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opt:内包间行架和插拔轴机驱动代码优化

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This commit is contained in:
tuqiang
2023-11-09 13:21:01 +08:00
parent 74e0977658
commit 1181d4c192
2 changed files with 205 additions and 40 deletions
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220
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
View File

@@ -264,7 +264,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move);
}
if (action != last_action) {
this.setFeedbackSucess(false);
this.setRequireSucess(false);
logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + "->" + action);
}
@@ -444,6 +445,41 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
String version = applyManipulatorActionResponse.getVersion();
String bushing_num = applyManipulatorActionResponse.getBushing_num();
String is_bushing = applyManipulatorActionResponse.getIs_bushing();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("inflatableShaftVersion", version);
map.put("tube_num", bushing_num);
map.put("is_wrapped", is_bushing);
map.put("to_putpoint", put_device_code);
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//任务完成
if (action == 8) {
Instruction inst2 = checkInst();
@@ -461,8 +497,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 6) {
feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
@@ -499,7 +535,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈气胀轴尺寸
if (mode == 3) {
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
@@ -516,7 +552,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
map.put("to_command", "2");
map.put("to_task_type", "2");
this.writing(map);
this.setFeedbackSucess(true);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
@@ -539,7 +574,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
requireSucess = true;
}
//任务完成
@@ -559,8 +594,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 6) {
feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
if (action != 8) {
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
@@ -594,7 +629,94 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
}
}
//从拔轴机取货的新行架任务
if (mode == 3 && action == 1 && move == 0 && task > 0) {
Instruction inst2 = checkInst();
if (ObjectUtil.isNotEmpty(inst2)) {
String start_device_code = inst2.getStart_device_code();
Device device = deviceAppService.findDeviceByCode(start_device_code);
PluggingUnpluggingMachineDeviceDriver pluggingUnpluggingMachineDeviceDriver;
if (device.getDeviceDriver() instanceof PluggingUnpluggingMachineDeviceDriver) {
pluggingUnpluggingMachineDeviceDriver = (PluggingUnpluggingMachineDeviceDriver) device.getDeviceDriver();
int mode = pluggingUnpluggingMachineDeviceDriver.getMode();
int error1 = pluggingUnpluggingMachineDeviceDriver.getError();
int move = pluggingUnpluggingMachineDeviceDriver.getMove();
if (mode == 2 && error1 == 0 && move == 1) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "1");
this.writing(map);
this.setFeedbackSucess(true);
}
}
}
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 1) {
feedMessage = feedMessage + "动作信号(action)不为取货中状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
}
if (task == 0) {
feedMessage = feedMessage + "当前上报任务号(task)不应该为0。";
}
}
ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest();
ApplyManipulatorActionResponse applyManipulatorActionResponse;
//反馈尺寸
if (action == 2) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(task_code);
applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
requireSucess = true;
message = "反馈LMS成功...";
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
String version = applyManipulatorActionResponse.getVersion();
String bushing_num = applyManipulatorActionResponse.getBushing_num();
String is_bushing = applyManipulatorActionResponse.getIs_bushing();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
map.put("inflatableShaftVersion", version);
map.put("tube_num", bushing_num);
map.put("is_wrapped", is_bushing);
map.put("to_putpoint", put_device_code);
this.writing(map);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
}
}
//申请放货点
if (action == 3) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
applyManipulatorActionRequest.setType(truss_type);
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
String detail_type = applyManipulatorActionResponse.getDetail_type();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
}
//任务完成
@@ -605,8 +727,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
finish_instruction(inst2);
this.writing("to_command", "8");
finish_instruction(inst2);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}
@@ -618,7 +740,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
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,";
feedMessage = feedMessage + "动作信号(action)不为完成状态,";
}
if (move != 0) {
feedMessage = feedMessage + "光电信号(move)不为无货状态,";
@@ -680,7 +802,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
map.put("is_wrapped", is_bushing);
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
} else {
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
@@ -688,6 +809,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
}
}
//申请放货点
if (action == 3) {
Instruction inst2 = checkInst();
String task_code = inst2.getTask_code();
@@ -705,33 +827,67 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
this.writing(map);
this.setFeedbackSucess(true);
}
if (mode == 3 && action == 4 && task > 0) {
//申请新取货点
if (action == 4) {
applyManipulatorActionRequest.setType("4");
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
map.put("to_new_getpoint", get_device_code);
map.put("to_putpoint", put_device_code);
this.writing(map);
this.setFeedbackSucess(true);
if (applyManipulatorActionResponse.getstatus() == 200) {
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
String put_device_code = applyManipulatorActionResponse.getPut_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
map.put("to_new_getpoint", get_device_code);
map.put("to_putpoint", put_device_code);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请新取货点,返回参数:" + applyManipulatorActionResponse);
message = "申请新取货点成功";
} else {
requireSucess = true;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//申请二次放货点
if (action == 5) {
applyManipulatorActionRequest.setType("5");
applyManipulatorActionRequest.setTask_code(String.valueOf(task));
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
if (applyManipulatorActionResponse.getstatus() == 200) {
String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2();
String detail_type = applyManipulatorActionResponse.getDetail_type();
String get_device_code = applyManipulatorActionResponse.getGet_device_code();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
map.put("to_task_type", detail_type);
map.put("to_two_putpoint", put_device_code2);
map.put("to_new_getpoint", get_device_code);
this.writing(map);
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请二次放货点,返回参数:" + applyManipulatorActionResponse);
message = "申请二次放货点成功";
} else {
requireSucess = true;
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请失败,返回参数:" + applyManipulatorActionResponse);
}
}
//缓存库取货完成
if (action == 6) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
map.put("to_task_type", detail_type);
map.put("to_two_putpoint", put_device_code2);
map.put("to_new_getpoint", get_device_code);
this.writing(map);
this.setFeedbackSucess(true);
map.put("to_command", "6");
requireSucess = true;
}
//缓存库放货完成
if (action == 7) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "7");
requireSucess = true;
}
@@ -743,8 +899,8 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple
String task_code = inst2.getTask_code();
TaskDto taskDto = taskserver.findByCode(task_code);
String truss_type = taskDto.getTruss_type();
finish_instruction(inst2);
this.writing("to_command", "8");
finish_instruction(inst2);
this.writing("to_command", "8");
} catch (Exception e) {
e.printStackTrace();
}

25
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java
View File

@@ -138,6 +138,9 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
feedback1();
}
break;
default:
break;
}
}
@@ -153,14 +156,18 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
applyManipulatorActionRequest.setType("7");
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
message = "套轴完成成功";
} else {
message = applyManipulatorActionResponse.getMessage();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "99");
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
message = "套轴失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
}
}
@@ -170,14 +177,18 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
applyManipulatorActionRequest.setType("6");
applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest);
if (applyManipulatorActionResponse.getstatus() == 200) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
requireSucess = true;
logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
message = "套轴申请成功";
} else {
message = applyManipulatorActionResponse.getMessage();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "99");
requireSucess = true;
message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse);
logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse));
message = "申请失败";
logServer.deviceExecuteLog(this.device_code, "", "", "申请出纸管,返回参数:" + applyManipulatorActionResponse);
}
}
@@ -225,7 +236,6 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
}
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
@@ -276,5 +286,4 @@ public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriv
}
}