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烘箱机械手业务

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This commit is contained in:
gengby
2022-11-21 13:54:30 +08:00
parent 6147615986
commit ba3d7a4f99
8 changed files with 345 additions and 35 deletions
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2
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hongxiang_device/HongXiangConveyorDefination.java
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@@ -11,7 +11,7 @@ import java.util.LinkedList;
import java.util.List;
/**
* 豪凯自动对接线
* 烘箱设备对接位
*/
@Service
public class HongXiangConveyorDefination implements OpcDeviceDriverDefination {

83
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hongxiang_device/HongXiangConveyorDeviceDriver.java
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@@ -65,12 +65,37 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
private Date instruction_apply_time = new Date();
private int instruction_require_time_out = 3000;
int heartbeat = 0;
int mode = 0;
int move = 0;
int action = 0;
int error = 0;
int task = 0;
public int heartbeat = 0;
public int mode = 0;
public int move = 0;
public int action = 0;
public int error = 0;
public int door = 0;
public int temperature = 0;
public int countdown = 0;
public int finish = 0;
public int task = 0;
public int error1 = 0;
public int material = 0;
public int consumption = 0;
public int voltage = 0;
public int current = 0;
public int last_heartbeat = 0;
public int last_mode = 0;
public int last_move = 0;
public int last_action = 0;
public int last_error = 0;
public int last_door = 0;
public int last_temperature = 0;
public int last_countdown = 0;
public int last_finish = 0;
public int last_task = 0;
public int last_error1 = 0;
public int last_material = 0;
public int last_consumption = 0;
public int last_voltage = 0;
public int last_current = 0;
Boolean isonline = true;
@@ -79,10 +104,6 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
//1-执行任务；2-取货完成；3-放货完成；
int flag;
int last_mode = 0;
int last_move = 0;
int last_error = 0;
String device_code;
@Override
@@ -100,11 +121,19 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
device_code = this.getDeviceCode();
heartbeat = this.itemProtocol.getItem_heartbeat();
mode = this.itemProtocol.getItem_mode();
move = this.itemProtocol.getItem_mode();
error = this.itemProtocol.getItem_error();
task = this.itemProtocol.getItem_task();
move = this.itemProtocol.getItem_move();
action = this.itemProtocol.getItem_action();
error = this.itemProtocol.getItem_error();
door = this.itemProtocol.getItem_door();
temperature = this.itemProtocol.getItem_temperature();
countdown = this.itemProtocol.getItem_countdown();
finish = this.itemProtocol.getItem_finish();
task = this.itemProtocol.getItem_task();
error1 = this.itemProtocol.getItem_error1();
material = this.itemProtocol.getItem_material();
consumption = this.itemProtocol.getItem_consumption();
voltage = this.itemProtocol.getItem_voltage();
current = this.itemProtocol.getItem_current();
if (mode != last_mode) {
this.setRequireSucess(false);
@@ -140,7 +169,18 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
last_mode = mode;
last_move = move;
last_action = action;
last_error = error;
last_door = door;
last_temperature = temperature;
last_countdown = countdown;
last_finish = finish;
last_task = task;
last_error1 = error1;
last_material = material;
last_consumption = consumption;
last_voltage = voltage;
last_current = current;
}
@@ -162,7 +202,7 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
public void writing(int command) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
+ "." +ItemProtocol.item_to_command;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
@@ -170,6 +210,19 @@ public class HongXiangConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
ReadUtil.write(itemMap, server);
}
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<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_param, value);
// itemMap.put(to_param, Integer.parseInt(value));
ReadUtil.write(itemMap, server);
}
public void writing(int type, int command) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_command;

58
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hongxiang_device/ItemProtocol.java
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@@ -43,29 +43,51 @@ public class ItemProtocol {
this.driver = driver;
}
public int getItem_heartbeat() {
public int getItem_heartbeat(){
return this.getOpcIntegerValue(item_heartbeat);
}
public int getItem_mode() {
} ;
public int getItem_mode(){
return this.getOpcIntegerValue(item_mode);
}
public int getItem_move() {
} ;
public int getItem_move(){
return this.getOpcIntegerValue(item_move);
}
public int getItem_error() {
return this.getOpcIntegerValue(item_error);
}
public int getItem_action() {
} ;
public int getItem_action(){
return this.getOpcIntegerValue(item_action);
}
public int getItem_task() {
};
public int getItem_error(){
return this.getOpcIntegerValue(item_error);
} ;
public int getItem_door(){
return this.getOpcIntegerValue(item_door);
} ;
public int getItem_temperature(){
return this.getOpcIntegerValue(item_temperature);
} ;
public int getItem_countdown(){
return this.getOpcIntegerValue(item_countdown);
} ;
public int getItem_finish(){
return this.getOpcIntegerValue(item_finish);
} ;
public int getItem_task(){
return this.getOpcIntegerValue(item_task);
}
} ;
public int getItem_error1(){
return this.getOpcIntegerValue(item_error1);
} ;
public int getItem_material(){
return this.getOpcIntegerValue(item_material);
} ;
public int getItem_consumption(){
return this.getOpcIntegerValue(item_consumption);
} ;
public int getItem_voltage(){
return this.getOpcIntegerValue(item_voltage);
} ;
public int getItem_current(){
return this.getOpcIntegerValue(item_current);
} ;
Boolean isonline;

200
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
View File

@@ -13,6 +13,7 @@ import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -25,6 +26,7 @@ import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.wql.util.SpringContextHolder;
import org.openscada.opc.lib.da.Server;
import org.springframework.beans.factory.annotation.Autowired;
@@ -115,6 +117,9 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
error = this.itemProtocol.getError();
task = this.itemProtocol.getTask();
if (mode != last_mode) {
if (mode == 2) {
this.setRequireSucess(false);
}
logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
}
@@ -139,6 +144,99 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
}
//更改任务状态
if (task > 0) {
//inst_message
Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
instructionService.update(inst1);
TaskDto taskDto = taskserver.findByCode(inst1.getTask_code());
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getExt_task_id());
map.put("task_status", "1");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
}
}
}
//申请取货 判断取货位是否有货 有货就下发允许取货命令
if (mode == 3 && action == 1 && move == 0 && task > 0) {
Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task));
if (ObjectUtil.isNotEmpty(inst2)) {
String start_device_code = inst2.getStart_device_code();
Device device = appService.findDeviceByCode(start_device_code);
HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing("to_door", "1");
if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) {
this.writing("to_command", "2");
}
} else {
this.writing("to_command", "2");
}
}
}
//申请放货
if (mode == 3 && action == 3 && move == 1 && task > 0) {
Instruction instructionDto = instructionService.findByCode(String.valueOf(task));
String next_device_code = instructionDto.getNext_device_code();
Device nextDevice = appService.findDeviceByCode(next_device_code);
HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing("to_door", "1");
if (hongXiangConveyorDeviceDriver.getDoor() == 1 && hongXiangConveyorDeviceDriver.getAction() == 1 && hongXiangConveyorDeviceDriver.getError1() == 0) {
this.writing("to_command", "3");
}
} else {
this.writing("to_command", "3");
}
}
//放货完成
if (mode == 3 && action == 4 && move == 0 && task > 0) {
Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task));
if (inst2 != null) {
if (StrUtil.equals(inst2.getInstruction_status(), "1")) {
try {
finish_instruction(inst2);
} catch (Exception e) {
e.printStackTrace();
}
TaskDto taskDto = taskserver.findByCode(inst2.getTask_code());
JSONArray array = new JSONArray();
JSONObject map = new JSONObject();
map.put("task_id", taskDto.getTask_id());
map.put("task_status", "2");
array.add(map);
acsToWmsService.feedbackTaskStatusToWms(array);
String next_device_code = taskDto.getNext_device_code();
String start_device_code = taskDto.getStart_device_code();
Device startDevice = appService.findDeviceByCode(start_device_code);
Device nextDevice = appService.findDeviceByCode(next_device_code);
HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
if (startDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startDevice.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing("to_door", "0");
}
if (nextDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) nextDevice.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing("to_door", "0");
}
this.writing("to_command", "0");
this.writing("to_onset", "0");
this.writing("to_target", "0");
this.writing("to_task", "0");
}
}
}
} catch (Exception var17) {
return;
}
@@ -165,6 +263,11 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
Instruction instruction = null;
List toInstructions;
//行架机械手申请任务
if (mode == 2 && move == 0 && task == 0 && !requireSucess) {
applyTask();
}
}
last_mode = mode;
last_move = move;
@@ -175,7 +278,6 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
public boolean exe_error() {
if (this.error == 0) {
return true;
@@ -185,6 +287,102 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
}
/**
* 申请任务
*
* @param
*/
public synchronized boolean applyTask() {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
this.instruction_require_time = date;
//抓取工位
List<String> getDeviceCodeList = this.getExtraDeviceCodes("get_device_code");
//放货工位
List<String> putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
TaskDto task = null;
for (int i = 0; i < getDeviceCodeList.size(); i++) {
String startDeviceCode = getDeviceCodeList.get(i);
List<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
if (ObjectUtil.isNotEmpty(taskDtos)) {
TaskDto taskDto = taskDtos.get(0);
Instruction instruction = instructionService.findByTaskcode(taskDto.getTask_code());
instruction.setInstruction_status("1");
instruction.setUpdate_time(DateUtil.now());
instructionService.update(instruction);
int start_addrIndex = getDeviceCodeList.indexOf(instruction.getStart_device_code());
int next_addrIndex = putDeviceCodeList.indexOf(instruction.getNext_device_code());
writing("to_onset", String.valueOf(start_addrIndex));
writing("to_target", String.valueOf(next_addrIndex));
writing("to_task", instruction.getInstruction_code());
writing("to_command", "1");
this.setRequireSucess(true);
return true;
} else {
List<TaskDto> taskDtoList = taskserver.queryTaskByDeviceCode(startDeviceCode);
if (ObjectUtil.isNotEmpty(taskDtoList)) {
task = taskDtoList.get(0);
}
if (ObjectUtil.isNotEmpty(task)) break;
}
}
if (!ObjectUtil.isEmpty(task)) {
String taskid = task.getTask_id();
String taskcode = task.getTask_code();
String vehiclecode = task.getVehicle_code();
String priority = task.getPriority();
String start_point_code = task.getStart_point_code();
String start_device_code = task.getStart_device_code();
String route_plan_code = task.getRoute_plan_code();
String next_point_code = task.getNext_point_code();
String next_device_code = task.getNext_device_code();
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(task.getRemark());
instdto.setMaterial(task.getMaterial());
instdto.setQuantity(task.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setNext_device_code(next_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setNext_point_code(next_point_code);
instdto.setPriority(priority);
instdto.setInstruction_status("1");
instdto.setExecute_device_code(start_point_code);
try {
instructionService.create(instdto);
} catch (Exception e) {
e.printStackTrace();
}
//创建指令后修改任务状态
task.setTask_status("1");
task.setUpdate_time(DateUtil.now());
taskserver.update(task);
//根据获取托盘信息返回的结果 得到对应抓取工位/放货工位设备编码所在的索引位置
int start_addrIndex = getDeviceCodeList.indexOf(start_device_code);
int next_addrIndex = putDeviceCodeList.indexOf(next_device_code);
writing("to_onset", String.valueOf(start_addrIndex));
writing("to_target", String.valueOf(next_addrIndex));
writing("to_task", instdto.getInstruction_code());
writing("to_command", "1");
this.setRequireSucess(true);
}
return true;
}
}
public boolean exe_business() {
return true;
}

2
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java
View File

@@ -86,6 +86,8 @@ public interface InstructionService {
*/
Instruction findByTaskcode(String code);
Instruction findByTaskcodeAndStatus(String code);
/**
* 根据任务id查询
*

11
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -224,6 +224,17 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
return obj;
}
@Override
public Instruction findByTaskcodeAndStatus(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("task_code ='" + code + "' and instruction_status = '0'").uniqueResult(0);
if (ObjectUtil.isNotEmpty(json)){
final Instruction obj = json.toJavaObject(Instruction.class);
return obj;
}
return null;
}
@Override
public Instruction findByTaskid(String id, String wherecaluse) {
if (!StrUtil.isEmpty(wherecaluse)) {

8
acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -104,6 +104,14 @@ public interface TaskService {
*/
List<TaskDto> queryTaskByDeviceCode(String device_code);
/**
* 根据设备号和任务状态查询
* @param device_code
* @return
*/
List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code);
/**
* 根据关联编号查询非立刻下发的关联任务
*/

16
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -273,6 +273,22 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
return list;
}
@Override
public List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code) {
List<TaskDto> list = new ArrayList<>();
Iterator<TaskDto> iterator = tasks.iterator();
while (iterator.hasNext()) {
TaskDto task = iterator.next();
if (task.getStart_device_code().equals(device_code) && StrUtil.equals(task.getTask_status(), "1")) {
Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code());
if (ObjectUtil.isNotEmpty(instruction)){
list.add(task);
}
}
}
return list;
}
@Override
public TaskDto queryTaskByLinkNum(String link_num) {
return null;