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add:新增仙工agv动作块以及优化任务看板

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tuqiang
2024-03-27 15:11:55 +08:00
parent 7dc1f2b429
commit 5f8c856a09
4 changed files with 81 additions and 4 deletions
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32
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -357,6 +357,38 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
jo.put("script_args", script_args);
ja.add(jo);
}
JSONObject jo3 = new JSONObject();
//动作块id
jo3.put("blockId", IdUtil.simpleUUID());
//目的地名称
jo3.put("location", pointCode + "INGET");
jo3.put("id", pointCode + "INGET");
//执行脚本
jo3.put("operation", "expand");
//通信脚本,动作前后与现场设备交互的场景
jo3.put("script_name", "Fork-expand.py");
JSONObject script_args = new JSONObject();
script_args.put("expandWidth", 0.2);
script_args.put("operation", "expand");
jo3.put("script_args", script_args);
ja.add(jo3);
JSONObject jo4 = new JSONObject();
//动作块id
jo4.put("blockId", IdUtil.simpleUUID());
//目的地名称
jo4.put("location", pointCode + "INGET");
jo4.put("id", pointCode + "INGET");
//执行脚本
jo4.put("operation", "stretch");
//通信脚本,动作前后与现场设备交互的场景
jo4.put("script_name", "Fork-expand.py");
JSONObject script_args1 = new JSONObject();
script_args1.put("expandWidth", 0.2);
script_args1.put("operation", "stretch");
jo4.put("script_args", script_args1);
ja.add(jo4);
//将货物顶起来,机器识别提升高度
JSONObject jo1 = new JSONObject();
jo1.put("blockId", IdUtil.simpleUUID());

39
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
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@@ -22,6 +22,7 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.device_driver.led.led_screen.LedScreenDeviceDriver;
import org.nl.acs.enums.StorageTypeEnum;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.history.ErrorUtil;
@@ -41,6 +42,8 @@ import org.nl.acs.task.enums.TaskStatusEnum;
import org.nl.acs.task.enums.TaskTypeEnum;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.taskscreen.service.TaskScreenService;
import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.SecurityUtils;
import org.nl.config.SpringContextHolder;
import org.nl.config.language.LangProcess;
@@ -80,6 +83,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
TaskScreenService taskScreenService = SpringContextHolder.getBean(TaskScreenService.class);
//工作模式
int mode = 0;
int last_mode = 0;
@@ -227,8 +232,24 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
}
if(move !=last_move){
if (ObjectUtil.isNotEmpty(inst)){
Thread.sleep(10000);
led_message = clearMessage();
if (move==0){
Thread.sleep(10000);
led_message = clearMessage();
List<String> deviceCodes = this.getExtraDeviceCodes("link_device_code");
String device = null;
if (ObjectUtil.isNotEmpty(deviceCodes)) {
for (String deviceCode : deviceCodes) {
Device linkDevice = deviceAppService.findDeviceByCode(deviceCode);
if (ObjectUtil.isEmpty(linkDevice)) {
throw new BadRequestException("设备:" + device_code + "关联设备->" + deviceCode + "为空！");
}
if (linkDevice.getDeviceDriver() instanceof LedScreenDeviceDriver){
device = deviceCode;
}
}
}
taskScreenService.getLedMessage(device);
}
}
requireSucess = false;
}
@@ -499,6 +520,20 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
list.add(map3);
this.writing(list);
led_message = getLedMessage(instdto);
List<String> deviceCodes = this.getExtraDeviceCodes("link_device_code");
String device = null;
if (ObjectUtil.isNotEmpty(deviceCodes)) {
for (String deviceCode : deviceCodes) {
Device linkDevice = deviceAppService.findDeviceByCode(deviceCode);
if (ObjectUtil.isEmpty(linkDevice)) {
throw new BadRequestException("设备:" + device_code + "关联设备->" + deviceCode + "为空！");
}
if (linkDevice.getDeviceDriver() instanceof LedScreenDeviceDriver){
device = deviceCode;
}
}
}
taskScreenService.getLedMessage(device);
requireSucess = true;
while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task").toString()
, instdto.getInstruction_code())) {

6
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/taskscreen/service/impl/TaskScreenServiceImpl.java
View File

@@ -46,11 +46,15 @@ public class TaskScreenServiceImpl extends CommonServiceImpl<TaskScreenMapper, D
private final DeviceService deviceService;
@Override
public void autoInitial() throws Exception {
}
@Override
public JSONArray selectLedList() {
List<Device> list = new LambdaQueryChainWrapper<Device>(deviceMapper)
@@ -90,7 +94,7 @@ public class TaskScreenServiceImpl extends CommonServiceImpl<TaskScreenMapper, D
if (device.getDeviceDriver() instanceof ConveyorWithScannerWeightDeviceDriver) {
conveyorWithScannerWeightDeviceDriver = (ConveyorWithScannerWeightDeviceDriver) device.getDeviceDriver();
if (ObjectUtil.isNotEmpty(conveyorWithScannerWeightDeviceDriver.getLed_message())) {
json = conveyorWithScannerWeightDeviceDriver.getLed_message();
json = conveyorWithScannerWeightDeviceDriver.getLed_message();
}
}
return json;