From 1b9d943c1e04a1db96f88254b89323a41e71ea98 Mon Sep 17 00:00:00 2001 From: LENOVO <1793460677@qq.com> Date: Tue, 7 May 2024 13:32:29 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E5=A0=86=E5=9E=9B=E6=9C=BA=E5=BC=82?= =?UTF-8?q?=E5=B8=B8=E6=83=85=E5=86=B5=E5=BC=80=E5=8F=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../StandardStackerDeviceDriver.java | 194 +++++++++++------- .../service/dto/InstructionDto.java | 5 + .../service/quartz/task/CreateDDJInst.java | 4 +- 3 files changed, 130 insertions(+), 73 deletions(-) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java index 976cf66ce..190ca03bf 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java @@ -24,6 +24,7 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; 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.enums.InstructionStatusEnum; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; @@ -323,7 +324,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme storage_cache = this.itemProtocol.getItem_storage_cache(); if (!command.equals(last_command)){ - requireSucess=true; + requireSucess=false; if (command==0){ clearWrite(); } @@ -362,59 +363,36 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme count = 0; } + if (mode != 3 && requireSucess) { message = "one_message7"; - - } else if (error != 0) { - message = "universal_message3"; - //指定库位满入 - if (error == 5 && count< WcsConfig.stacker_error_in_count) { - //相同任务时限制加一 - if (Objects.equals(task, last_task)){ - count++; - } - applyUpdatePointCode(StandarStirageErroEnum.FILL.getType()); - } - //空出 - if (error == 6) { - applyUpdatePointCode(StandarStirageErroEnum.VOIDANCE.getType()); - } - - //浅货位有货 - if (error == 16) { - //放货 - if (cargoMove == 1 && count< WcsConfig.stacker_error_in_count) { - //相同任务时限制加一 - if (Objects.equals(task, last_task)){ - count++; - } - applyUpdatePointCode(StandarStirageErroEnum.BLOCK_OUT.getType()); - } else if (cargoMove == 0) { - //取货 - applyUpdatePointCode(StandarStirageErroEnum.BLOCK_IN.getType()); - } - } } else { - + if (error != 0) { + //满入空出或者浅货位阻挡 + erroBlock(); + } List list = new ArrayList(); switch (command) { case 0: + if (updateCommand("0")) break; boolean b = applyTask(); if (b) { - requireSucess = true; + requireSucess = false; } break; case 1: message = "universal_delivery"; + if (updateCommand("1")) break; break; case 2: message = "universal_completed"; - Instruction instruction = checkInst(); - if (ObjectUtil.isEmpty(instruction)) { + if (updateCommand("2")) break; + Instruction instruction2 = checkInst(); + if (ObjectUtil.isEmpty(instruction2)) { message = "universal_message4"; break; } - String next_device_code = instruction.getNext_device_code(); + String next_device_code = instruction2.getNext_device_code(); Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.conveyor.name())) { if (ObjectUtil.isNotEmpty(nextDevice.getExtraValue().get("z"))) { @@ -464,13 +442,15 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme map4.put("code", "to_command"); map4.put("value", 2); list.add(map4); - requireSucess = true; + requireSucess = false; break; case 3: message = "universal_releasing"; + if (updateCommand("3")) break; break; case 4: message = "one_message1"; + if (updateCommand("4")) break; Instruction instruction1 = checkInst(); String next_device_code1 = instruction1.getNext_device_code(); Device nextDevice1 = deviceAppService.findDeviceByCode(next_device_code1); @@ -490,10 +470,11 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme map.put("value", 4); list.add(map); } - requireSucess = true; + requireSucess = false; break; case 5: message = "universal_releasing_completed"; + if (updateCommand("5")) break; Map map = new HashMap<>(); map.put("code", "to_command"); map.put("value", 11); @@ -504,35 +485,38 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } catch (Exception e) { e.printStackTrace(); } - requireSucess = true; + requireSucess = false; break; case 6: message = "one_message2"; + if (updateCommand("6")) break; Map map1 = new HashMap<>(); map1.put("code", "to_command"); map1.put("value", 6); list.add(map1); - requireSucess = true; + requireSucess = false; break; case 7: message = "one_message3"; + if (updateCommand("7")) break; Map map2 = new HashMap<>(); map2.put("code", "to_command"); map2.put("value", 7); list.add(map2); - requireSucess = true; + requireSucess = false; break; case 8: message = "one_message4"; + if (updateCommand("8")) break; Map map3 = new HashMap<>(); map3.put("code", "to_command"); map3.put("value", 8); list.add(map3); - requireSucess = true; + requireSucess = false; break; default: message = "one_message5"; - requireSucess = true; + requireSucess = false; break; } if (list.size() != 0) { @@ -576,6 +560,71 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme last_fork_runingTimes = fork_runingTimes;*/ } + private boolean updateCommand(String toCommand) { + Instruction instruction0 = checkInst(); + if (ObjectUtil.isEmpty(instruction0)) { + message = "universal_message4"; + return true; + } + instruction0.setExecute_code(toCommand); + instructionService.update(instruction0); + return false; + } + + + private void erroBlock() { + + message = "universal_message3"; + //指定库位满入 + if (error == 5 && count< WcsConfig.stacker_error_in_count) { + //清警 + cleanErro(); + //相同任务时限制加一 + if (Objects.equals(task, last_task)){ + count++; + } + applyUpdatePointCode(StandarStirageErroEnum.FILL.getType()); + } + //空出直接完结指令 + if (error == 6) { + //清警 + cleanErro(); + Instruction instruction = checkInst(); + try { + finish_instruction(instruction); + } catch (Exception e) { + throw new RuntimeException(e); + } + } + + //浅货位有货 + if (error == 16) { + //清警 + cleanErro(); + //放货 + if (cargoMove == 1 && count< WcsConfig.stacker_error_in_count) { + //相同任务时限制加一 + if (Objects.equals(task, last_task)){ + count++; + } + applyUpdatePointCode(StandarStirageErroEnum.BLOCK_OUT.getType()); + } else if (cargoMove == 0) { + //取货 + applyUpdatePointCode(StandarStirageErroEnum.BLOCK_IN.getType()); + } + } + } + + private void cleanErro() { + + List list = new ArrayList(); + HashMap map = new HashMap(); + map.put("code","to_command"); + map.put("value","5"); + list.add(map); + writing(list); + } + /** * 申请更新点位 * @@ -612,15 +661,15 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (ObjectUtil.isEmpty(point)) { message = "one_message18"; } - if (type.equals(StandarStirageErroEnum.VOIDANCE.getType())) { - updateData1(poinCode, instruction, point, split); - List list = new ArrayList(); - pakageData(list, point, split); - } + if (type.equals(StandarStirageErroEnum.BLOCK_IN.getType()) || type.equals(StandarStirageErroEnum.FILL.getType())) { - updateData2(poinCode, instruction, point, split); + task = task*1000; + updateData2(poinCode, instruction, point, split,task); List list = new ArrayList(); - pakageData(list, point, split); + String x = point.getExtraValue().get("x").toString(); + String y = split[1]; + String z = split[2]; + pakagePLCData(list, x,y,z,"2",task); } } //取货潜货位阻挡做完移库任务 @@ -648,10 +697,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } } - private void pakageData(List list, Device point, String[] split) { - String x = point.getExtraValue().get("x").toString(); - String y = split[1]; - String z = split[2]; + private void pakagePLCData(List list, String x, String y, String z, String toCommand, Integer task) { HashMap map1 = new HashMap(); map1.put("code", "to_x"); map1.put("value", y); @@ -664,11 +710,20 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme map3.put("code", "to_z"); map3.put("value", x); list.add(map3); + HashMap map4 = new HashMap(); + map4.put("code", "to_task"); + map4.put("value", task); + list.add(map4); + HashMap map5 = new HashMap(); + map5.put("code", "to_command"); + map5.put("value", toCommand); + list.add(map5); if (ObjectUtil.isNotEmpty(list)) { this.writing(list); } } + public void clearWrite() { List list = new ArrayList<>(); Map map = new HashMap<>(); @@ -696,11 +751,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme message=null; } - private void updateData2(String poinCode, Instruction instruction, Device point, String[] split) { + private void updateData2(String poinCode, Instruction instruction, Device point, String[] split, Integer task) { Instruction instructionUpdate = checkInst(); TaskDto taskUpdate = new TaskDto(); instructionUpdate.setNext_point_code(poinCode); instructionUpdate.setNext_device_code(split[0]); + instructionUpdate.setInstruction_code(String.valueOf(task)); taskUpdate.setNext_point_code(poinCode); taskUpdate.setNext_device_code(split[0]); taskUpdate.setTask_id(instructionUpdate.getTask_id()); @@ -709,19 +765,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme taskserver.update(taskUpdate); } - private void updateData1(String poinCode, Instruction instruction, Device point, String[] split) { - Instruction instructionUpdate = checkInst(); - TaskDto taskUpdate = new TaskDto(); - instructionUpdate.setStart_point_code(poinCode); - instructionUpdate.setStart_device_code(split[0]); - taskUpdate.setStart_point_code(poinCode); - taskUpdate.setStart_device_code(split[0]); - taskUpdate.setTask_id(instructionUpdate.getTask_id()); - pakageData1(instruction, instructionUpdate, point, split, taskUpdate); - //更新缓存数据库 - instructionService.update(instructionUpdate); - taskserver.update(taskUpdate); - } + private void pakageData1(Instruction instruction, Instruction instructionUpdate, Device starPoint, String[] split, TaskDto taskUpdate) { instructionUpdate.setFrom_x(starPoint.getExtraValue().get("x").toString()); @@ -759,6 +803,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); return false; } else { + //维修解警后重新向堆垛机下发指令 + Instruction instructionErro = checkInst(); + if (InstructionStatusEnum.BUSY.getIndex().equals(instructionErro.getInstruction_status())){ + List list = new ArrayList(); + pakagePLCData(list, String.valueOf(x),String.valueOf(y),String.valueOf(z),instructionErro.getExecute_code(),task); + return true; + } + this.instruction_require_time = date; //输入:指令类型多种\ 指令状态多种\ Instruction instruction1 = new Instruction(); @@ -813,7 +865,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } List list = new ArrayList(); - pakageCommand(list, inst.getInstruction_code()); + pakageCommand(list,"1", inst.getInstruction_code()); if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) { if (ObjectUtil.isNotEmpty(startDevice.getExtraValue().get("z"))) { HashMap map4 = new HashMap(); @@ -869,14 +921,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme list.add(map7); } - private void pakageCommand(List list, String inst) { + private void pakageCommand(List list, String toCommand,String inst) { HashMap map1 = new HashMap(); map1.put("code", "to_device_code"); map1.put("value", this.getDevice().getAddress()); list.add(map1); HashMap map2 = new HashMap(); map2.put("code", "to_command"); - map2.put("value", 1); + map2.put("value", toCommand); list.add(map2); HashMap map3 = new HashMap(); map3.put("code", "to_task"); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java index aca8e7e65..bd79c3678 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java @@ -364,4 +364,9 @@ public class InstructionDto implements Serializable { */ private String to_device_code; + + /** + * + */ +// private String to_device_code; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java index 47c8aae54..f36bb192b 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java @@ -122,7 +122,7 @@ public class CreateDDJInst { standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver(); if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getMove() == 1 || standardStackerDeviceDriver.getCommand() != 0) { log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code()); - ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("one_message7"); + ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中"); return; } } @@ -149,7 +149,7 @@ public class CreateDDJInst { standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver(); if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0) { log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code()); - ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("one_message7"); + ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中"); return; } }