From 54f0a10efdb24074f3ca0b1f9dd3476be9734c2c Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Wed, 17 Jan 2024 20:36:44 +0800 Subject: [PATCH] =?UTF-8?q?add:=20=E5=BC=80=E5=8F=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/resources/config/application-dev.yml | 2 +- .../BoxStorageOutConveyorDeviceDriver.java | 45 ------ ...ConveyorWithScannerWeightDeviceDriver.java | 133 +++--------------- .../un_box_lable_conveyor/ItemProtocol.java | 8 +- .../UnBoxLableConveyorDeviceDriver.java | 60 ++------ .../BoxPackageManipulatorDeviceDriver.java | 57 -------- .../box_package_manipulator/ItemProtocol.java | 14 ++ .../BoxStorageManipulatorDeviceDriver.java | 34 +---- 8 files changed, 56 insertions(+), 297 deletions(-) diff --git a/acs/nladmin-system/src/main/resources/config/application-dev.yml b/acs/nladmin-system/src/main/resources/config/application-dev.yml index 7a0351aed..e0243e89f 100644 --- a/acs/nladmin-system/src/main/resources/config/application-dev.yml +++ b/acs/nladmin-system/src/main/resources/config/application-dev.yml @@ -17,7 +17,7 @@ spring: username: ${DB_USER:root} # password: ${DB_PWD:P@ssw0rd} # password: ${DB_PWD:Root.123456} - password: ${DB_PWD:123456} + password: ${DB_PWD:root} # 初始连接数 initial-size: 5 diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java index a4710cc8f..fc511ca50 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java @@ -171,52 +171,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i heartbeat = this.itemProtocol.getHeartbeat(); - 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); - } - if (to_length != last_to_length) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_length：" + last_to_length + "->" + to_length); - } - if (to_weight != last_to_weight) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_weight：" + last_to_weight + "->" + to_weight); - } - if (to_height != last_to_height) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_height：" + last_to_height + "->" + to_height); - } - 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) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记:" + requireSucess); - logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); - } - if (carrier_direction != last_carrier_direction) { - logServer.deviceItemValue(this.device_code, "carrier_direction", String.valueOf(carrier_direction)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction); - } - if (error != last_error) { - if (error != 0) { - DeviceErrorLogDto dto = new DeviceErrorLogDto(); - dto.setDevice_code(device_code); - dto.setError_code(String.valueOf(error)); - String errorInfo = ErrorUtil.getDictDetail("ssx_error_type", String.valueOf(error)); - 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(); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java index 511ff2e25..cae8d3361 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java @@ -64,6 +64,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class); + DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class); + + //工作模式 int mode = 0; int last_mode = 0; @@ -267,8 +270,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv applyIn(); } - //申请任务 - if (mode == 2 && move == 0 && task == 0 && !requireSucess) { + //申请入库指令、异常位指令 + if (mode == 2 && move == 1 && task > 0 && !requireSucess) { boolean res = instruction_require(); if (res) { notCreateInstMessage = ""; @@ -400,85 +403,22 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv //判断是否存在起点相同 任务状态就绪的任务 TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code); if (!ObjectUtil.isEmpty(taskdto)) { - //需要判断当前设备是否已经存在就绪的指令 如果存在就直接下发 不存在则创建 - Instruction inst = instructionService.findByTaskcodeAndStatus(taskdto.getTask_code()); - if (ObjectUtil.isNotEmpty(inst)) { - List list = new ArrayList(); - Map map2 = new HashMap(); - map2.put("code", "to_task"); - map2.put("value", inst.getInstruction_code()); - list.add(map2); - Map map3 = new HashMap(); - map3.put("code", "to_command"); - map3.put("value", "1"); - list.add(map3); - this.writing(list); - requireSucess = true; - while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString() - , inst.getInstruction_code())) { - this.writing(list); - logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发信号"); - try { - Thread.sleep(500); - } catch (InterruptedException e) { - e.printStackTrace(); - } - if (ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(taskdto.getTask_code()))) { - requireSucess = false; - return false; - } - } - message = "下发电气任务号成功"; - requireSucess = true; - return true; - } + String taskid = taskdto.getTask_id(); String taskcode = taskdto.getTask_code(); String vehiclecode = taskdto.getVehicle_code(); String priority = taskdto.getPriority(); - String start_point_code = taskdto.getStart_point_code(); - String start_device_code = taskdto.getStart_device_code(); String route_plan_code = taskdto.getRoute_plan_code(); - String next_device_code = ""; - /** - * 开始平均分配 - */ - String this_coevice_code = taskserver.queryAssignedByDevice(device_code, taskdto.getNext_device_code()); - if (StrUtil.isEmpty(this_coevice_code)) { - List shortPathsList = routeLineService.getShortPathLines(start_device_code, taskdto.getNext_device_code(), route_plan_code); - RouteLineDto routeLineDto = shortPathsList.get(0); - - String path = routeLineDto.getPath(); - String type = routeLineDto.getType(); - String[] str = path.split("->"); - - List pathlist = Arrays.asList(str); - int index = 0; - for (int m = 0; m < pathlist.size(); m++) { - if (pathlist.get(m).equals(start_device_code)) { - index = m + 1; - break; - } - } - next_device_code = pathlist.get(index); - } else { - next_device_code = this_coevice_code; - } - //校验路由关系 - List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); - if (ObjectUtils.isEmpty(shortPathsList)) { - throw new RuntimeException("路由不通!"); - } - - Device startdevice = deviceAppService.findDeviceByCode(start_device_code); - Device nextdevice = deviceAppService.findDeviceByCode(next_device_code); - String next_point_code; - if (StrUtil.equals(deviceAppService.findDeviceTypeByCode(next_device_code), "storage")) { - next_point_code = taskdto.getTo_x() + "-" + taskdto.getTo_y() + "-" + taskdto.getTo_z(); - } else { - next_point_code = next_device_code; - } + List shortPathsList = routeLineService.getShortPathLines(taskdto.getStart_device_code(), taskdto.getNext_device_code(), route_plan_code); + RouteLineDto routeLineDto = shortPathsList.get(0); + String path = routeLineDto.getPath(); + String[] str = path.split("->"); + List pathlist = Arrays.asList(str); + Integer start = 2; + String start_point_code = pathlist.get(start); + String start_device_code = pathlist.get(start); + String next_device_code = pathlist.get(start+1); Instruction instdto = new Instruction(); instdto.setInstruction_id(IdUtil.simpleUUID()); instdto.setRoute_plan_code(route_plan_code); @@ -494,7 +434,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv instdto.setStart_device_code(start_device_code); instdto.setNext_device_code(next_device_code); instdto.setStart_point_code(start_point_code); - instdto.setNext_point_code(next_point_code); + instdto.setNext_point_code(next_device_code); instdto.setPriority(priority); instdto.setInstruction_status("0"); instdto.setExecute_device_code(start_point_code); @@ -505,6 +445,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv log.error("指令创建失败!", e.getMessage()); return false; } + Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); + //创建指令后修改任务状态 taskdto.setTask_status("1"); taskserver.update(taskdto); @@ -540,45 +482,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv return false; } } - } else { - //如果不存在则直接找对应指令 - Instruction inst = instructionService.findByDeviceCodeFromCache(this.device_code); - if (ObjectUtil.isEmpty(inst)) { - return false; - } - - Device nextdevice = deviceAppService.findDeviceByCode(inst.getNext_device_code()); - String next_addr = nextdevice.getExtraValue().get("address").toString(); - - List list = new ArrayList(); - Map map = new HashMap(); - map.put("code", "to_target"); - map.put("value", next_addr); - list.add(map); - Map map2 = new HashMap(); - map2.put("code", "to_task"); - map2.put("value", inst.getInstruction_code()); - list.add(map2); - Map map3 = new HashMap(); - map3.put("code", "to_command"); - map3.put("value", "1"); - list.add(map3); - this.writing(list); - requireSucess = true; - while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString() - , inst.getInstruction_code())) { - this.writing(list); - logServer.deviceExecuteLog(device_code, "", "", inst.getInstruction_code() + "再次下发电气信号"); - try { - Thread.sleep(500); - } catch (InterruptedException e) { - e.printStackTrace(); - } - if (ObjectUtil.isEmpty(instructionService.findByDeviceCodeFromCache(this.device_code))) { - requireSucess = false; - return false; - } - } } return true; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java index 2daa66305..30c3e4afd 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/ItemProtocol.java @@ -48,6 +48,11 @@ public class ItemProtocol { */ public static String item_task = "task"; + /** + * 干燥机模板 + */ + public static String item_desiccant = "desiccant"; + /** * 动作信号 */ @@ -76,7 +81,7 @@ public class ItemProtocol { public String getMaterialBarCode() { return this.getOpcStringValue(item_material_barcode); - } + } public int getContainer_type() { return this.getOpcIntegerValue(item_container_type); @@ -163,6 +168,7 @@ 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_desiccant, "干燥机模板", "DB600.D10")); return list; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java index 015d95e13..27ae88f9a 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java @@ -171,47 +171,6 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl to_task = this.itemProtocol.getTo_task(); heartbeat = this.itemProtocol.getHeartbeat(); - - 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); - } - if (to_length != last_to_length) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_length：" + last_to_length + "->" + to_length); - } - if (to_weight != last_to_weight) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_weight：" + last_to_weight + "->" + to_weight); - } - if (to_height != last_to_height) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_height：" + last_to_height + "->" + to_height); - } - 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) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记:" + requireSucess); - logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); - } - - if (carrier_direction != last_carrier_direction) { - logServer.deviceItemValue(this.device_code, "carrier_direction", String.valueOf(carrier_direction)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction); - } - 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 (move != 0 && task > 0) { -// -// update_instruction_status(); -// } - } catch (Exception e) { logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace())); @@ -231,11 +190,20 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl message = "有报警"; } - Instruction instruction = null; List toInstructions; //空箱出库开盖位，申请开盖 if (mode == 7 && move == 1 && task > 0) { - applyUnbox(); + //不允许开盖，完成出库任务，自动去扫码位 + if (!applyUnbox()){ + Instruction instruction = instructionService.findByCode(String.valueOf(task)); + if (ObjectUtil.isNotEmpty(instruction)) { + try { + instructionService.finish(instruction); + } catch (Exception e) { + throw new RuntimeException(e); + } + } + } } } @@ -256,12 +224,12 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl last_to_height =to_height; } - private void applyUnbox() { + private Boolean applyUnbox() { Date date = new Date(); if (date.getTime() - this.require_apply_strangulation_time.getTime() < (long) this.instruction_require_time_out) { log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); - return; + return false; } else { try { JSONObject param = new JSONObject(); @@ -271,11 +239,13 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl HttpResponse response = acsToWmsService.shipDeviceUpdate(param); if (response == null || response.getStatus() == 200) { logServer.deviceExecuteLog(this.device_code, "", "", "木箱申请开盖任务,接口返回:" + response.body()); + return true; } } catch (Exception e) { e.printStackTrace(); } } + return false; } public boolean exe_error() { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java index 3afdedfc9..682a9fd1d 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java @@ -171,63 +171,6 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i to_direction = this.itemProtocol.getTo_direction(); to_last = this.itemProtocol.getTo_last(); - if (to_last != last_to_last) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_last：" + last_to_last + "->" + to_last); - } - if (to_max_no != last_to_max_no) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_max_no：" + last_to_max_no + "->" + to_max_no); - } - if (to_direction != last_to_direction) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_direction：" + last_to_direction + "->" + to_direction); - } - if (to_seq != last_to_seq) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_seq：" + last_to_seq + "->" + to_seq); - } - 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) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/ItemProtocol.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/ItemProtocol.java index 5375b4d25..554b039a2 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/ItemProtocol.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/ItemProtocol.java @@ -48,6 +48,18 @@ public class ItemProtocol { */ public static String item_y_position = "y_position"; + + /** + * 木箱数量 + */ + public static String item_number = "number"; + + /** + * 木箱位置 + */ + public static String item_position = "position"; + + /** * 下发命令 */ @@ -207,6 +219,8 @@ public class ItemProtocol { list.add(new ItemDto(item_task, "任务号", "DB1.D6")); list.add(new ItemDto(item_x_position, "x坐标", "DB1.REAL10")); list.add(new ItemDto(item_y_position, "y坐标", "DB1.REAL14")); + list.add(new ItemDto(item_position, "木箱位置", "DB1.REAL16")); + list.add(new ItemDto(item_number, "木箱数量", "DB1.REAL18")); return list; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java index f8da6162e..b07a8953d 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java @@ -152,39 +152,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i to_task = this.itemProtocol.getTo_task(); to_layer = this.itemProtocol.getTo_layer(); to_barcode = this.itemProtocol.getTo_barcode(); - 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 (task != last_task) { - logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); - } - 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_onset != last_to_onset) { - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_onset：" + 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); - } + // 更新指令状态