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add：木箱入库桁架

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This commit is contained in:
gengby
2026-04-09 15:13:26 +08:00
parent 33f9d153a4
commit d7a23bbf66
16 changed files with 1295 additions and 365 deletions
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765
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
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12
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
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@@ -163,8 +163,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
/**
* 下发任务号
*/
String to_task = null;
String last_to_task = null;
int to_task = 0;
int last_to_task = 0;
/**
* 下发接纯数字托盘号
*/
@@ -511,9 +511,9 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
this.instruction_require_time = date;
//查找有没有对应的指令
Instruction inst;
if ("RK1032".equals(this.device_code)||"RK1034".equals(this.device_code)||"RK1035".equals(this.device_code)){
if ("RK1032".equals(this.device_code) || "RK1034".equals(this.device_code) || "RK1035".equals(this.device_code)) {
inst = instructionService.findByStartCodeAndReady2(this.device_code);
}else {
} else {
inst = instructionService.findByStartCodeAndReady(this.device_code);
}
if (ObjectUtil.isNotNull(inst)) {
@@ -803,8 +803,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
// led_message = getLedMessage(instdto);
//写完信号to_task写成功后更新指令为执行中
inst = checkInst();
to_task = this.itemProtocol.getTo_task();
if (Integer.parseInt(to_task)>0 && to_task.equals(inst.getInstruction_code())) {
to_task = this.itemProtocol.getTo_task();
if (to_task > 0 && to_task == Integer.parseInt(inst.getInstruction_code())) {
inst.setInstruction_status(CommonFinalParam.ONE);
inst.setExecute_device_code(this.device_code);
instructionService.update(inst);

6
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/ItemProtocol.java
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@@ -110,8 +110,8 @@ public class ItemProtocol {
return this.getOpcIntegerValue(item_task);
}
public String getTo_task() {
return this.getOpcStringValue(item_to_task);
public int getTo_task() {
return this.getOpcIntegerValue(item_to_task);
}
@@ -151,7 +151,7 @@ public class ItemProtocol {
} else {
return value;
}
return "";
return "0";
}
public int[] getOpcArrayValue(String protocol) {

88
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/optoele_docking_station/ItemProtocol.java Normal file
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@@ -0,0 +1,88 @@
package org.nl.acs.device_driver.conveyor.optoele_docking_station;
import cn.hutool.core.util.StrUtil;
import lombok.Getter;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import java.util.ArrayList;
import java.util.List;
@Slf4j
@Getter
@Setter
public class ItemProtocol {
public static String item_heartbeat = "heartbeat";
public static String item_mode = "mode";
public static String item_move = "move";
Boolean isonline;
private OptoeleDockingStationDeviceDriver driver;
public ItemProtocol(OptoeleDockingStationDeviceDriver 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);
}
/**
* 是否有货
* @param move
* @return
*/
public int hasGoods(int move) {
return move;
}
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)) {
// log.error("读取错误!");
} else {
return value;
}
return "0";
}
public static List<ItemDto> getReadableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_heartbeat, "心跳", "DB81.B10"));
list.add(new ItemDto(item_mode, "工作模式", "DB81.B1", Boolean.valueOf(true)));
list.add(new ItemDto(item_move, "光电开关信号", "DB81.B2"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
return list;
}
}

61
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/optoele_docking_station/OptoeleDockingStationDefination.java Normal file
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@@ -0,0 +1,61 @@
package org.nl.acs.device_driver.conveyor.optoele_docking_station;
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;
/**
* 普通光电对接点
*/
@Service
public class OptoeleDockingStationDefination implements OpcDeviceDriverDefination {
@Override
public String getDriverCode() {
return "optoele_docking_station";
}
@Override
public String getDriverName() {
return "标准版-普通光电对接点";
}
@Override
public String getDriverDescription() {
return "标准版-普通光电对接点";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new OptoeleDockingStationDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return OptoeleDockingStationDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.station);
return types;
}
@Override
public List<ItemDto> getReadableItemDtos() {
return ItemProtocol.getReadableItemDtos();
}
@Override
public List<ItemDto> getWriteableItemDtos() {
return ItemProtocol.getWriteableItemDtos();
}
}

63
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/optoele_docking_station/OptoeleDockingStationDeviceDriver.java Normal file
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@@ -0,0 +1,63 @@
package org.nl.acs.device_driver.conveyor.optoele_docking_station;
import com.alibaba.fastjson.JSONObject;
import lombok.Getter;
import lombok.RequiredArgsConstructor;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.StandardRequestMethod;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.monitor.DeviceStageMonitor;
/**
* 标准版-普通光电对接点
*/
@Slf4j
@Getter
@Setter
@RequiredArgsConstructor
public class OptoeleDockingStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, StandardRequestMethod {
protected ItemProtocol itemProtocol = new ItemProtocol(this);
String device_code;
int mode = 0;
int last_mode = 0;
int move = 0;
int last_move = 0;
Boolean isonline = true;
@Override
public Device getDevice() {
return this.device;
}
@Override
public void execute() {
device_code = this.getDeviceCode();
mode = this.itemProtocol.getMode();
move = this.itemProtocol.getMove();
last_mode = mode;
last_move = move;
}
@Override
public JSONObject getDeviceStatusName() throws Exception {
JSONObject jo = new JSONObject();
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
}

59
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
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@@ -5,6 +5,7 @@ import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
@@ -22,6 +23,7 @@ import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceD
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.history.ErrorUtil;
import org.nl.acs.history.service.DeviceErrorLogService;
import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
@@ -45,6 +47,8 @@ import org.nl.config.language.LangProcess;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.util.*;
import java.util.stream.Collectors;
@@ -72,6 +76,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
int mode = 0;
int last_mode = 0;
@@ -80,8 +85,11 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
int last_action = 0;
int error = 0;
int task = 0;
String barcode = null;
float weight = 0.0f;
int heartbeat = 0;
int to_command = 0;
int last_to_command = 0;
int to_target = 0;
int to_onset = 0;
@@ -141,6 +149,10 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
mode = this.itemProtocol.getMode();
move = this.itemProtocol.getMove();
action = this.itemProtocol.getAction();
weight = new BigDecimal(Float.toString(this.itemProtocol.getWeight()))
.setScale(1, RoundingMode.HALF_UP)
.floatValue();
barcode = this.itemProtocol.getBarcode();
error = this.itemProtocol.getError();
task = this.itemProtocol.getTask();
heartbeat = this.itemProtocol.getHeartbeat();
@@ -154,9 +166,31 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
if (mode != last_mode) {
requireSucess = false;
}
if(action == last_action){
if(action != last_action){
requireActionSucess = false;
}
//以防出现未知问题，桁架称重完成变成6后，给桁架反馈6
if (action == 6 && !this.requireActionSucess){
Map<String, Object> map1 = new HashMap<>();
List list = new ArrayList();
map1.put("code", "to_command");
map1.put("value", 6);
list.add(map1);
this.writing(list);
this.requireActionSucess = true;
}
//清除下发桁架的6
if (to_command != last_to_command && to_command == 6){
Map<String, Object> map1 = new HashMap<>();
List list = new ArrayList();
map1.put("code", "to_command");
map1.put("value", 0);
list.add(map1);
this.writing(list);
}
// 更新指令状态
if (mode == 3 && task > 0 && !requireActionSucess) {
updateInstructionStatus();
@@ -190,7 +224,6 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
} else {
String remark = "";
;
if (mode != 2) {
remark = "universal_remark2";
}
@@ -227,7 +260,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
last_mode =mode;
last_action = action;
last_to_command = to_command;
}
private void updateInstructionStatus() {
@@ -248,6 +281,24 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
}
if (action == 2 && move == 1 && weight > 0){
Map<String,Object> request = new HashMap<>();
request.put("task_code",inst.getTask_code());
request.put("barcode",barcode);
// request.put("weight",weight);
request.put("weight", String.format("%.1f", weight));
HttpResponse resp = acsToWmsService.feedBoxWeight(request);
if (resp != null && resp.getStatus() == 200){
Map<String, Object> map1 = new HashMap<>();
List list = new ArrayList();
map1.put("code", "to_command");
map1.put("value", 2);
list.add(map1);
this.writing(list);
this.requireActionSucess = true;
}
}
//任务完成
if (action == 5 && move == 0) {
if (inst != null) {
@@ -595,7 +646,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
jo.put("isError", this.getIserror());
jo.put("message", LangProcess.msg(message));
jo.put("notCreateTaskMessage", notCreateTaskMessage);
jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
jo.put("feedMessage", LangProcess.msg(feedMessage));
jo.put("driver_type", "box_storage_manipulator");
jo.put("is_click", true);

16
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/ItemProtocol.java
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@@ -32,6 +32,14 @@ public class ItemProtocol {
* 任务号
*/
public static String item_task = "task";
/**
* 木箱重量
*/
public static String item_weight = "weight";
/**
* 条码
*/
public static String item_barcode = "barcode";
/**
* 报警
*/
@@ -146,6 +154,12 @@ public class ItemProtocol {
public int getTask() {
return this.getOpcIntegerValue(item_task);
}
public Float getWeight() {
return this.getOpcFloatValue(item_weight);
}
public String getBarcode() {
return this.getOpcStringValue(item_barcode);
}
public int getWalk_y() {
@@ -220,6 +234,8 @@ public class ItemProtocol {
list.add(new ItemDto(item_action, "动作信号", "DB1.B3"));
list.add(new ItemDto(item_error, "报警信号", "DB1.B5"));
list.add(new ItemDto(item_task, "任务号", "DB1.D6"));
list.add(new ItemDto(item_weight, "重量", "DB1.D6"));
list.add(new ItemDto(item_barcode, "条码", "DB1.D6"));
list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4"));
list.add(new ItemDto(item_x, "行走列号", "DB101.B10"));
list.add(new ItemDto(item_y, "行走层号", "DB101.B11"));

1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java
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@@ -611,7 +611,6 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl
Date date = new Date();
if (date.getTime() - this.applyPullShaft_time.getTime() < (long) this.applyPullShaft_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.applyPullShaft_time_out);
return;
} else {
this.applyPullShaft_time = date;
logServer.deviceExecuteLog(this.device_code, "", "", "申请拔轴");

4
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
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@@ -10,6 +10,8 @@ import org.nl.acs.ext.wms.data.one.ApplyLabelingAndBindingResponse;
import org.nl.acs.ext.wms.data.one.BaseRequest;
import org.nl.acs.instruction.domain.Instruction;
import java.util.Map;
public interface AcsToWmsService {
@@ -225,4 +227,6 @@ public interface AcsToWmsService {
* @return
*/
ManipulatorApplyPointResponse manipulatorApplyPointRequest(ManipulatorApplyPointRequest param);
HttpResponse feedBoxWeight(Map<String, Object> request);
}

29
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
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@@ -818,6 +818,35 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
return manipulatorApplyPointResponse;
}
@Override
public HttpResponse feedBoxWeight(Map<String, Object> request) {
try {
MDC.put(log_file_type, log_type);
String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
HttpResponse result = null;
log.info("feedBoxWeight反馈LMS机械手重量-----请求参数{}", request.toString());
AddressDto addressDto = addressService.findByCode("feedBoxWeight");
String methods_url = addressDto.getMethods_url();
try {
result = HttpRequest.post(wmsurl + methods_url)
.addInterceptor(tLogHutoolhttpInterceptor)
.header(Header.USER_AGENT, "Hutool http")
.header("Authorization", token)
.body(JSON.toJSONString(request))
.execute();
log.info("feedBoxWeight反馈LMS机械手重量-----输出参数{}", result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
// //System.out.println(msg);
log.info("feedBoxWeight反馈LMS机械手重量-----输出参数{}", msg);
}
return result;
} finally {
MDC.remove(log_file_type);
}
}
@Override
public void actionFinishRequest2(JSONObject jsonObject) {
HttpResponse execute = null;

7
acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
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@@ -72,7 +72,7 @@ https://juejin.cn/post/6844903775631572999
<!-- <appender-ref ref="asyncFileAppender"/>-->
<appender-ref ref="CONSOLE"/>
</root>
<!-- <logger name="jdbc" level="ERROR" additivity="true">
<logger name="jdbc" level="ERROR" additivity="true">
<appender-ref ref="asyncFileAppender"/>
</logger>
<logger name="org.springframework" level="ERROR" additivity="true">
@@ -95,7 +95,10 @@ https://juejin.cn/post/6844903775631572999
</logger>
<logger name="org.jinterop" level="ERROR" additivity="true">
<appender-ref ref="asyncFileAppender"/>
</logger>-->
</logger>
<logger name="org.openscada" level="ERROR" additivity="true">
<appender-ref ref="asyncFileAppender"/>
</logger>
</springProfile>
<!--测试环境:打印控制台-->