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opt: 废箔称重,agv取废箔联调优化

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This commit is contained in:
yanps
2024-06-05 17:43:07 +08:00
parent 94f17e8464
commit 6f1d80737e
19 changed files with 195 additions and 46 deletions
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183
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -24,6 +24,7 @@ import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.hongxiang_conveyor.HongXiangStationDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.ranging_stations.RangingStationsDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.waste_foil_weighing_station.WasteFoilWeighingStationDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.history.ErrorUtil;
@@ -46,6 +47,7 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.system.service.param.ISysParamService;
import org.nl.config.SpringContextHolder;
import java.util.LinkedHashMap;
import java.util.Map;
@@ -168,6 +170,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
//行架-agv对接位
RangingStationsDeviceDriver rangingStationsDeviceDriver;
//废箔称重位
WasteFoilWeighingStationDriver wasteFoilWeighingStationDriver;
if (phase == 0x02) {
if (ObjectUtil.isEmpty(inst)) {
@@ -314,7 +318,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
String choose = paramService.findByCode(AcsConfig.CHOOSE).getValue();
String device_code1 = device.getDevice_code();
String length1 = rangingStationsDeviceDriver.getLength1();
String length2 = rangingStationsDeviceDriver.getLength2();
Float len1 = 0.0F;
@@ -323,26 +327,49 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
len1 = Float.parseFloat(length1);
len2 = Float.parseFloat(length2);
}
if("A".equals(choose)){
String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
if(ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)){
Integer integer = Integer.valueOf(offSet_A);
len1 = len1 - integer;
if (len1 * len2 < 0) {
if (ObjectUtil.isNotEmpty(device_code1) && (('A') == (device_code1.charAt(device_code1.length()-1)))) {
String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
if (ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)) {
Integer integer = Integer.valueOf(offSet_A);
len1 = len1 - integer;
}
} else if (ObjectUtil.isNotEmpty(device_code1) && (('B') == (device_code1.charAt(device_code1.length()-1)))) {
String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
if (ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)) {
Integer integer = Integer.valueOf(offSet_B);
len1 = integer + len1;
}
}else{
log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
}
}else if("B".equals(choose)){
String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
if(ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)){
Integer integer = Integer.valueOf(offSet_B);
len1 = integer + len1;
}
}
if(len1 * len2 < 1 ){
int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
if (roundedNumber == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, roundedNumber);
} else {
} else if(roundedNumber > -50 || roundedNumber < 50){
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
}else if(roundedNumber > 50 || roundedNumber < -50){
log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
}
}else{
log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
}
} else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
if(wasteFoilWeighingStationDriver.getMove() == 1 && wasteFoilWeighingStationDriver.getAction() == 1
&& wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
try {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "2");
wasteFoilWeighingStationDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
} catch (Exception e) {
e.printStackTrace();
}
}else{
message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
, wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -474,6 +501,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction()
, standardInspectSiteDeviceDriver.getError(), ikey);
}
} else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
if(wasteFoilWeighingStationDriver.getMove() == 0 && wasteFoilWeighingStationDriver.getAction() == 1
&& wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
try {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "3");
wasteFoilWeighingStationDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
} catch (Exception e) {
e.printStackTrace();
}
}else{
message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
, wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
@@ -612,6 +656,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
} else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
String device_code1 = device.getDevice_code();
String length1 = rangingStationsDeviceDriver.getLength1();
String length2 = rangingStationsDeviceDriver.getLength2();
Float len1 = 0.0F;
@@ -620,13 +666,32 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
len1 = Float.parseFloat(length1);
len2 = Float.parseFloat(length2);
}
if(len1 * len2 < 1 ){
if (len1 * len2 < 1) {
if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("A")) {
String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
if (ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)) {
Integer integer = Integer.valueOf(offSet_A);
len1 = len1 - integer;
}
} else if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("B")) {
String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
if (ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)) {
Integer integer = Integer.valueOf(offSet_B);
len1 = integer + len1;
}
}else{
log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
}
int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
if (roundedNumber == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, roundedNumber);
} else {
} else if(roundedNumber > -50 || roundedNumber < 50){
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
}else if(roundedNumber > 50 || roundedNumber < -50){
log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
}
}else{
log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -892,6 +957,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
} else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
String device_code1 = device.getDevice_code();
String length1 = rangingStationsDeviceDriver.getLength1();
String length2 = rangingStationsDeviceDriver.getLength2();
Float len1 = 0.0F;
@@ -900,13 +967,49 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
len1 = Float.parseFloat(length1);
len2 = Float.parseFloat(length2);
}
if(len1 * len2 < 1 ){
if (len1 * len2 < 1) {
if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("A")) {
String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
if (ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)) {
Integer integer = Integer.valueOf(offSet_A);
len1 = len1 - integer;
}
} else if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("B")) {
String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
if (ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)) {
Integer integer = Integer.valueOf(offSet_B);
len1 = integer + len1;
}
}else{
log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
}
int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
if (roundedNumber == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, roundedNumber);
} else {
} else if(roundedNumber > -50 || roundedNumber < 50){
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
}else if(roundedNumber > 50 || roundedNumber < -50){
log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
}
}else{
log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
}
} else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
if(wasteFoilWeighingStationDriver.getMove() == 0 && wasteFoilWeighingStationDriver.getAction() == 1
&& wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
try {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "4");
wasteFoilWeighingStationDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
} catch (Exception e) {
e.printStackTrace();
}
}else{
message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
, wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -1018,6 +1121,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if ((standardInspectSiteDeviceDriver.getMove() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
}
} else if (device.getDeviceDriver() instanceof WasteFoilWeighingStationDriver) {
wasteFoilWeighingStationDriver = (WasteFoilWeighingStationDriver) device.getDeviceDriver();
if(wasteFoilWeighingStationDriver.getMove() == 1 && wasteFoilWeighingStationDriver.getAction() == 1
&& wasteFoilWeighingStationDriver.getError() == 0 && wasteFoilWeighingStationDriver.getMode() == 2){
try {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "5");
wasteFoilWeighingStationDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
} catch (Exception e) {
e.printStackTrace();
}
}else{
message = "设备号:" + device_code + "光电信号:" + wasteFoilWeighingStationDriver.getMove() + ",动作信号:" + wasteFoilWeighingStationDriver.getAction() + "报警信号:" + wasteFoilWeighingStationDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}当前光电信号{}，动作信号{} ,错误信号{},设备状态{}，不满足取货条件,指令号{}", device_code, wasteFoilWeighingStationDriver.getMove(), wasteFoilWeighingStationDriver.getAction()
, wasteFoilWeighingStationDriver.getError(), wasteFoilWeighingStationDriver.getMode(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
}
@@ -1126,6 +1246,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
} else if (device.getDeviceDriver() instanceof RangingStationsDeviceDriver) {
rangingStationsDeviceDriver = (RangingStationsDeviceDriver) device.getDeviceDriver();
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
String device_code1 = device.getDevice_code();
String length1 = rangingStationsDeviceDriver.getLength1();
String length2 = rangingStationsDeviceDriver.getLength2();
Float len1 = 0.0F;
@@ -1134,13 +1256,32 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
len1 = Float.parseFloat(length1);
len2 = Float.parseFloat(length2);
}
if(len1 * len2 < 1 ){
if (len1 * len2 < 1) {
if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("A")) {
String offSet_A = paramService.findByCode(AcsConfig.OFFSET_A).getValue();
if (ObjectUtil.isNotEmpty(offSet_A) && !"null".equals(offSet_A)) {
Integer integer = Integer.valueOf(offSet_A);
len1 = len1 - integer;
}
} else if (ObjectUtil.isNotEmpty(device_code1) && device_code1.contains("B")) {
String offSet_B = paramService.findByCode(AcsConfig.OFFSET_B).getValue();
if (ObjectUtil.isNotEmpty(offSet_B) && !"null".equals(offSet_B)) {
Integer integer = Integer.valueOf(offSet_B);
len1 = integer + len1;
}
}else{
log.info("{}设备名不符合条件,指令号{}", device_code, ikey);
}
int roundedNumber = ObjectUtil.isNotEmpty(len1) ? NumberUtil.round(len1, 0).intValue() : 0;
if (roundedNumber == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, roundedNumber);
} else {
} else if(roundedNumber > -50 || roundedNumber < 50){
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 1, roundedNumber);
}else if(roundedNumber > 50 || roundedNumber < -50){
log.info("设备{},偏移数据超出范围导致未反馈{},指令号{}", device_code, roundedNumber, ikey);
}
}else{
log.info("设备{},偏移数据出错导致未反馈{},指令号{}", device_code, rangingStationsDeviceDriver.getLength1() + ","+ rangingStationsDeviceDriver.getLength2(), ikey);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);

1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDeviceDriver.java
View File

@@ -301,6 +301,7 @@ public class RgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDr
.device_code(device_code)
.content("下发多个电气信号" + itemMap)
.build();
logDto.setLog_level(3);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}

13
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/waste_foil_weighing_station/WasteFoilWeighingStationDriver.java
View File

@@ -14,6 +14,7 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.data.GetWasteFoilWeightRequest;
import org.nl.acs.ext.wms.data.GetWasteFoilWeightResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.history.ErrorUtil;
import org.nl.acs.history.service.DeviceErrorLogService;
import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
@@ -38,7 +39,7 @@ public class WasteFoilWeighingStationDriver extends AbstractOpcDeviceDriver impl
protected ItemProtocol itemProtocol = new ItemProtocol(this);
@Autowired
AcsToWmsService acsToWmsService;
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
@@ -149,8 +150,11 @@ public class WasteFoilWeighingStationDriver extends AbstractOpcDeviceDriver impl
break;
case 8:
// 取消称重
if (move > 0 && !requireSucess) {
cancelWeight();
if (move > 0 && !requireSucess && old_weight == 0 && gap_weight == 0) {
// cancelWeight();
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "8");
this.writing(map);
}
break;
case 9:
@@ -262,6 +266,9 @@ public class WasteFoilWeighingStationDriver extends AbstractOpcDeviceDriver impl
getWasteFoilWeightRequest.setType("4");
getWasteFoilWeightResponse = acsToWmsService.feedbackWeight(getWasteFoilWeightRequest);
if (getWasteFoilWeightResponse.getstatus() == 200) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", "9");
this.writing(map);
feedbackSucess = true;
message = "申请任务成功...";
} else {

8
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -584,8 +584,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
while (true) {
if (wasteFoilWeighingStationDriver.getMode()==6){
jo.put("currentWeight", wasteFoilWeighingStationDriver.getWeight());//当前重量
jo.put("lastWeight", wasteFoilWeighingStationDriver.getGap_weight());//上一次重量
jo.put("weightGap", wasteFoilWeighingStationDriver.getOld_weight());//重量差
jo.put("lastWeight", wasteFoilWeighingStationDriver.getOld_weight());//上一次重量
jo.put("weightGap", wasteFoilWeighingStationDriver.getGap_weight());//重量差
break;
}
}
@@ -598,8 +598,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
while (true) {
if (wasteFoilWeighingStationDriver.getMode()==7){
jo.put("currentWeight", wasteFoilWeighingStationDriver.getWeight());//当前重量
jo.put("lastWeight", wasteFoilWeighingStationDriver.getGap_weight());//上一次重量
jo.put("weightGap", wasteFoilWeighingStationDriver.getOld_weight());//重量差
jo.put("lastWeight", wasteFoilWeighingStationDriver.getOld_weight());//上一次重量
jo.put("weightGap", wasteFoilWeighingStationDriver.getGap_weight());//重量差
break;
}
}