From d1dcf6a20032a1ed247d5a24d6a47884c7bcc9bb Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Sat, 6 Jul 2024 16:20:32 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20rgv=E3=80=81=E6=A0=87=E5=87=86=E7=89=88?= =?UTF-8?q?=E6=9C=BA=E6=A2=B0=E6=89=8B=E3=80=81=E5=AE=9A=E6=97=B6=E5=88=A0?= =?UTF-8?q?=E9=99=A4Lucene=E6=97=A5=E5=BF=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/org/nl/acs/agv/AgvWaitUtil.java | 4 +- .../server/impl/XianGongAgvServiceImpl.java | 84 ++-- .../BoxStorageOutConveyorDeviceDriver.java | 3 +- ...nishedProductOutBindLableDeviceDriver.java | 4 +- ...ConveyorWithScannerWeightDeviceDriver.java | 5 + .../UnBoxLableConveyorDeviceDriver.java | 2 +- .../one_manipulator/rgv/ItemProtocol.java | 113 ++++++ .../one_manipulator/rgv/OneRgvDefination.java | 57 +++ .../rgv/OneRgvDeviceDriver.java | 372 ++++++++++++++++++ .../standard_manipulator/ItemProtocol.java | 113 ++++++ .../StandardManipulatoDeviceDriver.java | 372 ++++++++++++++++++ .../StandardManipulatorDefination.java | 56 +++ ...TwoManipulatorManipulatorDeviceDriver.java | 51 ++- .../StandardStackerDeviceDriver.java | 6 + .../org/nl/acs/task/enums/ActionTypeEnum.java | 9 +- .../nl/acs/task/enums/AgvActionTypeEnum.java | 2 + .../task/service/impl/TaskServiceImpl.java | 29 +- .../service/quartz/task/AutoCreateInst.java | 3 + .../src/views/acs/device/config.vue | 6 +- .../one_rgv.vue} | 244 ++---------- .../one_manipulator/standard_manipulator.vue | 351 +++++++++++++++++ 21 files changed, 1594 insertions(+), 292 deletions(-) create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/ItemProtocol.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDefination.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDeviceDriver.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/ItemProtocol.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatoDeviceDriver.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatorDefination.java rename acs2/nladmin-ui/src/views/acs/device/driver/{standard_manipulator.vue => one_manipulator/one_rgv.vue} (56%) create mode 100644 acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/standard_manipulator.vue diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java index ce04c7aef..74b903364 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java @@ -152,7 +152,7 @@ public class AgvWaitUtil { param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString()); LuceneLogDto logDto = LuceneLogDto.builder() .device_code(inst.getCarno()) - .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getCode().toString()) + .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getStatus()) .build(); logDto.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto); @@ -168,7 +168,7 @@ public class AgvWaitUtil { } else { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(inst.getCarno()) - .content("追加动诺宝作块失败,返回参数:" + jo.getString("body")) + .content("请求lms追加动诺宝作块失败,返回参数:" + jo.getString("body")) .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index 2644816d7..f61af8435 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -778,7 +778,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { //如果是放货二次分配，取放货二次分配需要重新追加动作块 if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) { Integer actionType = ActionTypeEnum.OUT_STOCK.getCode(); - String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto); + String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto); // sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), deviceCodeNow, instructionDto); log.info("放货二次分配追加诺宝成功，新点位 - {}", newPointCode); JSONObject map = new JSONObject(); @@ -823,14 +823,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { if (address.contains("GET")) { //取货完成 JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto); - if (StringUtil.equals("200",jsonObject.getString("status"))){ + if (StringUtil.equals("200", jsonObject.getString("status"))) { log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow); return jsonObject; } } else if (address.contains("PUT")) { //放货完成 JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto); - if (StringUtil.equals("200",jsonObject.getString("status"))){ + if (StringUtil.equals("200", jsonObject.getString("status"))) { log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow); return jsonObject; } @@ -842,7 +842,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { } private String applyCCAgvTask(String task_code, Instruction instructionDto) { - try { JSONObject param = new JSONObject(); param.put("task_code", task_code); LuceneLogDto logDto = LuceneLogDto.builder() @@ -873,12 +872,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { luceneExecuteLogService.deviceExecuteLog(logDto2); throw new BadRequestException("叉车二次分配请求lms返回失败"); } - } catch (Exception e) { - e.printStackTrace(); - } - - return null; - } private void sendAddSequencesToCCAgv(String instructionCode, String nextPoint, Instruction instructionDto) { @@ -956,47 +949,44 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { } private String applyXGAgvTask(String task_code, Integer actionType, Instruction instructionDto) { - try { - JSONObject param = new JSONObject(); - param.put("taskCode", task_code); - param.put("actionType", actionType.toString()); - LuceneLogDto logDto = LuceneLogDto.builder() - .device_code(instructionDto.getCarno()) - .content("二次分配请求lms,参数:" + task_code + "--" + AgvActionTypeEnum.getStatus(actionType) ) - .build(); - logDto.setLog_level(4); - luceneExecuteLogService.deviceExecuteLog(logDto); - String response = acsToWmsService.secondaryAllocationPoint(param); - JSONObject jo = JSON.parseObject(response); - if (jo.getInteger("status") == 200) { - LuceneLogDto logDto2 = LuceneLogDto.builder() - .device_code(instructionDto.getCarno()) - .content("二次分配请求lms,参数,接口返回:" + jo) - .build(); - logDto2.setLog_level(4); - //二次分配更新点位 - updataTask(instructionDto, jo.getString("data")); - luceneExecuteLogService.deviceExecuteLog(logDto2); - if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) { - //请求成功调用诺宝追加动作块 - sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto); - } - return jo.getString("data"); - } else { - LuceneLogDto logDto2 = LuceneLogDto.builder() - .device_code(instructionDto.getCarno()) - .content("二次分配请求lms,返回参数:" + jo.getString("body")) - .build(); - logDto2.setLog_level(4); - luceneExecuteLogService.deviceExecuteLog(logDto2); - throw new BadRequestException("二次分配请求lms返回失败"); + JSONObject param = new JSONObject(); + param.put("taskCode", task_code); + param.put("actionType", actionType.toString()); + LuceneLogDto logDto = LuceneLogDto.builder() + .device_code(instructionDto.getCarno()) + .content("二次分配请求lms,参数:" + task_code + "--" + ActionTypeEnum.getStatus(actionType)) + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto); + String response = acsToWmsService.secondaryAllocationPoint(param); + JSONObject jo = JSON.parseObject(response); + if (jo.getInteger("status") == 200) { + LuceneLogDto logDto2 = LuceneLogDto.builder() + .device_code(instructionDto.getCarno()) + .content("二次分配请求lms,参数,接口返回:" + jo) + .build(); + logDto2.setLog_level(4); + //二次分配更新点位 + updataTask(instructionDto, jo.getString("data")); + luceneExecuteLogService.deviceExecuteLog(logDto2); + if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) { + //请求成功调用诺宝追加动作块 + sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto); } - } catch (Exception e) { - e.printStackTrace(); + return jo.getString("data"); + + } else { + LuceneLogDto logDto2 = LuceneLogDto.builder() + .device_code(instructionDto.getCarno()) + .content("二次分配请求lms,返回参数:" + jo.getString("body")) + .build(); + logDto2.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto2); + throw new BadRequestException("二次分配请求lms返回失败"); } - return null; + } private void updataTask(Instruction instructionDto, String newPoint) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java index e466a93b3..3611021e6 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java @@ -196,7 +196,8 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i if (move != 0 && task > 0) { if (null!=inst) { inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code(); - } update_instruction_status(); + } + update_instruction_status(); } } catch (Exception var17) { var17.printStackTrace(); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java index 5d09abbd8..45120eb71 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/FinishedProductOutBindLableDeviceDriver.java @@ -358,7 +358,7 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr String response = acsToWmsService.deviceApplyTwo(param); JSONObject jo = JSON.parseObject(response); message = "申请捆扎,参数,接口返回:" + jo; - if (StrUtil.isNotEmpty(jo.getString("body")) || jo.getInteger("status") == 200) { + if ( jo.getInteger("status") == 200) { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) .content("申请捆扎,参数,接口返回:" + jo) @@ -376,6 +376,8 @@ public class FinishedProductOutBindLableDeviceDriver extends AbstractOpcDeviceDr .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); + message = "申请捆扎报错,参数,接口返回:" + jo; + } } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java index 2deb516f1..fe1286642 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java @@ -444,6 +444,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv map2.put("value", 23); list2.add(map2); this.writing(list2); + requireSucess = true; } else { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) @@ -451,6 +452,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); + message = "申请高度等级报错,返回参数:" + jo; } } catch (Exception e) { e.printStackTrace(); @@ -511,6 +513,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); + message = "申请退货入库报错,返回参数:" + jo; } } catch (Exception e) { e.printStackTrace(); @@ -677,6 +680,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv map.put("value", mode); list1.add(map); this.writing(list1); + requireSucess = true; } else { this.iserror = false; LuceneLogDto logDto2 = LuceneLogDto.builder() @@ -684,6 +688,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv .content("木箱、子卷入库申请入库任务,返回参数:" + response) .build(); logDto2.setLog_level(4); + message = "木箱、子卷入库申请入库任务报错,返回参数:" + jo; luceneExecuteLogService.deviceExecuteLog(logDto2); } } catch (Exception e) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java index 92917d98e..37bf7ca51 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java @@ -264,7 +264,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); - + requireSucess = true; packagePLCData(jo); String isUncap = jo.getString("isUncap"); if ("1".equals(isUncap)){ diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/ItemProtocol.java new file mode 100644 index 000000000..e0ad618d8 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/ItemProtocol.java @@ -0,0 +1,113 @@ +package org.nl.acs.device_driver.one_manipulator.rgv; + +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"; + //任务号 + public static String item_task = "task"; + //报警 + public static String item_error = "error"; + + + + + private OneRgvDeviceDriver driver; + + public ItemProtocol(OneRgvDeviceDriver 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.isBlank(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/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDefination.java new file mode 100644 index 000000000..d6cbe17eb --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDefination.java @@ -0,0 +1,57 @@ +package org.nl.acs.device_driver.one_manipulator.rgv; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.enums.DeviceType; + +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +@Service +public class OneRgvDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "one_rgv"; + } + + @Override + public String getDriverName() { + return "一楼rgv"; + } + + @Override + public String getDriverDescription() { + return "一楼rgv"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new OneRgvDeviceDriver()).setDevice(device).setDriverDefination(this); + } + + @Override + public Class getDeviceDriverType() { + return OneRgvDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.rgv); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDeviceDriver.java new file mode 100644 index 000000000..d1d4ca998 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/rgv/OneRgvDeviceDriver.java @@ -0,0 +1,372 @@ +package org.nl.acs.device_driver.one_manipulator.rgv; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.service.DeviceExtraService; +import org.nl.acs.device.service.impl.DeviceExtraServiceImpl; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest; +import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.history.ErrorUtil; +import org.nl.acs.history.service.DeviceErrorLogService; +import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.route.service.impl.RouteLineServiceImpl; +import org.nl.acs.task.service.TaskService; +import org.nl.config.SpringContextHolder; +import org.nl.config.language.LangProcess; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; + +/** + * RGV + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class OneRgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { + + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + @Autowired + RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class); + @Autowired + DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class); + @Autowired + DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + @Autowired + LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.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; + //气涨轴条码 + String barcode; + String last_barcode; + + + int heartbeat = 0; + int last_heartbeat = 0; + + + + String to_sub_volume_no; + String last_to_sub_volume_no; + + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + private Date instruction_update_time = new Date(); + private int instruction_update_time_out = 1000; + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + + private int instruction_require_time_out = 3000; + //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; + private String error_type = "hxhj_error_type"; + + //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; + + String left = "1"; + String right = "2"; + + //当前指令 + Instruction inst = null; + + //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成 + int now_steps_type = 0; + String notCreateTaskMessage = ""; + String notCreateInstMessage = ""; + String feedMessage = ""; + + + List getDeviceCodeList = null; + + List putDeviceCodeList = null; + + + @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(); + heartbeat = this.itemProtocol.getHeartbeat(); + + + if (mode != last_mode) { + requireSucess = false; + } + + + } catch (Exception var17) { + var17.printStackTrace(); + logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol)); + + } + + if (mode == 0) { + this.setIsonline(false); + message = "universal_off-line"; + //有报警 + } else if (error != 0) { + this.setIserror(true); + message = "universal_message3"; + //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; + last_heartbeat = heartbeat; + last_barcode = barcode; + + } + + /** + * // * 申请任务 + * // * + * // * @param + * // + */ + public synchronized void applyTask() { + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + String direction = (String) this.getDevice().getExtraValue().get("direction"); + applyManipulatorActionRequest.setDevice_code(device_code); + applyManipulatorActionRequest.setDirection(direction);//rgv申请位置 + applyManipulatorActionRequest.setQzz_no(String.valueOf(barcode));//气涨轴编码 + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + Map map = new LinkedHashMap<>(); + if (applyManipulatorActionResponse.getstatus() == 200) { + Map data = applyManipulatorActionResponse.getData(); + String point_code2 = data.get("point_code2");//目标站点 + Device deviceByCode = deviceAppService.findDeviceByCode(point_code2); + String address = deviceByCode.getExtraValue().get("address").toString(); + String material_code = data.get("material_code");//子卷号 + String to_is_labeling = data.get("to_is_labeling");//是否贴标 + map.put("to_target", address); + map.put("to_sub_volume_no", material_code); + map.put("to_command", "1"); + if (StrUtil.equals("1",to_is_labeling)){ + map.put("to_is_labeling","1"); + }else { + map.put("to_is_labeling","0"); + } + this.writing(map); + logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务,返回参数:" + applyManipulatorActionResponse); + message = "universal_message12"; + requireSucess = true; + } else { + map.put("to_command", 99); + this.writing(map); + requireSucess = true; + message = "universal_message13"; + logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务反馈失败,返回参数:" + applyManipulatorActionResponse); + } + } + + public void writing(Map map) { + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + Map itemMap = new LinkedHashMap<>(); + map.forEach((key, value) -> { + if (ObjectUtil.isNotEmpty(value)) { + itemMap.put(getToParam() + key, value); + } + }); + if (ObjectUtil.isNotEmpty(itemMap)) { + this.control(itemMap); + logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap); + LuceneLogDto logDto = LuceneLogDto.builder() + .device_code(device_code) + .content("下发多个电气信号" + itemMap) + .build(); + logDto.setLog_level(3); + luceneExecuteLogService.deviceExecuteLog(logDto); + } + } + + public String getToParam() { + return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + "."; + } + + @Override + public JSONObject getDeviceStatusName() { + Map map = new LinkedHashMap<>(); + + String mode = ""; + String move = ""; + String action = ""; + String walk_y = ""; + if (this.getMode() == 0) { + mode = LangProcess.msg("universal_off-line"); + } else if (this.getMode() == 1) { + mode = LangProcess.msg("universal_stand-alone"); + } else if (this.getMode() == 2) { + mode = LangProcess.msg("universal_standby"); + } else if (this.getMode() == 3) { + mode = LangProcess.msg("universal_operation"); + } + + if (this.getMove() == 0) { + move = LangProcess.msg("universal_no"); + map.put("hasGoods", false); + } else if (this.getMove() == 1) { + move = LangProcess.msg("universal_yes"); + map.put("hasGoods", true); + } else if (this.getMove() == 2) { + move = LangProcess.msg("universal_two_yes"); + map.put("hasGoods", true); + } + + String requireSucess = LangProcess.msg("universal_actionMessage4"); + if (this.requireSucess) { + requireSucess = LangProcess.msg("universal_actionMessage5"); + } + map.put("requireSucess", requireSucess); + if (this.getAction() == 1) { + action = LangProcess.msg("universal_delivery"); + } else if (this.getAction() == 2) { + action = LangProcess.msg("universal_completed"); + } else if (this.getAction() == 3) { + action = LangProcess.msg("universal_releasing"); + } else if (this.getAction() == 4) { + action = LangProcess.msg("universal_releasing_completed"); + } + + map.put("device_name", this.getDevice().getDevice_name()); + map.put("mode", mode); + map.put("move", move); + /*jo.put("action", action);*/ + /*jo.put("task", task);*/ + /*jo.put("walk_y", this.walk_y);*/ + map.put("isOnline", this.getIsonline()); + map.put("error", ErrorUtil.getDictDetail("error_type", String.valueOf(this.getError()))); + map.put("isError", this.getIserror()); + map.put("message", LangProcess.msg(message)); + /*jo.put("notCreateTaskMessage", notCreateTaskMessage); + jo.put("notCreateInstMessage",notCreateInstMessage);*/ + map.put("feedMessage", LangProcess.msg(feedMessage)); + map.put("driver_type", "siemens_conveyor"); + map.put("is_click", true); + JSONObject jo = new JSONObject(map); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + String requestSucess = data.getString("requireSucess"); + if (StrUtil.equals(requestSucess, "0")) { + this.requireSucess = false; + } else if (StrUtil.equals(requestSucess, "1")) { + this.requireSucess = true; + } + } + + @Override + public JSONObject feedLmsRealFailedInfo() { + JSONObject jo = new JSONObject(); + jo.put("device_code", this.getDevice().getDevice_code()); + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("fault_code", String.valueOf(error)); + jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError()))); + jo.put("fault_type", error_type); + return jo; + } + + + public Instruction checkInst() { + if (ObjectUtil.isNotEmpty(this.inst)) { + if (this.task > 0) { + if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) { + return this.inst; + } else { + inst = instructionService.findByCodeFromCache(String.valueOf(task)); + return inst; + } + } + } else { + inst = instructionService.findByCodeFromCache(String.valueOf(task)); + return inst; + } + return null; + } + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/ItemProtocol.java new file mode 100644 index 000000000..b257434dc --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/ItemProtocol.java @@ -0,0 +1,113 @@ +package org.nl.acs.device_driver.one_manipulator.standard_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"; + //任务号 + public static String item_task = "task"; + //报警 + public static String item_error = "error"; + + + + + private StandardManipulatoDeviceDriver driver; + + public ItemProtocol(StandardManipulatoDeviceDriver 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.isBlank(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/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatoDeviceDriver.java new file mode 100644 index 000000000..ca1adc0b7 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatoDeviceDriver.java @@ -0,0 +1,372 @@ +package org.nl.acs.device_driver.one_manipulator.standard_manipulator; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.service.DeviceExtraService; +import org.nl.acs.device.service.impl.DeviceExtraServiceImpl; +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.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.data.ApplyManipulatorActionRequest; +import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.history.ErrorUtil; +import org.nl.acs.history.service.DeviceErrorLogService; +import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.route.service.impl.RouteLineServiceImpl; +import org.nl.acs.task.service.TaskService; +import org.nl.config.SpringContextHolder; +import org.nl.config.language.LangProcess; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; + +/** + * RGV + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class StandardManipulatoDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { + + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + @Autowired + RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class); + @Autowired + DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class); + @Autowired + DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + @Autowired + LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.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; + //气涨轴条码 + String barcode; + String last_barcode; + + + int heartbeat = 0; + int last_heartbeat = 0; + + + + String to_sub_volume_no; + String last_to_sub_volume_no; + + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + private Date instruction_update_time = new Date(); + private int instruction_update_time_out = 1000; + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + + private int instruction_require_time_out = 3000; + //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; + private String error_type = "hxhj_error_type"; + + //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; + + String left = "1"; + String right = "2"; + + //当前指令 + Instruction inst = null; + + //0 无任务执行 1更新指令状态 2下发电气信号 3允许取货 允许放货 5放货完成 + int now_steps_type = 0; + String notCreateTaskMessage = ""; + String notCreateInstMessage = ""; + String feedMessage = ""; + + + List getDeviceCodeList = null; + + List putDeviceCodeList = null; + + + @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(); + heartbeat = this.itemProtocol.getHeartbeat(); + + + if (mode != last_mode) { + requireSucess = false; + } + + + } catch (Exception var17) { + var17.printStackTrace(); + logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.itemProtocol)); + + } + + if (mode == 0) { + this.setIsonline(false); + message = "universal_off-line"; + //有报警 + } else if (error != 0) { + this.setIserror(true); + message = "universal_message3"; + //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; + last_heartbeat = heartbeat; + last_barcode = barcode; + + } + + /** + * // * 申请任务 + * // * + * // * @param + * // + */ + public synchronized void applyTask() { + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + String direction = (String) this.getDevice().getExtraValue().get("direction"); + applyManipulatorActionRequest.setDevice_code(device_code); + applyManipulatorActionRequest.setDirection(direction);//rgv申请位置 + applyManipulatorActionRequest.setQzz_no(String.valueOf(barcode));//气涨轴编码 + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + Map map = new LinkedHashMap<>(); + if (applyManipulatorActionResponse.getstatus() == 200) { + Map data = applyManipulatorActionResponse.getData(); + String point_code2 = data.get("point_code2");//目标站点 + Device deviceByCode = deviceAppService.findDeviceByCode(point_code2); + String address = deviceByCode.getExtraValue().get("address").toString(); + String material_code = data.get("material_code");//子卷号 + String to_is_labeling = data.get("to_is_labeling");//是否贴标 + map.put("to_target", address); + map.put("to_sub_volume_no", material_code); + map.put("to_command", "1"); + if (StrUtil.equals("1",to_is_labeling)){ + map.put("to_is_labeling","1"); + }else { + map.put("to_is_labeling","0"); + } + this.writing(map); + logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务,返回参数:" + applyManipulatorActionResponse); + message = "universal_message12"; + requireSucess = true; + } else { + map.put("to_command", 99); + this.writing(map); + requireSucess = true; + message = "universal_message13"; + logServer.deviceExecuteLog(this.device_code, "", "", "申请行架任务反馈失败,返回参数:" + applyManipulatorActionResponse); + } + } + + public void writing(Map map) { + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + Map itemMap = new LinkedHashMap<>(); + map.forEach((key, value) -> { + if (ObjectUtil.isNotEmpty(value)) { + itemMap.put(getToParam() + key, value); + } + }); + if (ObjectUtil.isNotEmpty(itemMap)) { + this.control(itemMap); + logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap); + LuceneLogDto logDto = LuceneLogDto.builder() + .device_code(device_code) + .content("下发多个电气信号" + itemMap) + .build(); + logDto.setLog_level(3); + luceneExecuteLogService.deviceExecuteLog(logDto); + } + } + + public String getToParam() { + return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + "."; + } + + @Override + public JSONObject getDeviceStatusName() { + Map map = new LinkedHashMap<>(); + + String mode = ""; + String move = ""; + String action = ""; + String walk_y = ""; + if (this.getMode() == 0) { + mode = LangProcess.msg("universal_off-line"); + } else if (this.getMode() == 1) { + mode = LangProcess.msg("universal_stand-alone"); + } else if (this.getMode() == 2) { + mode = LangProcess.msg("universal_standby"); + } else if (this.getMode() == 3) { + mode = LangProcess.msg("universal_operation"); + } + + if (this.getMove() == 0) { + move = LangProcess.msg("universal_no"); + map.put("hasGoods", false); + } else if (this.getMove() == 1) { + move = LangProcess.msg("universal_yes"); + map.put("hasGoods", true); + } else if (this.getMove() == 2) { + move = LangProcess.msg("universal_two_yes"); + map.put("hasGoods", true); + } + + String requireSucess = LangProcess.msg("universal_actionMessage4"); + if (this.requireSucess) { + requireSucess = LangProcess.msg("universal_actionMessage5"); + } + map.put("requireSucess", requireSucess); + if (this.getAction() == 1) { + action = LangProcess.msg("universal_delivery"); + } else if (this.getAction() == 2) { + action = LangProcess.msg("universal_completed"); + } else if (this.getAction() == 3) { + action = LangProcess.msg("universal_releasing"); + } else if (this.getAction() == 4) { + action = LangProcess.msg("universal_releasing_completed"); + } + + map.put("device_name", this.getDevice().getDevice_name()); + map.put("mode", mode); + map.put("move", move); + /*jo.put("action", action);*/ + /*jo.put("task", task);*/ + /*jo.put("walk_y", this.walk_y);*/ + map.put("isOnline", this.getIsonline()); + map.put("error", ErrorUtil.getDictDetail("error_type", String.valueOf(this.getError()))); + map.put("isError", this.getIserror()); + map.put("message", LangProcess.msg(message)); + /*jo.put("notCreateTaskMessage", notCreateTaskMessage); + jo.put("notCreateInstMessage",notCreateInstMessage);*/ + map.put("feedMessage", LangProcess.msg(feedMessage)); + map.put("driver_type", "siemens_conveyor"); + map.put("is_click", true); + JSONObject jo = new JSONObject(map); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + String requestSucess = data.getString("requireSucess"); + if (StrUtil.equals(requestSucess, "0")) { + this.requireSucess = false; + } else if (StrUtil.equals(requestSucess, "1")) { + this.requireSucess = true; + } + } + + @Override + public JSONObject feedLmsRealFailedInfo() { + JSONObject jo = new JSONObject(); + jo.put("device_code", this.getDevice().getDevice_code()); + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("fault_code", String.valueOf(error)); + jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError()))); + jo.put("fault_type", error_type); + return jo; + } + + + public Instruction checkInst() { + if (ObjectUtil.isNotEmpty(this.inst)) { + if (this.task > 0) { + if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) { + return this.inst; + } else { + inst = instructionService.findByCodeFromCache(String.valueOf(task)); + return inst; + } + } + } else { + inst = instructionService.findByCodeFromCache(String.valueOf(task)); + return inst; + } + return null; + } + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatorDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatorDefination.java new file mode 100644 index 000000000..9e286a02c --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/standard_manipulator/StandardManipulatorDefination.java @@ -0,0 +1,56 @@ +package org.nl.acs.device_driver.one_manipulator.standard_manipulator; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.enums.DeviceType; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +@Service +public class StandardManipulatorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "standard_manipulator"; + } + + @Override + public String getDriverName() { + return "标准版机械手"; + } + + @Override + public String getDriverDescription() { + return "标准版机械手"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new StandardManipulatoDeviceDriver()).setDevice(device).setDriverDefination(this); + } + + @Override + public Class getDeviceDriverType() { + return StandardManipulatoDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.robot); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java index c67a73278..f3c2f5760 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java @@ -23,6 +23,8 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; import org.nl.acs.device_driver.one_conveyor.manipulator_cache.ManipulatorCacheDeviceDriver; import org.nl.acs.device_driver.one_manipulator.trapped_manipulator.InteractionJsonDTO; import org.nl.acs.enums.VolumeTwoTypeEnum; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.history.ErrorUtil; import org.nl.acs.history.service.DeviceErrorLogService; import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; @@ -34,6 +36,7 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.route.service.impl.RouteLineServiceImpl; +import org.nl.acs.task.enums.ActionTypeEnum; import org.nl.acs.task.enums.TaskStatusEnum; import org.nl.acs.task.enums.TaskTypeEnum; import org.nl.acs.task.service.TaskService; @@ -44,12 +47,13 @@ import org.nl.config.SpringContextHolder; import org.nl.config.language.LangProcess; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.springframework.beans.factory.annotation.Autowired; import java.util.*; import java.util.stream.Collectors; /** - * 捆扎智能行架 + * 子卷下线行架 */ @Slf4j @Data @@ -58,6 +62,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi protected ItemProtocol itemProtocol = new ItemProtocol(this); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);; + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); @@ -192,6 +198,10 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi } updateInstructionStatus(); } + //四个点行架任务，满轴放货完成后调lms生成rgv任务 + if (action == 6 && task > 0 ){ + creatAGV(); + } } catch (Exception var17) { var17.printStackTrace(); @@ -264,6 +274,45 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi last_to_type = to_type; } + private void creatAGV() { + Instruction instruction = checkInst(); + JSONObject param = new JSONObject(); + param.put("taskCode", instruction.getTask_code()); + param.put("actionType",ActionTypeEnum.RELEASE_FINISHING.getCode() ); + LuceneLogDto logDto = LuceneLogDto.builder() + .device_code(device_code) + .content("满轴放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.RELEASE_FINISHING.getStatus()) + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto); + String response = acsToWmsService.secondaryAllocationPoint(param); + JSONObject jo = JSON.parseObject(response); + if (jo.getInteger("status") == 200) { + LuceneLogDto logDto2 = LuceneLogDto.builder() + .device_code(device_code) + .content("满轴放货完成请求lms,参数,接口返回:" + jo) + .build(); + logDto2.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto2); + Map map1 = new HashMap<>(); + List list = new ArrayList(); + map1.put("code", "to_command"); + map1.put("value", 6); + list.add(map1); + this.writing(list); + + } else { + LuceneLogDto logDto2 = LuceneLogDto.builder() + .device_code(device_code) + .content("满轴放货完成请求lms,返回参数:" + jo) + .build(); + logDto2.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto2); + throw new BadRequestException("满轴放货完成请求lms返回失败"); + } + + } + private void updateInstructionStatus() { Date date = new Date(); if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java index 29830a0b3..a06536da4 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java @@ -294,6 +294,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme Boolean iserror = false; + String inst_message; + @Override public Device getDevice() { @@ -334,6 +336,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme // 更新指令状态 if (mode == 3 && task > 0 && command == 1 && error == 0) { + if (null!=inst) { + inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code(); + } 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); @@ -1240,6 +1245,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme jo.put("isOnline", this.getIsonline()); jo.put("isError", this.getIserror()); jo.put("notCreateInstMessage", notCreateInstMessage); + jo.put("inst_message", this.inst_message); return jo; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java index ba2f202f0..82ed79f60 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java @@ -15,11 +15,16 @@ public enum ActionTypeEnum { /** * 防货二次分配 */ - OUT_STOCK(2, "防货二次分配"), + OUT_STOCK(2, "放货二次分配"), /** * 取货完成 */ - IN_FINISHING(3, "取货完成"); + IN_FINISHING(3, "取货完成"), + + /** + * 行架四个点任务放满轴完成 + */ + RELEASE_FINISHING(4, "满轴放货完成"); Integer code; String status; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java index e90538944..0c4dedca2 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvActionTypeEnum.java @@ -25,6 +25,8 @@ public enum AgvActionTypeEnum { */ IN_OUT_STOCK(4, "取放货二次分配"); + + Integer code; String status; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index 2bb5ec55e..5df6abba2 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -972,34 +972,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme instdto.setAgv_system_type(agv_system_type); instdto.setStart_height(start_height); instdto.setNext_height(next_height); - - //判断agv系统 - //1、1楼叉车系统 - //2、2楼1区域AGV系统 - //3、2楼2区域AGV系统 -已废弃 - if (StrUtil.equals(agv_system_type, CommonFinalParam.TWO)) { - // task_type - //1、生箔； Itype=1:取空，取满，放空，放满； - //2、分切 Itype=3取满、取空、放满、放空； - //3、普通任务 Itype=2:取货、放货； - //4、叉车任务 - //5、输送任务 - //6、行架 - //7、立库 - if (StrUtil.equals(task_type, CommonFinalParam.ONE)) { - instdto.setAgv_inst_type(CommonFinalParam.ONE); - } else if (StrUtil.equals(task_type, "3")) { - instdto.setAgv_inst_type("2"); - } else if (StrUtil.equals(task_type, "2")) { - instdto.setAgv_inst_type("3"); - } else if (StrUtil.equals(task_type, "8")) { - instdto.setAgv_inst_type("2"); - } else { - log.info("未找到对应的AGV指令类型，任务号:" + acsTask.getTask_code() + ",task_type:" + acsTask.getTask_type()); - } - } else { - instdto.setAgv_inst_type("4"); - } + instdto.setAgv_action_type(acsTask.getAgv_action_type()); instructionservice.create2(instdto); acsTask.setTask_status(CommonFinalParam.ONE); this.update(acsTask); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java index 5aee86e81..e0c7121a9 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java @@ -57,6 +57,9 @@ public class AutoCreateInst { if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.AGV_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) { continue; } + if (StrUtil.equals(acsTask.getTask_type(), TaskTypeEnum.Truss_Task.getIndex()) && !StrUtil.startWith(acsTask.getTask_code(), "-")) { + continue; + } String taskid = acsTask.getTask_id(); String taskcode = acsTask.getTask_code(); String task_type = acsTask.getTask_type(); diff --git a/acs2/nladmin-ui/src/views/acs/device/config.vue b/acs2/nladmin-ui/src/views/acs/device/config.vue index 52d5f3b8e..9e7d96372 100644 --- a/acs2/nladmin-ui/src/views/acs/device/config.vue +++ b/acs2/nladmin-ui/src/views/acs/device/config.vue @@ -104,7 +104,6 @@ import led_screen from './driver/led_screen' import standard_station from '@/views/acs/device/driver/standard_station' import double_belt_conveyor from '@/views/acs/device/driver/double_belt_conveyor.vue' import with_station_device from '@/views/acs/device/driver/with_station_device.vue' -import standard_manipulator from '@/views/acs/device/driver/standard_manipulator.vue' import box_manipulator from '@/views/acs/device/driver/box_manipulator.vue' import conveyor_with_scanner_weight from '@/views/acs/device/driver/conveyor_with_scanner_weight.vue' import box_manipulator_site from '@/views/acs/device/driver/box_manipulator_site.vue' @@ -134,6 +133,8 @@ import scanner_weight_conveyor from '@/views/acs/device/driver/one_conveyor/scan import un_box_lable_conveyor from '@/views/acs/device/driver/one_conveyor/un_box_lable_conveyor.vue' import xg_agv_car from '@/views/acs/device/driver/agv/xg_agv_car.vue' import oven_inspect_site from '@/views/acs/device/driver/oven_inspect_site.vue' +import one_rgv from '@/views/acs/device/driver/one_manipulator/one_rgv.vue' +import standard_manipulator from '@/views/acs/device/driver/one_manipulator/standard_manipulator.vue' export default { name: 'DeviceConfig', components: { @@ -194,7 +195,8 @@ export default { manipulator_agv_station, volume_two_manipulator, manipulator_cache, - paper_tube_pick_size + paper_tube_pick_size, + one_rgv }, dicts: ['device_type'], mixins: [crud], diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/standard_manipulator.vue b/acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/one_rgv.vue similarity index 56% rename from acs2/nladmin-ui/src/views/acs/device/driver/standard_manipulator.vue rename to acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/one_rgv.vue index 73ad43775..c753d1bf5 100644 --- a/acs2/nladmin-ui/src/views/acs/device/driver/standard_manipulator.vue +++ b/acs2/nladmin-ui/src/views/acs/device/driver/one_manipulator/one_rgv.vue @@ -1,5 +1,5 @@