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fix

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tuqiang
2024-01-02 12:11:26 +08:00
parent 5342b5a657
commit 40fece7656
8 changed files with 976 additions and 509 deletions
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120
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/box_manipulator/BoxManipulatorDefination.java
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@@ -1,60 +1,60 @@
package org.nl.acs.device_driver.box_manipulator; //package org.nl.acs.device_driver.box_manipulator;
//
import org.nl.acs.device.device_driver.standard_inspect.ItemDto; //import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import org.nl.acs.device.domain.Device; //import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType; //import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.DeviceDriver; //import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; //import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardItemProtocol; //import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardItemProtocol;
import org.springframework.stereotype.Service; //import org.springframework.stereotype.Service;
//
import java.util.LinkedList; //import java.util.LinkedList;
import java.util.List; //import java.util.List;
//
@Service //@Service
public class BoxManipulatorDefination implements OpcDeviceDriverDefination { //public class BoxManipulatorDefination implements OpcDeviceDriverDefination {
@Override // @Override
public String getDriverCode() { // public String getDriverCode() {
return "box_manipulator"; // return "box_manipulator";
} // }
//
@Override // @Override
public String getDriverName() { // public String getDriverName() {
return "装箱行架机械手"; // return "装箱行架机械手";
} // }
//
@Override // @Override
public String getDriverDescription() { // public String getDriverDescription() {
return "装箱行架机械手"; // return "装箱行架机械手";
} // }
//
@Override // @Override
public DeviceDriver getDriverInstance(Device device) { // public DeviceDriver getDriverInstance(Device device) {
return (new BoxManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this); // return (new BoxManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this);
//
} // }
//
@Override // @Override
public Class<? extends DeviceDriver> getDeviceDriverType() { // public Class<? extends DeviceDriver> getDeviceDriverType() {
return BoxManipulatorDeviceDriver.class; // return BoxManipulatorDeviceDriver.class;
} // }
//
@Override // @Override
public List<DeviceType> getFitDeviceTypes() { // public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList(); // List<DeviceType> types = new LinkedList();
types.add(DeviceType.station); // types.add(DeviceType.station);
return types; // return types;
} // }
//
@Override // @Override
public List<ItemDto> getReadableItemDtos() { // public List<ItemDto> getReadableItemDtos() {
return StandardItemProtocol.getReadableItemDtos(); // return StandardItemProtocol.getReadableItemDtos();
} // }
//
//
//
@Override // @Override
public List<ItemDto> getWriteableItemDtos() { // public List<ItemDto> getWriteableItemDtos() {
return StandardItemProtocol.getWriteableItemDtos(); // return StandardItemProtocol.getWriteableItemDtos();
} // }
} //}

790
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/box_manipulator/BoxManipulatorDeviceDriver.java
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@@ -1,396 +1,396 @@
package org.nl.acs.device_driver.box_manipulator; //package org.nl.acs.device_driver.box_manipulator;
//
import cn.hutool.core.util.ObjectUtil; //import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil; //import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject; //import com.alibaba.fastjson.JSONObject;
import lombok.Data; //import lombok.Data;
import lombok.RequiredArgsConstructor; //import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; //import lombok.extern.slf4j.Slf4j;
import org.nl.acs.common.base.CommonFinalParam; //import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device; //import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceExtraService; //import org.nl.acs.device.service.DeviceExtraService;
import org.nl.acs.device.service.impl.DeviceExtraServiceImpl; //import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
import org.nl.acs.device_driver.DeviceDriver; //import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.FeedLmsRealFailed; //import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.RouteableDeviceDriver; //import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; //import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; //import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardItemProtocol; //import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardItemProtocol;
import org.nl.acs.history.ErrorUtil; //import org.nl.acs.history.ErrorUtil;
import org.nl.acs.history.service.DeviceErrorLogService; //import org.nl.acs.history.service.DeviceErrorLogService;
import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; //import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
import org.nl.acs.instruction.domain.Instruction; //import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService; //import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.log.service.DeviceExecuteLogService; //import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor; //import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.DeviceAppService; //import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl; //import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.route.service.RouteLineService; //import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.impl.RouteLineServiceImpl; //import org.nl.acs.route.service.impl.RouteLineServiceImpl;
import org.nl.acs.task.service.TaskService; //import org.nl.acs.task.service.TaskService;
import org.nl.config.SpringContextHolder; //import org.nl.config.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired; //import org.springframework.beans.factory.annotation.Autowired;
//
import java.util.Date; //import java.util.Date;
import java.util.List; //import java.util.List;
//
/** ///**
* 装箱行架机械手 // * 装箱行架机械手
*/ // */
@Slf4j //@Slf4j
@Data //@Data
@RequiredArgsConstructor //@RequiredArgsConstructor
public class BoxManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { //public class BoxManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
//
protected StandardItemProtocol standardItemProtocol = new StandardItemProtocol("2"); // protected StandardItemProtocol standardItemProtocol = new StandardItemProtocol("2");
@Autowired // @Autowired
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); // DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
@Autowired // @Autowired
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); // TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
@Autowired // @Autowired
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); // InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@Autowired // @Autowired
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); // DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@Autowired // @Autowired
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class); // RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
@Autowired // @Autowired
DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class); // DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
@Autowired // @Autowired
DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class); // DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
//
//工作模式 // //工作模式
int mode = 0; // int mode = 0;
int last_mode = 0; // int last_mode = 0;
//光电信号 // //光电信号
int move = 0; // int move = 0;
int last_move = 0; // int last_move = 0;
//动作信号 // //动作信号
int action = 0; // int action = 0;
int last_action = 0; // int last_action = 0;
//行走列 // //行走列
int walk_y = 0; // int walk_y = 0;
int last_walk_y = 0; // int last_walk_y = 0;
//报警信号 // //报警信号
int error = 0; // int error = 0;
int last_error = 0; // int last_error = 0;
//任务号 // //任务号
int task = 0; // int task = 0;
int last_task = 0; // int last_task = 0;
// x坐标 // // x坐标
float x_position = 0; // float x_position = 0;
float last_x_position = 0; // float last_x_position = 0;
// y坐标 // // y坐标
float y_position = 0; // float y_position = 0;
float last_y_position = 0; // float last_y_position = 0;
//
int heartbeat = 0; // int heartbeat = 0;
int last_heartbeat = 0; // int last_heartbeat = 0;
int to_command = 0; // int to_command = 0;
int last_to_command = 0; // int last_to_command = 0;
//
int to_target = 0; // int to_target = 0;
int last_to_target = 0; // int last_to_target = 0;
//
int to_task = 0; // int to_task = 0;
int last_to_task = 0; // int last_to_task = 0;
//
int to_onset = 0; // int to_onset = 0;
int last_to_onset = 0; // int last_to_onset = 0;
//
Boolean isonline = true; // Boolean isonline = true;
int hasGoods = 0; // int hasGoods = 0;
String message = null; // String message = null;
Boolean iserror = false; // Boolean iserror = false;
private Date instruction_update_time = new Date(); // private Date instruction_update_time = new Date();
private int instruction_update_time_out = 1000; // private int instruction_update_time_out = 1000;
Integer heartbeat_tag; // Integer heartbeat_tag;
private Date instruction_require_time = new Date(); // private Date instruction_require_time = new Date();
//
private int instruction_require_time_out = 3000; // private int instruction_require_time_out = 3000;
//行架机械手申请任务成功标识 // //行架机械手申请任务成功标识
boolean requireSucess = false; // boolean requireSucess = false;
//
private int instruction_finished_time_out; // private int instruction_finished_time_out;
//
int branchProtocol = 0; // int branchProtocol = 0;
private String error_type = "hxhj_error_type"; // 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 // //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; // int flag;
//
String device_code; // String device_code;
//
//当前指令 // //当前指令
Instruction inst = null; // 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 // //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; // int now_steps_type = 0;
String notCreateTaskMessage = ""; // String notCreateTaskMessage = "";
String notCreateInstMessage = ""; // String notCreateInstMessage = "";
String feedMessage = ""; // String feedMessage = "";
//
//
List<String> getDeviceCodeList = null; // List<String> getDeviceCodeList = null;
//
List<String> putDeviceCodeList = null; // List<String> putDeviceCodeList = null;
//
//
@Override // @Override
public Device getDevice() { // public Device getDevice() {
return this.device; // return this.device;
} // }
//
@Override // @Override
public void execute() { // public void execute() {
String message = null; // String message = null;
try { // try {
device_code = this.getDeviceCode(); // device_code = this.getDeviceCode();
mode = this.standardItemProtocol.getMode(); // mode = this.standardItemProtocol.getMode();
move = this.standardItemProtocol.getMove(); // move = this.standardItemProtocol.getMove();
action = this.standardItemProtocol.getAction(); // action = this.standardItemProtocol.getAction();
walk_y = this.standardItemProtocol.getWalk_y(); // walk_y = this.standardItemProtocol.getWalk_y();
error = this.standardItemProtocol.getError(); // error = this.standardItemProtocol.getError();
task = this.standardItemProtocol.getTask(); // task = this.standardItemProtocol.getTask();
heartbeat = this.standardItemProtocol.getHeartbeat(); // heartbeat = this.standardItemProtocol.getHeartbeat();
to_command = this.standardItemProtocol.getTo_command(); // to_command = this.standardItemProtocol.getTo_command();
to_target = this.standardItemProtocol.getTo_target(); // to_target = this.standardItemProtocol.getTo_target();
to_task = this.standardItemProtocol.getTo_task(); // to_task = this.standardItemProtocol.getTo_task();
to_onset = this.standardItemProtocol.getTo_onset(); // to_onset = this.standardItemProtocol.getTo_onset();
x_position = this.standardItemProtocol.getX_position(); // x_position = this.standardItemProtocol.getX_position();
y_position = this.standardItemProtocol.getY_position(); // y_position = this.standardItemProtocol.getY_position();
//
if (to_onset != last_to_onset) { // if (to_onset != last_to_onset) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset); // logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset);
} // }
if (to_command != last_to_command) { // if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command); // logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command：" + last_to_command + "->" + to_command);
} // }
if (to_target != last_to_target) { // if (to_target != last_to_target) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target); // logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target：" + last_to_target + "->" + to_target);
} // }
if (to_task != last_to_task) { // if (to_task != last_to_task) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task); // logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task：" + last_to_task + "->" + to_task);
} // }
if (mode != last_mode) { // if (mode != last_mode) {
requireSucess = false; // requireSucess = false;
logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); // logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); // logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode);
} // }
if (move != last_move) { // if (move != last_move) {
logServer.deviceItemValue(this.device_code, "move", String.valueOf(move)); // logServer.deviceItemValue(this.device_code, "move", String.valueOf(move));
logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); // logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
} // }
if (action != last_action) { // if (action != last_action) {
logServer.deviceItemValue(this.device_code, "action", String.valueOf(action)); // logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action); // logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
} // }
if (error != last_error) { // if (error != last_error) {
logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); // logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); // logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error);
} // }
if (walk_y != last_walk_y) { // if (walk_y != last_walk_y) {
logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(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); // logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y);
} // }
if (task != last_task) { // if (task != last_task) {
logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); // logServer.deviceItemValue(this.device_code, "task", String.valueOf(task));
logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); // logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task);
} // }
if (x_position != last_x_position) { // if (x_position != last_x_position) {
logServer.deviceItemValue(this.device_code, "x_position", String.valueOf(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); // logServer.deviceExecuteLog(this.device_code, "", "", "信号x_position：" + last_x_position + "->" + x_position);
} // }
if (y_position != last_y_position) { // if (y_position != last_y_position) {
logServer.deviceItemValue(this.device_code, "y_position", String.valueOf(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); // logServer.deviceExecuteLog(this.device_code, "", "", "信号y_position：" + last_y_position + "->" + y_position);
} // }
//
// 更新指令状态 // // 更新指令状态
if (mode == 3 && task > 0) { // if (mode == 3 && task > 0) {
Date date = new Date(); // Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { // 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); // log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
//
} else { // } else {
this.instruction_update_time = date; // this.instruction_update_time = date;
//更改指令状态 // //更改指令状态
if (task > 0) { // if (task > 0) {
Instruction inst = checkInst(); // Instruction inst = checkInst();
if (inst != null) { // if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), "0")) { // if (StrUtil.equals(inst.getInstruction_status(), "0")) {
inst.setInstruction_status(CommonFinalParam.ONE); // inst.setInstruction_status(CommonFinalParam.ONE);
inst.setExecute_device_code(this.device_code); // inst.setExecute_device_code(this.device_code);
instructionService.update(inst); // 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) { // } catch (Exception var17) {
String remark = "未查找任务原因为:"; // var17.printStackTrace();
if (mode != 2) { // feedMessage = var17.getMessage();
remark = remark + "工作模式(mode)不是待机状态,"; // 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 (move != 0) { // }
remark = remark + "光电信号(move)为有货状态,"; //
} // if (mode == 0) {
if (task != 0) { // this.setIsonline(false);
remark = remark + "当前上报任务号(task)应该为0,"; // message = "未联机";
if (ObjectUtil.isNotEmpty(this.inst)) { // //有报警
this.inst = null; // } else if (error != 0) {
} // this.setIserror(true);
} // message = "有报警";
if (requireSucess) { // //无报警
remark = remark + "请右击该图标,将请求任务复位标记(requireSucess)改为否。"; // } else {
} // this.setIsonline(true);
this.setNotCreateTaskMessage(remark); // this.setIserror(false);
//} // message = "";
} // Instruction instruction = null;
} // List toInstructions;
//
} // //行架机械手申请任务
last_mode = mode; // if (mode == 2 && move == 0 && task == 0 && !requireSucess) {
last_move = move; //// boolean res = applyTask();
last_action = action; //// if (res) {
last_walk_y = walk_y; //// notCreateInstMessage = "";
last_error = error; //// notCreateTaskMessage = "";
last_task = task; //// feedMessage = "";
last_heartbeat = heartbeat; //// }
last_to_task = to_task; // } else {
last_to_command = to_command; // if (mode == 2) {
last_to_target = to_target; // //if (!requireSucess) {
last_to_onset = to_onset; // String remark = "未查找任务原因为:";
last_x_position = x_position; // if (mode != 2) {
last_y_position = y_position; // remark = remark + "工作模式(mode)不是待机状态,";
} // }
// if (move != 0) {
@Override // remark = remark + "光电信号(move)为有货状态,";
public JSONObject getDeviceStatusName() { // }
JSONObject jo = new JSONObject(); // if (task != 0) {
String mode = ""; // remark = remark + "当前上报任务号(task)应该为0,";
String move = ""; // if (ObjectUtil.isNotEmpty(this.inst)) {
String action = ""; // this.inst = null;
String walk_y = ""; // }
if (this.getMode() == 0) { // }
mode = "脱机"; // if (requireSucess) {
} else if (this.getMode() == 1) { // remark = remark + "请右击该图标,将请求任务复位标记(requireSucess)改为否。";
mode = "单机"; // }
} else if (this.getMode() == 2) { // this.setNotCreateTaskMessage(remark);
mode = "待机"; // //}
} else if (this.getMode() == 3) { // }
mode = "运行中"; // }
} //
// }
if (this.getMove() == 0) { // last_mode = mode;
move = "无货"; // last_move = move;
} else if (this.getMove() == 1) { // last_action = action;
move = "有货"; // last_walk_y = walk_y;
} // last_error = error;
// last_task = task;
String requireSucess = "0"; // last_heartbeat = heartbeat;
if (this.requireSucess) { // last_to_task = to_task;
requireSucess = "1"; // last_to_command = to_command;
} // last_to_target = to_target;
jo.put("requireSucess", requireSucess); // last_to_onset = to_onset;
if (this.getAction() == 1) { // last_x_position = x_position;
action = "取货中"; // last_y_position = y_position;
} else if (this.getAction() == 2) { // }
action = "取货完成"; //
} else if (this.getAction() == 3) { // @Override
action = "放货中"; // public JSONObject getDeviceStatusName() {
} else if (this.getAction() == 4) { // JSONObject jo = new JSONObject();
action = "放货完成"; // String mode = "";
} // String move = "";
// String action = "";
jo.put("device_name", this.getDevice().getDevice_name()); // String walk_y = "";
jo.put("mode", mode); // if (this.getMode() == 0) {
jo.put("move", move); // mode = "脱机";
jo.put("action", action); // } else if (this.getMode() == 1) {
jo.put("task", task); // mode = "单机";
jo.put("walk_y", walk_y); // } else if (this.getMode() == 2) {
jo.put("isOnline", this.getIsonline()); // mode = "待机";
jo.put("error", ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(this.getError()))); // } else if (this.getMode() == 3) {
jo.put("isError", this.getIserror()); // mode = "运行中";
jo.put("message", this.getMessage()); // }
jo.put("notCreateTaskMessage", notCreateTaskMessage); //
jo.put("notCreateInstMessage", notCreateInstMessage); // if (this.getMove() == 0) {
jo.put("feedMessage", feedMessage); // move = "无货";
jo.put("driver_type", "siemens_conveyor"); // } else if (this.getMove() == 1) {
jo.put("is_click", true); // move = "有货";
jo.put("x", x_position); // }
jo.put("y", y_position); //
return jo; // String requireSucess = "0";
} // if (this.requireSucess) {
// requireSucess = "1";
@Override // }
public void setDeviceStatus(JSONObject data) { // jo.put("requireSucess", requireSucess);
String requestSucess = data.getString("requireSucess"); // if (this.getAction() == 1) {
if (StrUtil.equals(requestSucess, "0")) { // action = "取货中";
this.requireSucess = false; // } else if (this.getAction() == 2) {
} else if (StrUtil.equals(requestSucess, "1")) { // action = "取货完成";
this.requireSucess = true; // } else if (this.getAction() == 3) {
} // action = "放货中";
} // } else if (this.getAction() == 4) {
// action = "放货完成";
@Override // }
public JSONObject feedLmsRealFailedInfo() { //
JSONObject jo = new JSONObject(); // jo.put("device_name", this.getDevice().getDevice_name());
jo.put("device_code", this.getDevice().getDevice_code()); // jo.put("mode", mode);
jo.put("device_name", this.getDevice().getDevice_name()); // jo.put("move", move);
jo.put("fault_code", String.valueOf(error)); // jo.put("action", action);
jo.put("fault_info", ErrorUtil.getDictDetail(error_type, String.valueOf(this.getError()))); // jo.put("task", task);
jo.put("fault_type", error_type); // jo.put("walk_y", walk_y);
return jo; // 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());
public Instruction checkInst() { // jo.put("notCreateTaskMessage", notCreateTaskMessage);
if (ObjectUtil.isNotEmpty(this.inst)) { // jo.put("notCreateInstMessage", notCreateInstMessage);
if (this.task > 0) { // jo.put("feedMessage", feedMessage);
if (this.inst.getInstruction_code().equals(String.valueOf(this.task))) { // jo.put("driver_type", "siemens_conveyor");
return this.inst; // jo.put("is_click", true);
} else { // jo.put("x", x_position);
inst = instructionService.findByCodeFromCache(String.valueOf(task)); // jo.put("y", y_position);
return inst; // return jo;
} // }
} //
} else { // @Override
inst = instructionService.findByCodeFromCache(String.valueOf(task)); // public void setDeviceStatus(JSONObject data) {
return inst; // String requestSucess = data.getString("requireSucess");
} // if (StrUtil.equals(requestSucess, "0")) {
return null; // 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;
// }
//}

59
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/BoxManipulatorDefination.java Normal file
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@@ -0,0 +1,59 @@
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 BoxManipulatorDefination implements OpcDeviceDriverDefination {
@Override
public String getDriverCode() {
return "box_manipulator";
}
@Override
public String getDriverName() {
return "装箱行架机械手";
}
@Override
public String getDriverDescription() {
return "装箱行架机械手";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new BoxManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return BoxManipulatorDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.station);
return types;
}
@Override
public List<ItemDto> getReadableItemDtos() {
return StandardItemProtocol.getReadableItemDtos();
}
@Override
public List<ItemDto> getWriteableItemDtos() {
return StandardItemProtocol.getWriteableItemDtos();
}
}

397
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/BoxManipulatorDeviceDriver.java Normal file
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@@ -0,0 +1,397 @@
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 org.springframework.stereotype.Component;
import org.springframework.stereotype.Service;
import java.util.Date;
import java.util.List;
/**
* 装箱行架机械手
*/
@Slf4j
@Data
@RequiredArgsConstructor
public class BoxManipulatorDeviceDriver 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<String> getDeviceCodeList = null;
List<String> 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;
}
}

84
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandardItemProtocol.java
View File

@@ -3,7 +3,11 @@ package org.nl.acs.device_driver.manipulator.standard_manipulator;
import lombok.Data; import lombok.Data;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto; import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import org.nl.acs.device_driver.box_manipulator.BoxManipulatorDeviceDriver; import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.config.SpringContextHolder;
import java.util.ArrayList; import java.util.ArrayList;
@@ -12,6 +16,9 @@ import java.util.List;
@Slf4j @Slf4j
@Data @Data
public class StandardItemProtocol { public class StandardItemProtocol {
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
//心跳 //心跳
public static String item_heartbeat = "heartbeat"; public static String item_heartbeat = "heartbeat";
//工作模式 //工作模式
@@ -40,77 +47,80 @@ public class StandardItemProtocol {
//下发任务号 //下发任务号
public static String item_to_task = "to_task"; public static String item_to_task = "to_task";
StandardManipulatorDeviceDriver standardManipulatorDeviceDriver;
BoxManipulatorDeviceDriver boxManipulatorDeviceDriver;
private final String type; private final DeviceDriver driver;
public StandardItemProtocol(String type) { public StandardItemProtocol(DeviceDriver driver) {
this.type = type; this.driver = driver;
} }
public int getHeartbeat() { public int getHeartbeat(String device_code) {
return this.getOpcIntegerValue(item_heartbeat,type); return this.getOpcIntegerValue(item_heartbeat,device_code);
} }
public int getMode() { public int getMode(String device_code) {
return this.getOpcIntegerValue(item_mode,type); return this.getOpcIntegerValue(item_mode,device_code);
} }
public int getMove() { public int getMove(String device_code) {
return this.getOpcIntegerValue(item_move,type); return this.getOpcIntegerValue(item_move,device_code);
} }
public int getAction() { public int getAction(String device_code) {
return this.getOpcIntegerValue(item_action,type); return this.getOpcIntegerValue(item_action,device_code);
} }
public int getWalk_y() { public int getWalk_y(String device_code) {
return this.getOpcIntegerValue(item_walk_y,type); return this.getOpcIntegerValue(item_walk_y,device_code);
} }
public int getError() { public int getError(String device_code) {
return this.getOpcIntegerValue(item_error,type); return this.getOpcIntegerValue(item_error,device_code);
} }
public int getTask() { public int getTask(String device_code) {
return this.getOpcIntegerValue(item_task,type); return this.getOpcIntegerValue(item_task,device_code);
} }
public int getTo_command() { public int getTo_command(String device_code) {
return this.getOpcIntegerValue(item_to_command,type); return this.getOpcIntegerValue(item_to_command,device_code);
} }
public int getTo_target() { public int getTo_target(String device_code) {
return this.getOpcIntegerValue(item_to_target,type); return this.getOpcIntegerValue(item_to_target,device_code);
} }
public int getTo_task() { public int getTo_task(String device_code) {
return this.getOpcIntegerValue(item_to_task,type); return this.getOpcIntegerValue(item_to_task,device_code);
} }
public int getTo_onset() { public int getTo_onset(String device_code) {
return this.getOpcIntegerValue(item_to_onset,type); return this.getOpcIntegerValue(item_to_onset,device_code);
} }
public int getX_position() { public int getX_position(String device_code) {
return this.getOpcIntegerValue(item_x_position,type); return this.getOpcIntegerValue(item_x_position,device_code);
} }
public int getY_position() { public int getY_position(String device_code) {
return this.getOpcIntegerValue(item_y_position,type); return this.getOpcIntegerValue(item_y_position,device_code);
} }
Boolean isonline; Boolean isonline;
public int getOpcIntegerValue(String protocol,String type) { public int getOpcIntegerValue(String protocol,String device_code) {
Integer value = null; Integer value = null;
if ("1".equals(type)){ Device device = deviceAppService.findDeviceByCode(device_code);
value = this.standardManipulatorDeviceDriver.getIntegeregerValue(protocol); if (device.getDeviceDriver() instanceof StandardManipulatorDeviceDriver) {
}else if ("2".equals(type)){ StandardManipulatorDeviceDriver standardManipulatorDeviceDriver;
value = this.boxManipulatorDeviceDriver.getIntegeregerValue(protocol); standardManipulatorDeviceDriver = (StandardManipulatorDeviceDriver) device.getDeviceDriver();
value = standardManipulatorDeviceDriver.getIntegeregerValue(protocol);
}else if (device.getDeviceDriver() instanceof BoxManipulatorDeviceDriver){
BoxManipulatorDeviceDriver boxManipulatorDeviceDriver;
boxManipulatorDeviceDriver = (BoxManipulatorDeviceDriver) device.getDeviceDriver();
value = boxManipulatorDeviceDriver.getIntegeregerValue(protocol);
} }
if (value == null) { if (value == null) {
// log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");

3
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandardManipulatorDefination.java
View File

@@ -5,7 +5,6 @@ import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType; import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
import org.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver;
import org.springframework.stereotype.Service; import org.springframework.stereotype.Service;
import java.util.LinkedList; import java.util.LinkedList;
@@ -30,7 +29,7 @@ public class StandardManipulatorDefination implements OpcDeviceDriverDefination
@Override @Override
public DeviceDriver getDriverInstance(Device device) { public DeviceDriver getDriverInstance(Device device) {
return (new StandardStackerDeviceDriver()).setDevice(device).setDriverDefination(this); return (new StandardManipulatorDeviceDriver()).setDevice(device).setDriverDefination(this);
} }

30
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/manipulator/standard_manipulator/StandardManipulatorDeviceDriver.java
View File

@@ -29,6 +29,8 @@ import org.nl.acs.route.service.impl.RouteLineServiceImpl;
import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.TaskService;
import org.nl.config.SpringContextHolder; import org.nl.config.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.stereotype.Service;
import java.util.Date; import java.util.Date;
import java.util.List; import java.util.List;
@@ -40,7 +42,7 @@ import java.util.List;
@Data @Data
@RequiredArgsConstructor @RequiredArgsConstructor
public class StandardManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { public class StandardManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
protected StandardItemProtocol standardItemProtocol = new StandardItemProtocol("1"); protected StandardItemProtocol standardItemProtocol = new StandardItemProtocol(this);
@Autowired @Autowired
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
@Autowired @Autowired
@@ -143,19 +145,19 @@ public class StandardManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
String message = null; String message = null;
try { try {
device_code = this.getDeviceCode(); device_code = this.getDeviceCode();
mode = this.standardItemProtocol.getMode(); mode = this.standardItemProtocol.getMode(device_code);
move = this.standardItemProtocol.getMove(); move = this.standardItemProtocol.getMove(device_code);
action = this.standardItemProtocol.getAction(); action = this.standardItemProtocol.getAction(device_code);
walk_y = this.standardItemProtocol.getWalk_y(); walk_y = this.standardItemProtocol.getWalk_y(device_code);
error = this.standardItemProtocol.getError(); error = this.standardItemProtocol.getError(device_code);
task = this.standardItemProtocol.getTask(); task = this.standardItemProtocol.getTask(device_code);
heartbeat = this.standardItemProtocol.getHeartbeat(); heartbeat = this.standardItemProtocol.getHeartbeat(device_code);
to_command = this.standardItemProtocol.getTo_command(); to_command = this.standardItemProtocol.getTo_command(device_code);
to_target = this.standardItemProtocol.getTo_target(); to_target = this.standardItemProtocol.getTo_target(device_code);
to_task = this.standardItemProtocol.getTo_task(); to_task = this.standardItemProtocol.getTo_task(device_code);
to_onset = this.standardItemProtocol.getTo_onset(); to_onset = this.standardItemProtocol.getTo_onset(device_code);
x_position = this.standardItemProtocol.getX_position(); x_position = this.standardItemProtocol.getX_position(device_code);
y_position = this.standardItemProtocol.getY_position(); y_position = this.standardItemProtocol.getY_position(device_code);
if (to_onset != last_to_onset) { if (to_onset != last_to_onset) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset); logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + last_to_onset + "->" + to_onset);

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -20,9 +20,9 @@ import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.FeedLmsRealFailed; import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver; import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver; import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
import org.nl.acs.device_driver.box_manipulator.BoxManipulatorDeviceDriver;
import org.nl.acs.device_driver.conveyor.hongxiang_conveyor.HongXiangStationDeviceDriver; import org.nl.acs.device_driver.conveyor.hongxiang_conveyor.HongXiangStationDeviceDriver;
import org.nl.acs.device_driver.conveyor.hongxiang_device.HongXiangConveyorDeviceDriver; import org.nl.acs.device_driver.conveyor.hongxiang_device.HongXiangConveyorDeviceDriver;
import org.nl.acs.device_driver.manipulator.standard_manipulator.BoxManipulatorDeviceDriver;
import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardManipulatorDeviceDriver; import org.nl.acs.device_driver.manipulator.standard_manipulator.StandardManipulatorDeviceDriver;
import org.nl.acs.device_driver.three_color.lamp_three_color.LampThreecolorDeviceDriver; import org.nl.acs.device_driver.three_color.lamp_three_color.LampThreecolorDeviceDriver;
import org.nl.acs.device_driver.conveyor.oven_manipulator.OvenGantryManipulatorDeviceDriver; import org.nl.acs.device_driver.conveyor.oven_manipulator.OvenGantryManipulatorDeviceDriver;