() == 3) { + action = "放货中"; + } else if (this.getAction() == 4) { + action = "放货完成"; + } + + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("action", action); + jo.put("task", task); + jo.put("walk_y", walk_y); + jo.put("isOnline", this.getIsonline()); + jo.put("error", this.getError()); + jo.put("isError", this.getIserror()); + jo.put("message", this.getMessage()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } + +// public void writing(int type, int command) { +// String to_material_code = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() +// + "." + ItemProtocol.item_to_material_code; +// String opcservcerid = this.getDevice().getOpc_server_id(); +// Server server = ReadUtil.getServer(opcservcerid); +// Map itemMap = new HashMap(); +// if (type == 2) { +// itemMap.put(to_material_code, command); +// } +// ReadUtil.write(itemMap, server); +// +// } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/ItemProtocol.java new file mode 100644 index 000000000..cf28054df --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/ItemProtocol.java @@ -0,0 +1,127 @@ +package org.nl.acs.device_driver.basedriver.siemens_conveyor; + +import cn.hutool.core.util.StrUtil; +import lombok.Data; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; + +import java.util.ArrayList; +import java.util.List; + +@Slf4j +@Data +public class ItemProtocol { + + //心跳 + public static String item_heartbeat = "heartbeat"; + //工作模式 + public static String item_mode = "mode"; + //光电信号 + public static String item_move = "move"; + //托盘方向 + public static String item_carrier_direction = "carrier_direction"; + //报警 + public static String item_error = "error"; + //任务号 + public static String item_task = "task"; + + //下发命令 + public static String item_to_command = "to_command"; + //下发目标站 + public static String item_to_target = "to_target"; + //下发托盘类型 + public static String item_to_container_type = "to_container_type"; + //下发任务号 + public static String item_to_task = "to_task"; + //困扎次数 + public static String item_to_strap_times = "to_strap_times"; + //木箱长度 + public static String item_to_length = "to_length"; + //木箱宽度 + public static String item_to_weight = "to_weight"; + //木箱高度 + public static String item_to_height = "to_height"; + + + private SiemensConveyorDeviceDriver driver; + + public ItemProtocol(SiemensConveyorDeviceDriver driver) { + this.driver = driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getMove() { + return this.getOpcIntegerValue(item_move); + } + + public int getCarrier_direction() { + return this.getOpcIntegerValue(item_carrier_direction); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(protocol); + if (value == null) { + log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public String getOpcStringValue(String protocol) { + String value = this.driver.getStringValue(protocol); + if (StrUtil.isEmpty(value)) { + + } else { + return value; + } + return "0"; + } + + public static List getReadableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0")); + list.add(new ItemDto(item_mode, "工作模式", "DB600.B2")); + list.add(new ItemDto(item_move, "光电信号", "DB600.B3")); + list.add(new ItemDto(item_carrier_direction, "托盘方向", "DB600.B4")); + list.add(new ItemDto(item_error, "报警信号", "DB600.B6")); + list.add(new ItemDto(item_task, "任务号", "DB600.D10")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_to_command, "下发命令", "DB601.W2")); + list.add(new ItemDto(item_to_target, "下发目标站", "DB601.W4")); + list.add(new ItemDto(item_to_container_type, "下发托盘类型", "DB601.W6")); + list.add(new ItemDto(item_to_task, "下发任务号", "DB601.D8")); + list.add(new ItemDto(item_to_strap_times, "困扎次数", "DB601.W12")); + list.add(new ItemDto(item_to_length, "木箱长度", "DB601.W14")); + list.add(new ItemDto(item_to_weight, "木箱宽度", "DB601.W16")); + list.add(new ItemDto(item_to_height, "木箱高度", "DB601.W18")); + return list; + } + +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDefination.java new file mode 100644 index 000000000..465f0a75b --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDefination.java @@ -0,0 +1,64 @@ +package org.nl.acs.device_driver.basedriver.siemens_conveyor; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 西门子-输送机驱动 + * + */ +@Service +public class SiemensConveyorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "siemens_conveyor"; + } + + @Override + public String getDriverName() { + return "西门子-输送机驱动"; + } + + @Override + public String getDriverDescription() { + return "西门子-输送机驱动"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new SiemensConveyorDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return SiemensConveyorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.station); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java new file mode 100644 index 000000000..4c38f42e1 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java @@ -0,0 +1,267 @@ +package org.nl.acs.device_driver.basedriver.siemens_conveyor; + +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +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.modules.wql.util.SpringContextHolder; +import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.*; + +/** + * 西门子-输送机驱动 + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + @Autowired + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + + //工作模式 + int mode = 0; + int last_mode = 0; + //光电信号 + int move = 0; + int last_move = 0; + //托盘方向 + int carrier_direction = 0; + int last_carrier_direction = 0; + //报警信号 + int error = 0; + int last_error = 0; + //任务号 + int task = 0; + int last_task = 0; + + + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + + private int instruction_require_time_out; + //行架机械手申请任务成功标识 + boolean requireSucess = false; + + private int instruction_finished_time_out; + + int branchProtocol = 0; + + + //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; + + String device_code; + + + @Override + public Device getDevice() { + return this.device; + } + + + @Override + public void execute() { + String message = null; + try { + device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + move = this.itemProtocol.getMove(); + carrier_direction = this.itemProtocol.getCarrier_direction(); + error = this.itemProtocol.getError(); + task = this.itemProtocol.getTask(); + if (mode != last_mode) { + logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); + } + if (move != last_move) { + logServer.deviceItemValue(this.device_code, "move", String.valueOf(move)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); + } + if (carrier_direction != last_carrier_direction) { + logServer.deviceItemValue(this.device_code, "carrier_direction", String.valueOf(carrier_direction)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction); + } + if (error != last_error) { + logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); + } + if (task != last_task) { + logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); + } + + } catch (Exception var17) { + return; + } + + if (!this.itemProtocol.getIsonline()) { + this.setIsonline(false); + this.setIserror(true); + message = "信号量同步异常"; + //未联机 + } else if (mode == 0) { + this.setIsonline(false); + this.setIserror(true); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIsonline(false); + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + + } + last_mode = mode; + last_move = move; + last_carrier_direction = carrier_direction; + last_error = error; + last_task = task; + } + + + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + public boolean exe_business() { + return true; + } + + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + + public void writing(String param, String value) { + + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + param; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + + itemMap.put(to_param, value); +// itemMap.put(to_param, Integer.parseInt(value)); + ReadUtil.write(itemMap, server); + } + + public void executing(Server server, Map itemMap) { + ReadUtil.write(itemMap, server); + } + + public void writing(int command) { + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + ReadUtil.write(itemMap, server); + + } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String move = ""; + String carrier_direction = ""; + if (this.getMode() == 0) { + mode = "脱机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "待机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + } else if (this.getMove() == 1) { + move = "有货"; + } + + if (this.carrier_direction == 1) { + carrier_direction = "正转"; + } else if (this.carrier_direction == 2) { + carrier_direction = "反转"; + } + + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("carrier_direction", carrier_direction); + jo.put("task", task); + jo.put("isOnline", this.getIsonline()); + jo.put("error", this.getError()); + jo.put("isError", this.getIserror()); + jo.put("message", this.getMessage()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } + +// public void writing(int type, int command) { +// String to_material_code = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() +// + "." + ItemProtocol.item_to_material_code; +// String opcservcerid = this.getDevice().getOpc_server_id(); +// Server server = ReadUtil.getServer(opcservcerid); +// Map itemMap = new HashMap(); +// if (type == 2) { +// itemMap.put(to_material_code, command); +// } +// ReadUtil.write(itemMap, server); +// +// } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java new file mode 100644 index 000000000..8ed34d80d --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java @@ -0,0 +1,168 @@ +package org.nl.acs.device_driver.basedriver.slit_two_manipulator; + +import cn.hutool.core.util.StrUtil; +import lombok.Data; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; + +import java.util.ArrayList; +import java.util.List; + +@Slf4j +@Data +public class ItemProtocol { + + //心跳 + public static String item_heartbeat = "heartbeat"; + //工作模式 + public static String item_mode = "mode"; + //设备状态 + public static String item_status = "status"; + //前工位光电信号 + public static String item_move1 = "move1"; + //后工位光电信号 + public static String item_move2 = "move2"; + //前工位动作信号 + public static String item_action1 = "action1"; + //后工位动作信号 + public static String item_action2 = "action2"; + //行走列 + public static String item_walk_y = "walk_y"; + //报警信号 + public static String item_error = "error"; + //前工位任务号 + public static String item_task1 = "task1"; + //后工位任务号 + public static String item_task2 = "task2"; + + + //前工位下发命令 + public static String item_to_command1 = "to_command1"; + //前工位下发起始站 + public static String item_to_onset1 = "to_onset1"; + //前工位下发目标站 + public static String item_to_target1 = "to_target1"; + //前工位下发任务号 + public static String item_to_task1 = "to_task1"; + //后工位下发命令 + public static String item_to_command2 = "to_command2"; + //后工位下发起始站 + public static String item_to_onset2 = "to_onset2"; + //后工位下发目标站 + public static String item_to_target2 = "to_target2"; + //后工位下发任务号 + public static String item_to_task2 = "to_task2"; + + + private SlitTwoManipulatorDeviceDriver driver; + + public ItemProtocol(SlitTwoManipulatorDeviceDriver driver) { + this.driver = driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getStatus() { + return this.getOpcIntegerValue(item_status); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getMove1() { + return this.getOpcIntegerValue(item_move1); + } + + public int getMove2() { + return this.getOpcIntegerValue(item_move2); + } + + public int getAction1() { + return this.getOpcIntegerValue(item_action1); + } + + public int getAction2() { + return this.getOpcIntegerValue(item_action2); + } + + public int getWalk_y() { + return this.getOpcIntegerValue(item_walk_y); + } + + public int getTask1() { + return this.getOpcIntegerValue(item_task1); + } + + public int getTask2() { + return this.getOpcIntegerValue(item_task2); + } + + + //是否有货 + public int hasGoods(int move) { + return move; + } + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(protocol); + if (value == null) { + log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public String getOpcStringValue(String protocol) { + String value = this.driver.getStringValue(protocol); + if (StrUtil.isEmpty(value)) { + + } else { + return value; + } + return "0"; + } + + public static List getReadableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0")); + list.add(new ItemDto(item_mode, "工作模式", "DB1.B1")); + list.add(new ItemDto(item_status, "设备状态", "DB1.B2")); + list.add(new ItemDto(item_move1, "前工位光电信号", "DB1.B3")); + list.add(new ItemDto(item_move2, "后工位光电信号", "DB1.B4")); + list.add(new ItemDto(item_action1, "前工位动作信号", "DB1.B5")); + list.add(new ItemDto(item_action2, "后工位动作信号", "DB2.B6")); + list.add(new ItemDto(item_walk_y, "行走列", "DB1.B7")); + list.add(new ItemDto(item_error, "报警信号", "DB1.B8")); + list.add(new ItemDto(item_task1, "前工位任务号", "DB1.D10")); + list.add(new ItemDto(item_task2, "后工位任务号", "DB1.D14")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_to_command1, "前工位下发命令", "DB2.W0")); + list.add(new ItemDto(item_to_onset1, "前工位下发起始站", "DB2.W2")); + list.add(new ItemDto(item_to_target1, "前工位下发目标站", "DB2.W4")); + list.add(new ItemDto(item_to_task1, "前工位下发任务号", "DB2.D6")); + list.add(new ItemDto(item_to_command2, "后工位下发命令", "DB2.W10")); + list.add(new ItemDto(item_to_onset2, "后工位下发起始站", "DB2.W12")); + list.add(new ItemDto(item_to_target2, "后工位下发目标站", "DB2.W14")); + list.add(new ItemDto(item_to_task2, "后工位下发任务号", "DB2.D16")); + return list; + } + +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDefination.java new file mode 100644 index 000000000..c0dc36f89 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDefination.java @@ -0,0 +1,62 @@ +package org.nl.acs.device_driver.basedriver.slit_two_manipulator; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 分切双工位行架机械手 + * + */ +@Service +public class SlitTwoManipulatorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "slit_two_manipulator"; + } + + @Override + public String getDriverName() { + return "分切双工位-行架机械手"; + } + + @Override + public String getDriverDescription() { + return "分切双工位-行架机械手"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new SlitTwoManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return SlitTwoManipulatorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.station); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } + +} 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 new file mode 100644 index 000000000..abf8641c4 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java @@ -0,0 +1,392 @@ +package org.nl.acs.device_driver.basedriver.slit_two_manipulator; + +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +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.modules.wql.util.SpringContextHolder; +import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.*; + +/** + * 分切双工位行架机械手 + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + @Autowired + DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + + //当前指令1 + Instruction inst1 = null; + //当前指令2 + Instruction inst2 = null; + + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + + //工作模式 + int mode = 0; + int last_mode = 0; + //设备状态 + int status = 0; + int last_status = 0; + //前后工位光电信号 + int move1 = 0; + int last_move1 = 0; + int move2 = 0; + int last_move2 = 0; + //前后工位动作信号 + int action1 = 0; + int last_action1 = 0; + int action2 = 0; + int last_action2 = 0; + //报警信号 + int error = 0; + int last_error = 0; + //行走列 + int walk_y = 0; + int last_walk_y = 0; + //前后工位任务号 + int task1 = 0; + int last_task1 = 0; + int task2 = 0; + int last_task2 = 0; + + + + Boolean isonline = true; + //后工位申请任务请求标记 + Boolean requireBackSucess = false; + //前工位申请任务请求标记 + Boolean requireHeadSucess = false; + + int hasGoods = 0; + String message = null; + Boolean iserror = false; + + int branchProtocol = 0; + + //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; + + String device_code; + + //请求超时时间 + private int instruction_require_time_out = 3000; + + @Override + public Device getDevice() { + return this.device; + } + + + @Override + public void execute() throws Exception { + String message = null; + try { + device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + status = this.itemProtocol.getStatus(); + move1 = this.itemProtocol.getMove1(); + move2 = this.itemProtocol.getMove2(); + action1 = this.itemProtocol.getAction1(); + action2 = this.itemProtocol.getAction2(); + walk_y = this.itemProtocol.getWalk_y(); + error = this.itemProtocol.getError(); + task1 = this.itemProtocol.getTask1(); + task2 = this.itemProtocol.getTask2(); + + if (mode != last_mode) { + logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); + } + if (error != last_error) { + logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); + } + if (status != last_status) { + logServer.deviceItemValue(this.device_code, "status", String.valueOf(status)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号status：" + last_status + "->" + status); + } + if (move1 != last_move1) { + logServer.deviceItemValue(this.device_code, "move1", String.valueOf(move1)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move1：" + last_move1 + "->" + move1); + } + if (move2 != last_move2) { + logServer.deviceItemValue(this.device_code, "move2", String.valueOf(move2)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move2：" + last_move2 + "->" + move2); + } + if (action1 != last_action1) { + logServer.deviceItemValue(this.device_code, "action1", String.valueOf(action1)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号action1：" + last_action1 + "->" + action1); + } + if (action2 != last_action2) { + logServer.deviceItemValue(this.device_code, "action2", String.valueOf(action2)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号action2：" + last_action2 + "->" + action2); + } + if (walk_y != last_walk_y) { + logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); + } + if (task1 != last_task1) { + logServer.deviceItemValue(this.device_code, "task1", String.valueOf(task1)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号task1：" + last_task1 + "->" + task1); + } + if (task2 != last_task2) { + logServer.deviceItemValue(this.device_code, "task2", String.valueOf(task2)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号task2：" + last_task2 + "->" + task2); + } + + } catch (Exception var17) { + return; + } + + if (!this.itemProtocol.getIsonline()) { + this.setIsonline(false); + this.setIserror(true); + message = "信号量同步异常"; + //未联机 + } else if (mode == 0) { + this.setIsonline(false); + this.setIserror(true); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIsonline(false); + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + + + } + last_mode = mode; + last_error = error; + last_status = status; + last_move1 = move1; + last_move2 = move2; + last_action1 = action1; + last_action2 = action2; + last_walk_y = walk_y; + last_task1 = task1; + last_task2 = task2; + } + + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + public void writing(String param, String value) { + + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + param; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_param, value); + + ReadUtil.write(itemMap, server); + } + + public boolean exe_business() { + return true; + } + + protected void executing(Instruction instruction) { + this.executing(1, instruction, ""); + } + + public void executing(int command, Instruction instruction, String appendMessage) { + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + ReadUtil.write(itemMap, server); + + } + + + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + + + public void executing(Server server, Map itemMap) { + ReadUtil.write(itemMap, server); + } + + public void writing1(int command) { + String to_command1 = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_command1; + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command1, command); + ReadUtil.write(itemMap, server); + + } + + public void writing2(int command) { + String to_command2 = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_command2; + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command2, command); + ReadUtil.write(itemMap, server); + + } + + public void writing(int type, int command) { + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + ReadUtil.write(itemMap, server); + } + + //将扩展表中的字符串数组数据转换成集合 + 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<>(); + String[] devices = devicesString.split(","); + for (int i = 0; i < devices.length; i++) { + String s = devices[i].replace("\"", "").replace("\"", ""); + devicesList.add(s); + } + return devicesList; + } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String move1 = ""; + String move2 = ""; + String action1 = ""; + String action2 = ""; + String walk_y = ""; + String mode = ""; + String status = ""; + + if (this.getMode() == 0) { + mode = "脱机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "待机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getStatus() == 1) { + status = "待机"; + } else if (this.getStatus() == 2) { + status = "生产中"; + } else if (this.getStatus() == 3) { + status = "故障"; + } + + if (this.getMove1() == 0) { + move1 = "无货"; + } else if (this.getMove1() == 1) { + move1 = "有货"; + } + + if (this.getMove2() == 0) { + move2 = "无货"; + } else if (this.getMove2() == 1) { + move2 = "有货"; + } + + if (this.getAction1() == 1) { + action1 = "取货中"; + } else if (this.getAction1() == 2) { + action1 = "取货完成"; + } else if (this.getAction1() == 3) { + action1 = "放货中"; + } else if (this.getAction1() == 4) { + action1 = "放货完成"; + } + + if (this.getAction2() == 1) { + action2 = "取货中"; + } else if (this.getAction2() == 2) { + action2 = "取货完成"; + } else if (this.getAction2() == 3) { + action2 = "放货中"; + } else if (this.getAction2() == 4) { + action2 = "放货完成"; + } + + if (this.getWalk_y() == 0) { + walk_y = "原位"; + } else if (this.getWalk_y() == 2) { + walk_y = "非原位"; + } + + 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("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("message", this.getMessage()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } +} diff --git a/acs/nladmin-ui/src/views/acs/device/config.vue b/acs/nladmin-ui/src/views/acs/device/config.vue index 9f716add4..50a44aa2b 100644 --- a/acs/nladmin-ui/src/views/acs/device/config.vue +++ b/acs/nladmin-ui/src/views/acs/device/config.vue @@ -86,6 +86,10 @@ import cargo_lift_conveyor from '@/views/acs/device/driver/cargo_lift_conveyor' import empty_vehicle_stacking_position from '@/views/acs/device/driver/empty_vehicle_stacking_position' import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one' import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two' +import box_palletizing_manipulator from '@/views/acs/device/driver/box_palletizing_manipulator' +import oven_manipulator from '@/views/acs/device/driver/oven_manipulator' +import siemens_conveyor from '@/views/acs/device/driver/siemens_conveyor' +import slit_two_manipulator from '@/views/acs/device/driver/slit_two_manipulator' import hongxiang_device from '@/views/acs/device/driver/hongxiang_device' export default { @@ -104,7 +108,11 @@ export default { empty_vehicle_stacking_position, agv_ndc_two, agv_ndc_one, - hongxiang_device + hongxiang_device, + box_palletizing_manipulator, + oven_manipulator, + siemens_conveyor, + slit_two_manipulator }, dicts: ['device_type'], mixins: [crud], diff --git a/acs/nladmin-ui/src/views/acs/device/driver/box_palletizing_manipulator.vue b/acs/nladmin-ui/src/views/acs/device/driver/box_palletizing_manipulator.vue new file mode 100644 index 000000000..fefb91333 --- /dev/null +++ b/acs/nladmin-ui/src/views/acs/device/driver/box_palletizing_manipulator.vue @@ -0,0 +1,528 @@ + + + + + diff --git a/acs/nladmin-ui/src/views/acs/device/driver/oven_manipulator.vue b/acs/nladmin-ui/src/views/acs/device/driver/oven_manipulator.vue new file mode 100644 index 000000000..0c2e79dc3 --- /dev/null +++ b/acs/nladmin-ui/src/views/acs/device/driver/oven_manipulator.vue @@ -0,0 +1,528 @@ + + + + + diff --git a/acs/nladmin-ui/src/views/acs/device/driver/siemens_conveyor.vue b/acs/nladmin-ui/src/views/acs/device/driver/siemens_conveyor.vue new file mode 100644 index 000000000..825e92505 --- /dev/null +++ b/acs/nladmin-ui/src/views/acs/device/driver/siemens_conveyor.vue @@ -0,0 +1,502 @@ + + + + + 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 new file mode 100644 index 000000000..038258353 --- /dev/null +++ b/acs/nladmin-ui/src/views/acs/device/driver/slit_two_manipulator.vue @@ -0,0 +1,568 @@ + + + + +