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This commit is contained in:
gengby
2022-12-11 11:47:45 +08:00
parent 0c8ebd9db7
commit b804c33d65
2 changed files with 160 additions and 141 deletions
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297
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
View File

@@ -107,13 +107,13 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
int flag; int flag;
//前工位任务执行当前步骤 //前工位任务执行当前步骤
//0未执行 1更改指令状态 2下发电气任务信息 3前工位允许取货 4前工位允许放货 5放货完成 //0未执行 1更改指令状态 2下发电气任务信息 3前工位允许取货 4前工位取货完成 5前工位允许放货 6放货完成
int now_steps_type1 = 0; int now_steps_type1 = 0;
//后工位当前执行步骤 //后工位当前执行步骤
//0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4后工位允许放货 5放货完成 //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货4后工位取货完成 5后工位允许放货 6放货完成
int now_steps_type2 = 0; int now_steps_type2 = 0;
//双工位任务当前执行步骤 //双工位任务当前执行步骤
//0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4前工位允许取货 5后工位允许放货 6后工位放货完成 7前工位允许放货 8前工位放货完成 //0未执行 1更改指令状态 2下发电气任务信息 3后工位允许取货 4后工位取货完成 5前工位允许取货 6前工位取货完成 7后工位允许放货 8后工位放货完成 9前工位允许放货 10前工位放货完成
int now_steps_type3 = 0; int now_steps_type3 = 0;
String device_code; String device_code;
@@ -277,128 +277,11 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} }
} }
; ;
// this.setNow_steps_type3(1);
} }
} }
} }
//单任务前工位放货完成 任务完成 //双任务/单任务 后工位取空时判断动作信号，并反馈
if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1) {
//inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
this.finish_instruction(inst1);
TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command1", "4");
this.setNow_steps_type1(5);
this.setNow_steps_type1(0);
// this.writing("to_onset1", "0");
// this.writing("to_target1", "0");
// this.writing("to_task1", "0");
// this.writing("to_type", "0");
}
}
} else {
if (this.getNow_steps_type1() == 4) {
feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1";
}
}
//单任务 后工位放货完成 任务完成
if (mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2) {
//inst_message
Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
if (inst2 != null) {
if (StrUtil.equals(inst2.getInstruction_status(), "1")) {
finish_instruction(inst2);
TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command2", "4");
this.setNow_steps_type2(5);
this.setNow_steps_type2(0);
// this.writing("to_onset2", "0");
// this.writing("to_target2", "0");
// this.writing("to_task2", "0");
// this.writing("to_type", "0");
}
}
} else {
if (this.getNow_steps_type2() == 4) {
feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2";
}
}
//双任务后工位反馈4
if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3) {
this.writing("to_command2", "4");
this.setNow_steps_type3(6);
} else {
if (this.getNow_steps_type3() == 5) {
feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3";
}
}
//双工位 任务完成 前工位反馈4
if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3) {
//inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
this.finish_instruction(inst1);
TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command1", "4");
this.setNow_steps_type3(8);
this.setNow_steps_type3(0);
// this.writing("to_onset1", "0");
// this.writing("to_target1", "0");
// this.writing("to_task1", "0");
// this.writing("to_onset2", "0");
// this.writing("to_target2", "0");
// this.writing("to_task2", "0");
// this.writing("to_type", "0");
}
}
} else {
if (this.getNow_steps_type3() == 7) {
feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3";
}
}
//后工位取货时判断取货位光电信号
if (mode == 3 && action2 == 1 && move2 == 0 && task2 > 0) { if (mode == 3 && action2 == 1 && move2 == 0 && task2 > 0) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2)); Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
String start_device_code = ""; String start_device_code = "";
@@ -434,35 +317,106 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} }
} }
//后工位允许放货 //单任务/或双任务 后工位收到取货完成信号并反馈
if (mode == 3 && action2 == 3 && move2 == 1 && task2 > 0) { if (mode == 3 && action2 == 2 && move2 == 1 && task2 > 0){
this.writing("to_command2", "3"); this.writing("to_command2","3");
if (type == 2) { if (type == 2){
this.setNow_steps_type2(4); this.setNow_steps_type2(4);
} else if (type == 3) {
this.setNow_steps_type3(5);
} }
} else { if (type == 3){
if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 4) { this.setNow_steps_type3(4);
feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0"; }
}else {
if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 3) {
feedMessage = "请检查：mode == 3 && action2 == 2 && move2 == 1 && task2 > 0";
} }
} }
//前工位允许取货 //单任务/双任务 前工位取货时判断动作信号并反馈
if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0) { if (mode == 3 && action1 == 1 && move1 == 0 && task1 > 0) {
this.writing("to_command1", "2"); this.writing("to_command1", "2");
if (type == 1) { if (type == 1) {
this.setNow_steps_type1(3); this.setNow_steps_type1(3);
} else if (type == 3) { } else if (type == 3) {
this.setNow_steps_type3(4); this.setNow_steps_type3(5);
} }
} else { } else {
if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 3) { if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 4) {
feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0"; feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0";
} }
} }
//前工位放货时判断放货位光电信号 //单任务/双任务 前工位取货完成并反馈
if (mode == 3 && action1 == 2 && move1 == 1 && task1 > 0){
this.writing("to_command1","3");
if (type == 1){
this.setNow_steps_type1(4);
}
if (type == 3){
this.setNow_steps_type3(6);
}
}else {
if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 5) {
feedMessage = "请检查:mode == 3 && action1 == 2 && move1 == 1 && task1 > 0";
}
}
//单任务/双任务 后工位放货时判断信号并反馈
if (mode == 3 && action2 == 3 && move2 == 1 && task2 > 0) {
this.writing("to_command2", "4");
if (type == 2) {
this.setNow_steps_type2(5);
} else if (type == 3) {
this.setNow_steps_type3(7);
}
} else {
if (this.getNow_steps_type2() == 4 || this.getNow_steps_type3() == 6) {
feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0";
}
}
//单任务 后工位放货完成 任务完成
if (mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2) {
//inst_message
Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
if (inst2 != null) {
if (StrUtil.equals(inst2.getInstruction_status(), "1")) {
finish_instruction(inst2);
TaskDto taskDto = taskserver.findByCodeFromCache(inst2.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command2", "5");
this.setNow_steps_type2(6);
this.setNow_steps_type2(0);
}
}
} else {
if (this.getNow_steps_type2() == 5) {
feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2";
}
}
//双任务 后工位反馈任务完成 并反馈
if (mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3) {
this.writing("to_command2", "5");
this.setNow_steps_type3(8);
} else {
if (this.getNow_steps_type3() == 7) {
feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3";
}
}
//单任务/双任务 前工位放货时判断放货位光电信号
if (mode == 3 && action1 == 3 && move1 == 1 && task1 > 0) { if (mode == 3 && action1 == 3 && move1 == 1 && task1 > 0) {
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
String next_device_code = inst1.getNext_device_code(); String next_device_code = inst1.getNext_device_code();
@@ -473,25 +427,90 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
int move = siemensConveyorDeviceDriver.getMove(); int move = siemensConveyorDeviceDriver.getMove();
int mode = siemensConveyorDeviceDriver.getMode(); int mode = siemensConveyorDeviceDriver.getMode();
if (move == 0 && mode == 2) { if (move == 0 && mode == 2) {
this.writing("to_command1", "3"); this.writing("to_command1", "4");
if (type == 1) { if (type == 1) {
this.setNow_steps_type1(4); this.setNow_steps_type1(5);
} else if (type == 3) { } else if (type == 3) {
this.setNow_steps_type3(7); this.setNow_steps_type3(9);
} }
} else { } else {
log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move); log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move);
if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) { if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
feedMessage = "请检查输送线：move == 0 && mode == 2"; feedMessage = "请检查输送线：move == 0 && mode == 2";
} }
} }
} }
} else { } else {
if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 6) { if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0"; feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0";
} }
} }
//单任务前工位放货完成 任务完成
if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1) {
//inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
this.finish_instruction(inst1);
TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command1", "5");
this.setNow_steps_type1(6);
this.setNow_steps_type1(0);
}
}
} else {
if (this.getNow_steps_type1() == 5) {
feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1";
}
}
//双工位 任务完成 前工位反馈4
if (mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3) {
//inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
this.finish_instruction(inst1);
TaskDto taskDto = taskserver.findByCodeFromCache(inst1.getTask_code());
if (!ObjectUtil.isEmpty(taskDto)) {
if (StrUtil.isNotEmpty(taskDto.getExt_task_id())) {
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
;
this.writing("to_command1", "5");
this.setNow_steps_type3(10);
this.setNow_steps_type3(0);
}
}
} else {
if (this.getNow_steps_type3() == 9) {
feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3";
}
}
} catch (Exception var17) { } catch (Exception var17) {
return; return;
} }

4
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/AcsUtil.java
View File

@@ -3,7 +3,7 @@ package org.nl.acs.ext.wms;
import cn.hutool.core.util.StrUtil; import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest; import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject; import com.alibaba.fastjson.JSONObject;
import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.common.exception.BadRequestException;
import org.nl.modules.system.service.ParamService; import org.nl.modules.system.service.ParamService;
@@ -25,7 +25,7 @@ public class AcsUtil {
try { try {
return HttpRequest return HttpRequest
.post(liKu_wcs_url + api) .post(liKu_wcs_url + api)
.body(String.valueOf(requestParam)) .body(JSON.toJSONString(requestParam))
.execute() .execute()
.body(); .body();
} catch (Exception e) { } catch (Exception e) {