diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java index db7c3dcbb..261abb188 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/ItemProtocol.java @@ -26,8 +26,10 @@ public class ItemProtocol { public static String item_task = "task"; //报警 public static String item_error = "error"; - //行走行 - public static String item_walk_x = "walk_x"; + //x轴坐标 + public static String item_x_position = "x_position"; + //y轴坐标 + public static String item_y_position = "y_position"; //下发命令 public static String item_to_command = "to_command"; @@ -89,8 +91,12 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_onset); } - public int getWalk_x() { - return this.getOpcIntegerValue(item_walk_x); + public float getX_position() { + return this.getOpcFloatValue(item_x_position); + } + + public float getY_position() { + return this.getOpcFloatValue(item_y_position); } @@ -119,6 +125,19 @@ public class ItemProtocol { return "0"; } + public float getOpcFloatValue(String protocol) { + Float value = this.driver.getDoubleValue(protocol); + if (value == null) { + // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + public static List getReadableItemDtos() { ArrayList list = new ArrayList<>(); list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0")); @@ -128,7 +147,8 @@ public class ItemProtocol { list.add(new ItemDto(item_walk_y, "行走列", "DB1.B4")); list.add(new ItemDto(item_error, "报警信号", "DB1.B5")); list.add(new ItemDto(item_task, "任务号", "DB1.D6")); - list.add(new ItemDto(item_walk_x, "行走行", "DB1.B10")); + list.add(new ItemDto(item_x_position, "x坐标", "DB1.REAL10")); + list.add(new ItemDto(item_y_position, "y坐标", "DB1.REAL14")); return list; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java index 7dd2b5968..e21640c6f 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/oven_manipulator/OvenGantryManipulatorDeviceDriver.java @@ -88,9 +88,12 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i //任务号 int task = 0; int last_task = 0; - //行走行 - int walk_x = 0; - int last_walk_x = 0; + // x坐标 + float x_position = 0; + float last_x_position = 0; + // y坐标 + float y_position = 0; + float last_y_position = 0; int heartbeat = 0; int last_heartbeat = 0; @@ -166,7 +169,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i to_target = this.itemProtocol.getTo_target(); to_task = this.itemProtocol.getTo_task(); to_onset = this.itemProtocol.getTo_onset(); -// walk_x = this.itemProtocol.getWalk_x(); + x_position = this.itemProtocol.getX_position(); + y_position = this.itemProtocol.getY_position(); // if(heartbeat != last_heartbeat){ // logServer.deviceExecuteLog(this.device_code, "", "", "heartbeat：" + last_heartbeat + "->" + heartbeat); // } @@ -248,10 +252,14 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i logServer.deviceItemValue(this.device_code, "task", String.valueOf(task)); logServer.deviceExecuteLog(this.device_code, "", "", "信号task：" + last_task + "->" + task); } -// if (walk_x != last_walk_x) { -// logServer.deviceItemValue(this.device_code, "walk_x", String.valueOf(walk_x)); -// logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_x：" + last_walk_x + "->" + walk_x); -// } + 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); + } update_instruction_status(); @@ -328,7 +336,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i last_to_command = to_command; last_to_target = to_target; last_to_onset = to_onset; -// last_walk_x = walk_x; + last_x_position = x_position; + last_y_position = y_position; } @@ -789,6 +798,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i jo.put("feedMessage", feedMessage); jo.put("driver_type", "siemens_conveyor"); jo.put("is_click", true); + jo.put("x", x_position); + jo.put("y", y_position); return jo; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java index e11a7b793..c0976344d 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/ItemProtocol.java @@ -36,8 +36,10 @@ public class ItemProtocol { public static String item_task1 = "task1"; //后工位任务号 public static String item_task2 = "task2"; - //行走行 - public static String item_walk_x = "walk_x"; + //x坐标 + public static String item_x_position = "x_position"; + //y坐标 + public static String item_y_position = "y_position"; //前工位下发命令 @@ -146,8 +148,12 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_onset2); } - public int getWalk_x() { - return this.getOpcIntegerValue(item_walk_x); + public float getX_position() { + return this.getOpcFloatValue(item_x_position); + } + + public float getY_position() { + return this.getOpcFloatValue(item_y_position); } @@ -181,6 +187,20 @@ public class ItemProtocol { return "0"; } + public float getOpcFloatValue(String protocol) { + Float value = this.driver.getDoubleValue(protocol); + if (value == null) { + // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public static List getReadableItemDtos() { ArrayList list = new ArrayList<>(); list.add(new ItemDto(item_heartbeat, "心跳", "DB1.B0")); @@ -195,7 +215,8 @@ public class ItemProtocol { list.add(new ItemDto(item_type, "任务类型", "DB1.B9")); list.add(new ItemDto(item_task1, "前工位任务号", "DB1.D10")); list.add(new ItemDto(item_task2, "后工位任务号", "DB1.D14")); - list.add(new ItemDto(item_walk_x, "行走列", "DB1.B18")); + list.add(new ItemDto(item_x_position, "x坐标", "DB1.REAL20")); + list.add(new ItemDto(item_y_position, "y坐标", "DB1.REAL24")); return list; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java index 022f8ffe1..524dbc068 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java @@ -104,9 +104,12 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl int last_task1 = 0; int task2 = 0; int last_task2 = 0; - //行走行 - int walk_x = 0; - int last_walk_x = 0; + //x坐标 + float x_position = 0; + float last_x_position = 0; + //y坐标 + float y_position = 0; + float last_y_position = 0; int to_command1 = 0; int last_to_command1 = 0; @@ -198,7 +201,8 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl type = this.itemProtocol.getType(); task1 = this.itemProtocol.getTask1(); task2 = this.itemProtocol.getTask2(); -// walk_x = this.itemProtocol.getWalk_x(); + x_position = this.itemProtocol.getX_position(); + y_position = this.itemProtocol.getY_position(); to_command1 = this.itemProtocol.getTo_command1(); to_command2 = this.itemProtocol.getTo_command2(); heartbeat = this.itemProtocol.getHeartbeat(); @@ -317,10 +321,14 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl logServer.deviceItemValue(this.device_code, "task2", String.valueOf(task2)); logServer.deviceExecuteLog(this.device_code, "", "", "信号task2：" + last_task2 + "->" + task2); } -// if (walk_x != last_walk_x) { -// logServer.deviceItemValue(this.device_code, "walk_x", String.valueOf(walk_x)); -// logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_x：" + last_walk_x + "->" + walk_x); -// } + 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); + } update_instruction_status(); @@ -406,7 +414,8 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl last_to_task2 = to_task2; last_to_onset2 = to_onset2; last_to_target2 = to_target2; -// last_walk_x = walk_x; + last_x_position = x_position; + last_y_position = y_position; } public synchronized boolean task_check() { @@ -1174,6 +1183,8 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl jo.put("notCreateTaskMessage", notCreateTaskMessage); jo.put("notCreateInstMessage", notCreateInstMessage); jo.put("feedMessage", feedMessage); + jo.put("x", x_position); + jo.put("y", y_position); return jo; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index 21af5f95f..bfedc6cb0 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -341,8 +341,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { jo.put("device_code", driver.getDevice().getDevice_code()); jo.put("device_name", driver.getDevice().getDevice_name()); jo.put("status", Math.min(3, driver.getMode())); - jo.put("x", driver.getWalk_x()); - jo.put("y", driver.getWalk_y()); + jo.put("x", driver.getX_position()); + jo.put("y", driver.getY_position()); jo.put("error", driver.getError()); jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("hxhj_error_type", String.valueOf(driver.getError()))); } else if (device.getDeviceDriver() instanceof SlitTwoManipulatorDeviceDriver) { @@ -350,8 +350,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { jo.put("device_code", driver.getDevice().getDevice_code()); jo.put("device_name", driver.getDevice().getDevice_name()); jo.put("status", Math.min(3, driver.getMode())); - jo.put("x", driver.getWalk_x()); - jo.put("y", driver.getWalk_y()); + jo.put("x", driver.getX_position()); + jo.put("y", driver.getY_position()); jo.put("error", driver.getError()); jo.put("error_msg", driver.getError() == 0 ? "" : ErrorUtil.getDictDetail("fqhj_error_type", String.valueOf(driver.getError()))); } else if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {