From ba3aa5a6c949adb05ccebedd29dfab61db8537c0 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Sat, 6 May 2023 18:07:57 +0800 Subject: [PATCH] =?UTF-8?q?rev=20=E4=B8=8B=E5=8F=91=E4=BF=A1=E5=8F=B7?= =?UTF-8?q?=E6=97=A5=E5=BF=97=E8=AE=B0=E5=BD=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../oven_manipulator/ItemProtocol.java | 16 ++++++ .../OvenGantryManipulatorDeviceDriver.java | 31 +++++++++++ .../siemens_conveyor/ItemProtocol.java | 8 +++ .../SiemensConveyorDeviceDriver.java | 22 ++++++++ .../siemens_conveyor_ckk/ItemProtocol.java | 11 ++++ .../SiemensConveyorCkkDeviceDriver.java | 22 ++++++++ .../ItemProtocol.java | 8 +++ ...iemensOneFloorAGVConveyorDeviceDriver.java | 21 ++++++++ .../slit_two_manipulator/ItemProtocol.java | 16 ++++++ .../SlitTwoManipulatorDeviceDriver.java | 51 +++++++++++++++++++ .../ItemProtocol.java | 10 +++- ...CoveyorControlWithScannerDeviceDriver.java | 27 +++++++++- 12 files changed, 240 insertions(+), 3 deletions(-) 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 index c963542a9..66ceecc9f 100644 --- 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 @@ -71,6 +71,22 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_task); } + public int getTo_command() { + return this.getOpcIntegerValue(item_to_command); + } + + public int getTo_target() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getTo_task() { + return this.getOpcIntegerValue(item_to_task); + } + + public int getTo_onset() { + return this.getOpcIntegerValue(item_to_onset); + } + Boolean isonline; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java index 010c2d021..403f745d6 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java @@ -88,7 +88,17 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i int heartbeat = 0; int last_heartbeat = 0; + int to_command = 0; + int last_to_command = 0; + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; + + int to_onset = 0; + int last_to_onset = 0; Boolean isonline = true; int hasGoods = 0; @@ -137,9 +147,26 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i error = this.itemProtocol.getError(); task = this.itemProtocol.getTask(); heartbeat = this.itemProtocol.getHeartbeat(); + to_command = this.itemProtocol.getTo_command(); + to_target = this.itemProtocol.getTo_target(); + to_task = this.itemProtocol.getTo_task(); + to_onset = this.itemProtocol.getTo_onset(); // if(heartbeat != last_heartbeat){ // logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat); // } + + if (to_onset != last_to_onset) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset); + } + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } if (mode != last_mode) { if (mode == 2) { logServer.deviceExecuteLog(this.device_code, "", "", "信号复位前requireSuccess：" + requireSucess); @@ -527,6 +554,10 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i last_error = error; last_task = task; last_heartbeat = heartbeat; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; + last_to_onset = to_onset; } 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 index 32616f25e..4820e9d2a 100644 --- 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 @@ -77,6 +77,14 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_command); } + public int getTo_target() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getTo_task() { + return this.getOpcIntegerValue(item_to_task); + } + Boolean isonline; 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 index 8e9c35796..38edad1cc 100644 --- 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 @@ -103,6 +103,13 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme int agvphase = 0; String task_code = null; int to_command = 0; + int last_to_command = 0; + + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; int phase = 0; int index = 0; @@ -161,10 +168,22 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme error = this.itemProtocol.getError(); task = this.itemProtocol.getTask(); to_command = this.itemProtocol.getTo_command(); + to_target = this.itemProtocol.getTo_target(); + to_task = this.itemProtocol.getTo_task(); heartbeat = this.itemProtocol.getHeartbeat(); // if(heartbeat != last_heartbeat){ // logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat); // } + + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } if (mode != last_mode) { requireSucess = false; requireApplyLabelingSuccess = false; @@ -337,6 +356,9 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme last_error = error; last_task = task; last_heartbeat = heartbeat; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; } private void shipDeviceUpdate() { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/ItemProtocol.java index 6d64f74c0..755d4bc2e 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/ItemProtocol.java @@ -73,6 +73,17 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_task); } + public int getTo_command() { + return this.getOpcIntegerValue(item_to_command); + } + + public int getTo_target() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getTo_task() { + return this.getOpcIntegerValue(item_to_task); + } Boolean isonline; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java index 33fea5d2b..cf1e06b86 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_ckk/SiemensConveyorCkkDeviceDriver.java @@ -125,7 +125,14 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl int branchProtocol = 0; String inst_message; String last_inst_message; + int to_command = 0; + int last_to_command = 0; + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; //当前指令 //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 @@ -152,9 +159,21 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl error = this.itemProtocol.getError(); task = this.itemProtocol.getTask(); heartbeat = this.itemProtocol.getHeartbeat(); + to_command = this.itemProtocol.getTo_command(); + to_target = this.itemProtocol.getTo_target(); + to_task = this.itemProtocol.getTo_task(); // if(heartbeat != last_heartbeat){ // logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat); // } + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } if (mode != last_mode) { if (mode == 2) { requireSucess = false; @@ -284,6 +303,9 @@ public class SiemensConveyorCkkDeviceDriver extends AbstractOpcDeviceDriver impl last_error = error; last_task = task; last_heartbeat = heartbeat; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; } private void shipDeviceUpdate() { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/ItemProtocol.java index acef45db6..9411bbba3 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/ItemProtocol.java @@ -77,6 +77,14 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_command); } + public int getTo_target() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getTo_task() { + return this.getOpcIntegerValue(item_to_task); + } + Boolean isonline; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/SiemensOneFloorAGVConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/SiemensOneFloorAGVConveyorDeviceDriver.java index 1a187246a..85bede597 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/SiemensOneFloorAGVConveyorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_onefloor_agv_conveyor/SiemensOneFloorAGVConveyorDeviceDriver.java @@ -97,6 +97,13 @@ public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDri int agvphase = 0; String task_code = null; int to_command = 0; + int last_to_command = 0; + + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; private String error_type = "ssx_error_type"; int phase = 0; int index = 0; @@ -152,6 +159,17 @@ public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDri error = this.itemProtocol.getError(); task = this.itemProtocol.getTask(); to_command = this.itemProtocol.getTo_command(); + to_target = this.itemProtocol.getTo_target(); + to_task = this.itemProtocol.getTo_task(); + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } if (error != last_error) { if (error != 0) { DeviceErrorLogDto dto = new DeviceErrorLogDto(); @@ -185,6 +203,9 @@ public class SiemensOneFloorAGVConveyorDeviceDriver extends AbstractOpcDeviceDri last_carrier_direction = carrier_direction; last_error = error; last_task = task; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; } 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 index 7fab9092f..3c4e9834f 100644 --- 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 @@ -128,6 +128,22 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_task2); } + public int getTo_target1() { + return this.getOpcIntegerValue(item_to_target1); + } + + public int getTo_target2() { + return this.getOpcIntegerValue(item_to_target2); + } + + public int getTo_onset1() { + return this.getOpcIntegerValue(item_to_onset1); + } + + public int getTo_onset2() { + return this.getOpcIntegerValue(item_to_onset2); + } + //是否有货 public int hasGoods(int move) { 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 5bdcab2be..d32d016f7 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 @@ -101,9 +101,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl int task2 = 0; int last_task2 = 0; int to_command1 = 0; + int last_to_command1 = 0; int to_command2 = 0; + int last_to_command2 = 0; int to_task1 = 0; + int last_to_task1 = 0; int to_task2 = 0; + int last_to_task2 = 0; + int to_target1 = 0; + int last_to_target1 = 0; + int to_target2 = 0; + int last_to_target2 = 0; + int to_onset1 = 0; + int last_to_onset1 = 0; + int to_onset2 = 0; + int last_to_onset2 = 0; + Boolean isonline = true; //前工位申请任务请求标记 Boolean requireSucess = false; @@ -179,6 +192,36 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl heartbeat = this.itemProtocol.getHeartbeat(); to_task1 = this.itemProtocol.getTo_task1(); to_task2 = this.itemProtocol.getTo_task2(); + to_target1 = this.itemProtocol.getTo_target1(); + to_target2 = this.itemProtocol.getTo_target2(); + to_onset1 = this.itemProtocol.getTo_onset1(); + to_onset2 = this.itemProtocol.getTo_onset2(); + + if (to_command1 != last_to_command1) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command1：" + last_to_command1 + "->" + to_command1); + } + if (to_target1 != last_to_target1) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target1：" + last_to_target1 + "->" + to_target1); + } + if (to_task1 != last_to_task1) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task1：" + last_to_task1 + "->" + to_task1); + } + if (to_onset1 != last_to_onset1) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset1：" + last_to_onset1 + "->" + to_onset1); + } + + if (to_command2 != last_to_command2) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command2：" + last_to_command2 + "->" + to_command2); + } + if (to_target2 != last_to_target2) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target2：" + last_to_target2 + "->" + to_target2); + } + if (to_task2 != last_to_task2) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task2：" + last_to_task2 + "->" + to_task2); + } + if (to_onset2 != last_to_onset2) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset2：" + last_to_onset2 + "->" + to_onset2); + } // if(heartbeat != last_heartbeat){ // logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat); // } @@ -761,6 +804,14 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl last_task1 = task1; last_task2 = task2; last_heartbeat = heartbeat; + last_to_command1 = to_command1; + last_to_task1 = to_task1; + last_to_onset1 = to_onset1; + last_to_target1 = to_target1; + last_to_command2 = to_command2; + last_to_task2 = to_task2; + last_to_onset2 = to_onset2; + last_to_target2 = to_target2; } public synchronized boolean task_check() { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/ItemProtocol.java index 03f6bb83d..cbcb51ac6 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/ItemProtocol.java @@ -92,7 +92,15 @@ public class ItemProtocol { return this.getOpcStringValue(item_barcode); } - public int getTotTask() { + public int getTo_command() { + return this.getOpcIntegerValue(item_to_command); + } + + public int getTo_target() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getTo_task() { return this.getOpcIntegerValue(item_to_task); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java index 77b1e3b10..62f636378 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java @@ -95,7 +95,6 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe int error = 0; int task = 0; int weight = 0; - int to_task = 0; String plcbarcode = null; String last_plcbarcode = null; int plcbarcode_length = 0; @@ -117,6 +116,15 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe String inst_message; String device_code; + int to_command = 0; + int last_to_command = 0; + + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; + String message; private String error_type = "ssx_error_type"; //请求成功标记 @@ -207,8 +215,20 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe task = this.itemProtocol.getTask(); plcbarcode = this.itemProtocol.getplcBarCode(); plcbarcode_length = this.itemProtocol.getBarCode_length(); - to_task = this.itemProtocol.getTotTask(); + to_command = this.itemProtocol.getTo_command(); + to_target = this.itemProtocol.getTo_target(); + to_task = this.itemProtocol.getTo_task(); weight = this.itemProtocol.getWeight(); + + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } if (mode != last_mode) { logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记"); if (mode == 2) { @@ -351,6 +371,9 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe last_plcbarcode_length = plcbarcode_length; last_plcbarcode = plcbarcode; last_weight = weight; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; } public boolean exe_error() {