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opt:内包间行架，输送线出口位驱动优化

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tuqiang
2023-11-10 10:38:27 +08:00
parent 7ec5df941c
commit c74ab66fdd
5 changed files with 435 additions and 452 deletions
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832
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
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@@ -5,27 +5,18 @@ import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSON;
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.AcsConfig;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.lamp_three_color.LampThreecolorDeviceDriver;
import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver;
import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingRequest;
import org.nl.acs.ext.wms.data.ApplyLabelingAndBindingResponse;
import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest;
import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -36,7 +27,6 @@ import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
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;
@@ -312,13 +302,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size);
}
if (task > 0 && getTo_task_type() == 1) {
if (task > 0 && getTo_task_type() == 1 && !requireSucess) {
update_instruction_status();
} else if (task > 0 && getTo_task_type() == 2) {//
} else if (task > 0 && getTo_task_type() == 2 && !requireSucess) {
update_instruction_status2();
} else if (task > 0 && getTo_task_type() == 6) {
} else if (task > 0 && getTo_task_type() == 6 && !requireSucess) {
update_instruction_status3();
} else if (task > 0 && getTo_task_type() == 7) {
} else if (task > 0 && getTo_task_type() == 7 && !requireSucess) {
update_instruction_status4();
}
@@ -426,503 +416,446 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
}
private synchronized void update_instruction_status() {
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
Instruction inst1 = checkInst();
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
Instruction inst1 = checkInst();
if (inst1 != null) {
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
String version = applyManipulatorActionResponse.getVersion();
String bushing_num = applyManipulatorActionResponse.getBushing_num();
String is_bushing = applyManipulatorActionResponse.getIs_bushing();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("inflatableShaftVersion", version);
map.put("tube_num", bushing_num);
map.put("is_wrapped", is_bushing);
map.put("to_putpoint", put_device_code);
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
//反馈尺寸
if (action == 2) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("2");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
this.writing(map);
} else {
requireSucess = false;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
}
//任务完成
if (action == 8) {
Instruction inst2 = checkInst();
if (inst2 != null) {
//任务完成
if (action == 8) {
try {
finish_instruction(inst2);
finish_instruction(inst1);
this.writing("to_command", "8");
requireSucess = true;
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
}
} else {
feedMessage = "";
}
}
private synchronized void update_instruction_status2() {
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
Instruction inst1 = checkInst();
if (inst1 != null) {
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
Instruction inst1 = checkInst();
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈气胀轴尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("to_task_type", "2");
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//申请放货点
if (action == 3) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
String detail_type = applyManipulatorActionResponse.getDetail_type();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
requireSucess = true;
}
//任务完成
if (action == 8) {
Instruction inst2 = checkInst();
if (inst2 != null) {
try {
finish_instruction(inst2);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
//反馈气胀轴尺寸
if (action == 2) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("2");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("to_task_type", "2");
this.writing(map);
} else {
requireSucess = false;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
//申请放货点
if (action == 3) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("3");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
requireSucess = true;
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
//任务完成
if (action == 8) {
if (inst1 != null) {
try {
requireSucess = true;
finish_instruction(inst1);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
}
} else {
feedMessage = "";
}
}
private synchronized void update_instruction_status3() {
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
Instruction inst1 = checkInst();
if (inst1 != null) {
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
Instruction inst1 = checkInst();
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
//从拔轴机取货的新行架任务
if (mode == 3 && action == 1 && move == 0 && task > 0) {
Instruction inst2 = checkInst();
if (ObjectUtil.isNotEmpty(inst2)) {
String start_device_code = inst2.getStart_device_code();
Device device = deviceAppService.findDeviceByCode(start_device_code);
PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
int move = pluggingUnpluggingMachineDeviceDriver.getMove();
if (mode == 2 && error1 == 0 && move == 1) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "1");
this.writing(map);
this.setFeedbackSucess(true);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 1) {
feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
String version = applyManipulatorActionResponse.getVersion();
String bushing_num = applyManipulatorActionResponse.getBushing_num();
String is_bushing = applyManipulatorActionResponse.getIs_bushing();
String detail_type = applyManipulatorActionResponse.getDetail_type();
//反馈尺寸
if (action == 2) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("2");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
this.writing(map);
} else {
requireSucess = false;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//从拔轴机取货的新行架任务
if (mode == 3 && action == 1 && move == 0 && task > 0) {
if (ObjectUtil.isNotEmpty(inst1)) {
String start_device_code = inst1.getStart_device_code();
Device device = deviceAppService.findDeviceByCode(start_device_code);
PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
int move = pluggingUnpluggingMachineDeviceDriver.getMove();
if (mode == 2 && error1 == 0 && move == 1) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "1");
this.writing(map);
requireSucess = true;
}
}
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 1) {
feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
//申请放货点
if (action == 3) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("3");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("inflatableShaftVersion", version);
map.put("tube_num", bushing_num);
map.put("is_wrapped", is_bushing);
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//申请放货点
if (action == 3) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
String detail_type = applyManipulatorActionResponse.getDetail_type();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
}
//任务完成
if (action == 8) {
Instruction inst2 = checkInst();
if (inst2 != null) {
//任务完成
if (action == 8) {
try {
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
finish_instruction(inst2);
requireSucess = true;
finish_instruction(inst1);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
}
} else {
feedMessage = "";
}
}
private synchronized void update_instruction_status4() {
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
Instruction inst1 = checkInst();
if (inst1 != null) {
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
Instruction inst1 = checkInst();
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
String version = applyManipulatorActionResponse.getVersion();
String bushing_num = applyManipulatorActionResponse.getBushing_num();
String is_bushing = applyManipulatorActionResponse.getIs_bushing();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("inflatableShaftVersion", version);
map.put("tube_num", bushing_num);
map.put("is_wrapped", is_bushing);
map.put("to_putpoint", put_device_code);
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//申请放货点
if (action == 3) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
String detail_type = applyManipulatorActionResponse.getDetail_type();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_task_type", detail_type);
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
}
//申请新取货点
if (action == 4) {
applyManipulatorActionRequest.setType("4");
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
map.put("to_new_getpoint", get_device_code);
map.put("to_putpoint", put_device_code);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
message = "申请新取货点成功";
} else {
requireSucess = true;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//申请二次放货点
if (action == 5) {
applyManipulatorActionRequest.setType("5");
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
map.put("to_task_type", detail_type);
map.put("to_two_putpoint", put_device_code2);
map.put("to_new_getpoint", get_device_code);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
message = "申请二次放货点成功";
} else {
requireSucess = true;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//缓存库取货完成
if (action == 6) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "6");
requireSucess = true;
}
//缓存库放货完成
if (action == 7) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "7");
requireSucess = true;
}
//放货完成
if (action == 8) {
Instruction inst2 = checkInst();
if (inst2 != null) {
try {
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
finish_instruction(inst2);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
this.instruction_update_time = date;
//更改任务状态
if (task > 0) {
//inst_message
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "0")) {
inst1.setInstruction_status("1");
inst1.setExecute_device_code(this.device_code);
instructionService.update(inst1);
}
}
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
//反馈尺寸
if (action == 2) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("2");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
this.writing(map);
} else {
requireSucess = false;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
//申请放货点
if (action == 3) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("3");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
requireSucess = true;
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
//申请新取货点
if (action == 4) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("4");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
map.put("to_new_getpoint", get_device_code);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
message = "申请新取货点成功";
} else {
requireSucess = false;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//申请二次放货点
if (action == 5) {
String task_code = inst1.getTask_code();
applyManipulatorActionRequest.setType("5");
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
map.put("to_two_putpoint", put_device_code2);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
message = "申请二次放货点成功";
} else {
requireSucess = false;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//缓存库取货完成
if (action == 6) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "6");
requireSucess = true;
}
//缓存库放货完成
if (action == 7) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "7");
requireSucess = true;
}
//放货完成
if (action == 8) {
if (inst1 != null) {
try {
requireSucess = true;
finish_instruction(inst1);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
feedMessage = "";
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
}
} else {
feedMessage = "";
}
}
@@ -1086,7 +1019,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
taskDtoList = this.sortTask(taskDtoList);
task = taskDtoList.get(j);
// 9 行架任务
if (!StrUtil.equals(task.getTruss_type(), "9")) {
if (!StrUtil.equals(task.getTask_type(), "9")) {
task = null;
continue;
}
@@ -1098,7 +1031,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
if (!ObjectUtil.isEmpty(task)) {
Device nextdevice = deviceAppService.findDeviceByCode(task.getNext_device_code());
Device startdevice = deviceAppService.findDeviceByCode(task.getStart_device_code());
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
if (startdevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) startdevice.getDeviceDriver();

20
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java
View File

@@ -303,8 +303,10 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
if (task != last_task) {
logServer.deviceItemValue(this.device_code, "task", String.valueOf(task));
logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
if ("true".equals(this.device.getExtraValue().get("task_update"))) {
taskDeviceUpdate();
}
}
if (move != 0 && task > 0) {
// logServer.deviceExecuteLog(device_code, "", "", "输送线任务开始反馈任务状态,指令号:" + task);
//inst_message
@@ -431,6 +433,22 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme
}
private void taskDeviceUpdate() {
Instruction inst = checkInst();
JSONObject param = new JSONObject() {{
put("device_code", device_code);
put("task_code", inst.getTask_code());
}};
logServer.deviceExecuteLog(this.device_code, "", "", "task变化请求LMS,参数:" + param);
HttpResponse response = acsToWmsService.taskDeviceUpdate(param);
if (response == null || response.getStatus() == 200) {
logServer.deviceExecuteLog(this.device_code, "", "", "task变化请求LMS,接口返回:" + response.body());
}
}
public boolean exe_error() {
if (this.error == 0) {
return true;

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@@ -112,6 +112,8 @@ public interface AcsToWmsService {
// 输送线有货变成无货时向lms请求
HttpResponse shipDeviceUpdate(JSONObject param);
HttpResponse taskDeviceUpdate(JSONObject param);
void sendDeviceStatus(JSONObject param);
ApplyManipulatorActionResponse applyManipulatorActionRequest(ApplyManipulatorActionRequest param);

23
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -608,6 +608,29 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
return null;
}
@Override
public HttpResponse taskDeviceUpdate(JSONObject param) {
try {
MDC.put(log_file_type, log_type);
// log.info("shipDeviceUpdate-----输入参数{}", param);
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("taskDeviceUpdate");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
return HttpRequest
.post(url)
.body(param.toString())
.execute();
}
} catch (Throwable ignored) {
} finally {
MDC.remove(log_file_type);
}
return null;
}
@Override
public void sendDeviceStatus(JSONObject param) {
try {