From 2c69607cda341ed8ab73902bd19fe182865f2282 Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Fri, 12 Jan 2024 18:03:07 +0800 Subject: [PATCH] =?UTF-8?q?add=EF=BC=9A=20=E6=9C=A8=E7=AE=B1=E5=85=A5?= =?UTF-8?q?=E5=BA=93=E3=80=81=E8=A3=85=E7=AE=B1=E5=85=A5=E5=BA=93=E3=80=81?= =?UTF-8?q?=E7=A9=BA=E6=9C=A8=E7=AE=B1=E5=87=BA=E5=BA=93=E9=A9=B1=E5=8A=A8?= =?UTF-8?q?=E5=BC=80=E5=8F=91=EF=BC=88=E5=90=8E=E7=AB=AF=EF=BC=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../StandardCoveyorControlDeviceDriver.java | 38 +- .../StandarManipulatorDefination.java | 57 +++ .../StandarManipulatorDeviceDriver.java | 392 ++++++++++++++++++ .../BoxStorageOutConveyorDefination.java | 6 +- .../BoxStorageOutConveyorDeviceDriver.java | 72 ++-- .../ItemProtocol.java | 4 + .../ItemProtocol.java | 3 +- ...ConveyorWithScannerWeightDeviceDriver.java | 45 +- .../un_box_lable_conveyor/ItemProtocol.java | 18 +- .../UnBoxLableConveyorDeviceDriver.java | 35 +- .../BoxPackageManipulatorDeviceDriver.java | 41 +- .../BoxStorageManipulatorDeviceDriver.java | 44 +- .../org/nl/acs/task/enums/TaskTypeEnum.java | 6 +- 13 files changed, 656 insertions(+), 105 deletions(-) create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDefination.java create mode 100644 acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDeviceDriver.java diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java index 2508bf7..fccda41 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java @@ -182,20 +182,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver if (error != last_error) { } - if (mode == 2 && move != 0 && task > 0) { - //inst_message - inst = instructionService.findByCodeFromCache(String.valueOf(task)); - if (inst != null) { - inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + " 载具号：" + inst.getVehicle_code(); - if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) { - finish_instruction(); - } - if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) { - inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex()); - instructionService.update(inst); - } - } - } +// updateInstruct(); WaitingInstructionDeque deque = null; // deque = instructionService.findByStategy(this.getDeviceCode(), "deviceCustomerDequeStrategy"); @@ -232,7 +219,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver case 2: //申请任务 if (!StrUtil.isEmpty(material) && !StrUtil.isEmpty(qty) && material.length() > 0 && qty.length() > 0 && !requireSucess) { - this.instruction_require(container); +// this.instruction_require(container); } break; case 3: @@ -282,6 +269,23 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver last_task = task; } + private void updateInstruct() throws Exception { + if (mode == 2 && move != 0 && task > 0) { + //inst_message + inst = instructionService.findByCodeFromCache(String.valueOf(task)); + if (inst != null) { + inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + " 载具号：" + inst.getVehicle_code(); + if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) { + finish_instruction(); + } + if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) { + inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex()); + instructionService.update(inst); + } + } + } + } + public boolean exe_error() { if (this.error == 0) { return true; @@ -440,10 +444,6 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver dto.setUpdate_time(now); dto.setCreate_time(now); -// WQLObject wo = WQLObject.getWQLObject("acs_task"); -// JSONObject json = (JSONObject) JSONObject.toJSON(dto); -// -// wo.insert(json); Task entity = ConvertUtil.convert(dto, Task.class); taskMapper.insert(entity); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDefination.java new file mode 100644 index 0000000..13c1134 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDefination.java @@ -0,0 +1,57 @@ +package org.nl.acs.device_driver.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 StandarManipulatorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "standar_manipulator"; + } + + @Override + public String getDriverName() { + return "标准机械手"; + } + + @Override + public String getDriverDescription() { + return "标准机械手"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new OvenGantryManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this); + } + + @Override + public Class getDeviceDriverType() { + return OvenGantryManipulatorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.station); + return types; + } + + @Override + public List getReadableItemDtos() { + return StandardItemProtocol.getReadableItemDtos(); + } + + + + @Override + public List getWriteableItemDtos() { + return StandardItemProtocol.getWriteableItemDtos(); + } +} diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDeviceDriver.java new file mode 100644 index 0000000..eb914f2 --- /dev/null +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandarManipulatorDeviceDriver.java @@ -0,0 +1,392 @@ +package org.nl.acs.device_driver.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.common.base.CommonFinalParam; +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.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.springframework.beans.factory.annotation.Autowired; + +import java.util.Date; +import java.util.List; +@Slf4j +@Data +@RequiredArgsConstructor +public class StandarManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { + + protected StandardItemProtocol standardItemProtocol = new StandardItemProtocol(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); + + //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; + // x坐标 + float x_position = 0; + float last_x_position = 0; + // y坐标 + float y_position = 0; + float last_y_position = 0; + + int heartbeat = 0; + int last_heartbeat = 0; + int to_command = 0; + int last_to_command = 0; + + int to_target = 0; + int last_to_target = 0; + + int to_task = 0; + int last_to_task = 0; + + int to_onset = 0; + int last_to_onset = 0; + + Boolean isonline = true; + int hasGoods = 0; + 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; + + //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.standardItemProtocol.getMode(device_code); + move = this.standardItemProtocol.getMove(device_code); + action = this.standardItemProtocol.getAction(device_code); + walk_y = this.standardItemProtocol.getWalk_y(device_code); + error = this.standardItemProtocol.getError(device_code); + task = this.standardItemProtocol.getTask(device_code); + heartbeat = this.standardItemProtocol.getHeartbeat(device_code); + to_command = this.standardItemProtocol.getTo_command(device_code); + to_target = this.standardItemProtocol.getTo_target(device_code); + to_task = this.standardItemProtocol.getTo_task(device_code); + to_onset = this.standardItemProtocol.getTo_onset(device_code); + x_position = this.standardItemProtocol.getX_position(device_code); + y_position = this.standardItemProtocol.getY_position(device_code); + + if (to_onset != last_to_onset) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset); + } + if (to_command != last_to_command) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); + } + if (to_target != last_to_target) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); + } + if (to_task != last_to_task) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); + } + if (mode != last_mode) { + requireSucess = false; + logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); + } + if (move != last_move) { + logServer.deviceItemValue(this.device_code, "move", String.valueOf(move)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); + } + if (action != last_action) { + logServer.deviceItemValue(this.device_code, "action", String.valueOf(action)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action); + } + if (error != last_error) { + logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); + } + if (walk_y != last_walk_y) { + logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); + } + 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 (x_position != last_x_position) { + logServer.deviceItemValue(this.device_code, "x_position", String.valueOf(x_position)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号x_position：" + last_x_position + "->" + x_position); + } + if (y_position != last_y_position) { + logServer.deviceItemValue(this.device_code, "y_position", String.valueOf(y_position)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号y_position：" + last_y_position + "->" + y_position); + } + + // 更新指令状态 + if (mode == 3 && task > 0) { + 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; + //更改指令状态 + if (task > 0) { + Instruction inst = checkInst(); + if (inst != null) { + if (StrUtil.equals(inst.getInstruction_status(), "0")) { + inst.setInstruction_status(CommonFinalParam.ONE); + inst.setExecute_device_code(this.device_code); + instructionService.update(inst); + } + } + } + } + } + + } catch (Exception var17) { + var17.printStackTrace(); + feedMessage = var17.getMessage(); + logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + var17.getMessage() + ",this.itemProtocol is null:" + ObjectUtil.isEmpty(this.standardItemProtocol)); + + } + + if (mode == 0) { + this.setIsonline(false); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + + //行架机械手申请任务 + if (mode == 2 && move == 0 && task == 0 && !requireSucess) { +// boolean res = applyTask(); +// if (res) { +// notCreateInstMessage = ""; +// notCreateTaskMessage = ""; +// feedMessage = ""; +// } + } else { + if (mode == 2) { + //if (!requireSucess) { + String remark = "未查找任务原因为:"; + if (mode != 2) { + remark = remark + "工作模式(mode)不是待机状态,"; + } + if (move != 0) { + remark = remark + "光电信号(move)为有货状态,"; + } + if (task != 0) { + remark = remark + "当前上报任务号(task)应该为0,"; + if (ObjectUtil.isNotEmpty(this.inst)) { + this.inst = null; + } + } + if (requireSucess) { + remark = remark + "请右击该图标,将请求任务复位标记(requireSucess)改为否。"; + } + this.setNotCreateTaskMessage(remark); + //} + } + } + + } + last_mode = mode; + last_move = move; + last_action = action; + last_walk_y = walk_y; + last_error = error; + last_task = task; + last_heartbeat = heartbeat; + last_to_task = to_task; + last_to_command = to_command; + last_to_target = to_target; + last_to_onset = to_onset; + last_x_position = x_position; + last_y_position = y_position; + } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String move = ""; + String action = ""; + String walk_y = ""; + if (this.getMode() == 0) { + mode = "脱机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "待机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + } else if (this.getMove() == 1) { + move = "有货"; + } + + String requireSucess = "0"; + if (this.requireSucess) { + requireSucess = "1"; + } + jo.put("requireSucess", requireSucess); + if (this.getAction() == 1) { + action = "取货中"; + } else if (this.getAction() == 2) { + action = "取货完成"; + } else if (this.getAction() == 3) { + action = "放货中"; + } else if (this.getAction() == 4) { + action = "放货完成"; + } + + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("action", action); + jo.put("task", task); + jo.put("walk_y", walk_y); + jo.put("isOnline", this.getIsonline()); + jo.put("error", ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(this.getError()))); + jo.put("isError", this.getIserror()); + jo.put("message", this.getMessage()); + jo.put("notCreateTaskMessage", notCreateTaskMessage); + jo.put("notCreateInstMessage", notCreateInstMessage); + jo.put("feedMessage", feedMessage); + jo.put("driver_type", "siemens_conveyor"); + jo.put("is_click", true); + jo.put("x", x_position); + jo.put("y", y_position); + 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/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDefination.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDefination.java index 7c0997e..21bb812 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDefination.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDefination.java @@ -11,7 +11,7 @@ import java.util.LinkedList; import java.util.List; /** - * 一楼木箱出入库站点 + * 一楼木箱出入库标准站点 * */ @Service @@ -23,12 +23,12 @@ public class BoxStorageOutConveyorDefination implements OpcDeviceDriverDefinatio @Override public String getDriverName() { - return "一楼木箱入库站点"; + return "一楼木箱出入库标准站点"; } @Override public String getDriverDescription() { - return "一楼木箱入库站点"; + return "一楼木箱出入库标准站点"; } @Override diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java index a4710cc..299ee25 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java @@ -23,24 +23,32 @@ import org.nl.acs.history.service.DeviceErrorLogService; import org.nl.acs.history.service.dto.DeviceErrorLogDto; import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.enums.InstructionStatusEnum; 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.WcsConfig; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.route.service.dto.RouteLineDto; +import org.nl.acs.task.domain.Task; +import org.nl.acs.task.enums.TaskStatusEnum; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; +import org.nl.acs.task.service.mapper.TaskMapper; +import org.nl.acs.utils.ConvertUtil; +import org.nl.common.utils.CodeUtil; import org.nl.config.SpringContextHolder; import org.nl.config.thread.ThreadPoolExecutorUtil; import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; import java.util.*; import java.util.concurrent.ThreadPoolExecutor; /** - * 一楼木箱入库站点 + * 一楼木箱出入库标准站点 */ @Slf4j @Data @@ -69,6 +77,10 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class); DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class); + + @Autowired + TaskMapper taskMapper; + //当前指令 Instruction inst = null; @@ -108,6 +120,8 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i int last_to_weight = 0; int to_height = 0; int last_to_height = 0; + int container_type = 0; + int last_container_type = 0; int phase = 0; int index = 0; @@ -169,7 +183,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i to_target = this.itemProtocol.getTo_target(); to_task = this.itemProtocol.getTo_task(); heartbeat = this.itemProtocol.getHeartbeat(); - + container_type = this.itemProtocol.getContainer_Type(); if (to_strap_times != last_to_strap_times) { logServer.deviceExecuteLog(this.device_code, "", "", "信号to_strap_times：" + last_to_strap_times + "->" + to_strap_times); @@ -210,16 +224,12 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i dto.setError_info(errorInfo); deviceErrorLogService.create(dto); } - - - - logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); } if (move != 0 && task > 0) { - update_instruction_status(); + updateInstruct(); } } catch (Exception var17) { var17.printStackTrace(); @@ -248,7 +258,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i log.debug("设备运转模式:等待工作"); break; case 2: - //木箱出库申请任务 + //申请输送任务 if (move > 0 && !requireSucess) { instruction_require(); } @@ -305,50 +315,28 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i this.control(itemMap); } - /** - * 更新指令状态 - */ - public synchronized void update_instruction_status() throws Exception { - 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; - inst = checkInst(); + private void updateInstruct() throws Exception { + if (mode == 2 && move != 0 && task > 0) { + //inst_message + inst = instructionService.findByCodeFromCache(String.valueOf(task)); if (inst != null) { - inst_message = "当前指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + " 载具号：" + inst.getVehicle_code(); - vehicle_code = inst.getVehicle_code(); - task_code = inst.getTask_code(); - if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) { - inst.setInstruction_status("1"); - inst.setExecute_device_code(this.device_code); + inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + " 载具号：" + inst.getVehicle_code(); + if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) { + finish_instruction(); + } + if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) { + inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex()); instructionService.update(inst); - logServer.deviceExecuteLog(device_code, "", "", "纸箱入库输送线任务开始反馈执行中状态,反馈成功,指令号:" + task + ",载具号:" + inst.getVehicle_code()); } - if (StrUtil.equals(inst.getInstruction_status(), "1") || StrUtil.equals(inst.getInstruction_status(), "0")) { - if (StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) { - vehicle_code = inst.getVehicle_code(); - inst.setExecute_device_code(this.device_code); - if (mode == 2) { - finish_instruction(); - } - logServer.deviceExecuteLog(device_code, "", "", "纸箱入库输送线任务开始反馈完成状态,反馈成功,指令号:" + task + ",载具号:" + inst.getVehicle_code()); - } else { - - } - } - } else { -// message = "输送线任务反馈状态,查询不到指令号:" + task +"指令已完成"; - inst_message = null; } - } } /** * 请求指令 + * + * @param */ public synchronized boolean instruction_require() { Date date = new Date(); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/ItemProtocol.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/ItemProtocol.java index bb7b6b7..e3f7944 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/ItemProtocol.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/ItemProtocol.java @@ -94,6 +94,10 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_carrier_direction); } + public int getContainer_Type() { + return this.getOpcIntegerValue(item_container_type); + } + public int getError() { return this.getOpcIntegerValue(item_error); } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/ItemProtocol.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/ItemProtocol.java index a012ad6..641adce 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/ItemProtocol.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/finished_product_out_with_bind_lable_conveyor/ItemProtocol.java @@ -35,7 +35,7 @@ public class ItemProtocol { public static String item_container_type = "container_type"; /** - * 物料类型 + * 物料编码 */ public static String item_material_barcode = "material_barcode"; @@ -53,6 +53,7 @@ public class ItemProtocol { */ public static String item_action = "action"; + /** * 下发命令 */ diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java index 544e524..394ff8d 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java @@ -234,26 +234,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv } // 更新指令状态 - if (mode == 3 && task > 0) { - 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; - //更改指令状态 - if (task > 0) { - Instruction inst = checkInst(); - if (inst != null) { - if (StrUtil.equals(inst.getInstruction_status(), "0")) { - inst.setInstruction_status(CommonFinalParam.ONE); - inst.setExecute_device_code(this.device_code); - instructionService.update(inst); - } - } - } - } - } + updateInstruct(); } catch (Exception var17) { var17.printStackTrace(); @@ -276,7 +257,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv message = ""; Instruction instruction = null; List toInstructions; - //申请入库任务 + //木箱入库申请入库任务 if (mode == 6 && !requireSucess){ } @@ -331,6 +312,28 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv last_barcode = barcode; } + private void updateInstruct() { + if (mode == 3 && task > 0) { + 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; + //更改指令状态 + if (task > 0) { + Instruction inst = checkInst(); + if (inst != null) { + if (StrUtil.equals(inst.getInstruction_status(), "0")) { + inst.setInstruction_status(CommonFinalParam.ONE); + inst.setExecute_device_code(this.device_code); + instructionService.update(inst); + } + } + } + } + } + } /** diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java index 2daa663..20d6a5e 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java @@ -70,13 +70,26 @@ public class ItemProtocol { */ public static String item_to_task = "to_task"; + /** + *木箱长度 + */ + public static String item_to_length = "to_length"; + /** + *木箱宽度 + */ + public static String item_to_weight = "to_weight"; + /** + *木箱高度 + */ + public static String item_to_height = "to_height"; + private UnBoxLableConveyorDeviceDriver driver; public String getMaterialBarCode() { return this.getOpcStringValue(item_material_barcode); - } + } public int getContainer_type() { return this.getOpcIntegerValue(item_container_type); @@ -163,6 +176,9 @@ public class ItemProtocol { list.add(new ItemDto(item_error, "报警信号", "DB600.B6")); list.add(new ItemDto(item_container_type, "托盘类型", "DB101.B7")); list.add(new ItemDto(item_task, "任务号", "DB600.D10")); + list.add(new ItemDto(item_to_length, "木箱长度", "DB601.W24")); + list.add(new ItemDto(item_to_weight, "木箱宽度", "DB601.W26")); + list.add(new ItemDto(item_to_height, "木箱高度", "DB601.W28")); return list; } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java index 13dce52..9cc5272 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java @@ -39,7 +39,7 @@ import java.util.*; import java.util.concurrent.ThreadPoolExecutor; /** - * 一楼木箱入库站点 + * 一楼申请开箱位、贴标位 */ @Slf4j @Data @@ -205,11 +205,6 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); } - if (move != 0 && task > 0) { - - update_instruction_status(); - } - } 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)); @@ -220,7 +215,6 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl this.setIsonline(false); message = "未联机"; //有报警 - } else { this.setIsonline(true); this.setIserror(false); @@ -228,21 +222,30 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl this.setIserror(true); message = "有报警"; } - - Instruction instruction = null; - List toInstructions; - switch (mode) { case 1: log.debug("设备运转模式:等待工作"); break; case 2: - //申请任务 + //存在任务号创建指令 + if (move == 1 && task > 0 && !requireSucess){ + + } + break; + case 7: + //申请是否允许开箱 if (move > 0 && !requireSucess) { - instruction_require(); + applyUnBox(); + } + break; + case 8: + //申请是否允许贴标 + if (move > 0 && !requireSucess) { + applyLable(); } break; } + } last_mode = mode; last_move = move; @@ -259,6 +262,12 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl last_to_height = to_height; } + private void applyLable() { + } + + private void applyUnBox() { + } + public boolean exe_error() { if (this.error == 0) { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java index e70145b..cb75c1c 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java @@ -325,6 +325,38 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i instructionService.update(inst); } } + + //放货完成 + if (mode == 3 && action == 4 && move == 0) { + if (inst != null) { + try { + logServer.deviceExecuteLog(this.device_code, "", "", "放货完成"); + finish_instruction(inst); + Map map = new LinkedHashMap<>(); + map.put("to_command", 5); + this.writing(map); + message = "放货完成"; + } catch (Exception e) { + message = "放货失败"; + 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。"; + } + } + } } } } @@ -339,7 +371,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i //找符合条件的任务 BoxOutSubvolumesConveyorDeviceDriver boxOutSubvolumesConveyorDeviceDriver = new BoxOutSubvolumesConveyorDeviceDriver(); String deviceCode = boxOutSubvolumesConveyorDeviceDriver.getDevice_code(); - TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Truss_Task.getIndex()); + TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Box_Package.getIndex()); if (ObjectUtil.isNotEmpty(taskDto)) { String interactionJson = taskDto.getInteraction_json(); @@ -418,6 +450,13 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i } + + + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + /** * 下发 * @param map diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java index 3942c3d..62f00a6 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java @@ -18,6 +18,7 @@ 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.device_driver.one_conveyor.box_out_subvolumes_conveyor.BoxOutSubvolumesConveyorDeviceDriver; import org.nl.acs.device_driver.one_conveyor.box_storage_out_conveyor.BoxStorageOutConveyorDeviceDriver; import org.nl.acs.history.ErrorUtil; import org.nl.acs.history.service.DeviceErrorLogService; @@ -277,7 +278,41 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i instructionService.update(inst); } } + + //放货完成 + if (mode == 3 && action == 4 && move == 0) { + if (inst != null) { + try { + logServer.deviceExecuteLog(this.device_code,"","","放货完成"); + finish_instruction(inst); + Map map = new LinkedHashMap<>(); + map.put("to_command", 5); + this.writing(map); + message = "放货完成"; + } catch (Exception e) { + message = "放货失败"; + 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。"; + } + } + } } + + } } @@ -289,8 +324,8 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i } else { this.instruction_require_time = date; //找终点为入库输送线工位任务类型为行架的任务 - BoxStorageOutConveyorDeviceDriver boxStorageConveyorDeviceDriver = new BoxStorageOutConveyorDeviceDriver(); - String deviceCode = boxStorageConveyorDeviceDriver.getDevice_code(); + BoxOutSubvolumesConveyorDeviceDriver boxOutSubvolumesConveyorDeviceDriver = new BoxOutSubvolumesConveyorDeviceDriver(); + String deviceCode = boxOutSubvolumesConveyorDeviceDriver.getDevice_code(); TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Box_Storage.getIndex()); if (ObjectUtil.isNotEmpty(taskDto)) { @@ -395,6 +430,11 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i } } + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + /** * 抽取统一下发电气信号前缀 * diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java index 14dd243..5db07ed 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java @@ -26,8 +26,10 @@ public enum TaskTypeEnum { Inner_Truss_Task("9", "9", "内包间行架任务"), Stacker_Task("11", "11", "堆垛机任务"), - Box_Storage("12", "12", "木箱入库任务"), - Return_Good("13", "13", "退货入库任务"); + Box_Storage("12", "12", "木箱入库行架任务"), + Box_Package("13", "13", "装箱入库行架任务"), + Return_Good("14", "14", "退货入库任务"); + /** * 索引