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This commit is contained in:
张江玮
2023-01-28 23:19:11 +08:00
parent 6c7a900c64
commit 78873e7205
1 changed files with 207 additions and 69 deletions
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276
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/slit_two_manipulator/SlitTwoManipulatorDeviceDriver.java
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@@ -306,16 +306,32 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
this.setNow_steps_type3(3);
}
} else {
log.warn("前工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move);
log.warn("后工位取货位无货,取货位:{},mode:{},move:{}", start_device_code, mode, move);
if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
feedMessage = "请检查输送线：mode == 2 && move == 1,此时读取到mode = " + mode + "move = " + move;
feedMessage = "后工位未取货原因-->";
if (mode != 2) {
feedMessage += "后工位取货位工作模式不为待机(mode != 2),";
} else if (move != 1) {
feedMessage += "后工位取货位无货(move != 1)";
}
}
}
}
} else {
if (this.getNow_steps_type2() == 2 || this.getNow_steps_type3() == 2) {
feedMessage = "请检查：mode == 3 && action2 == 1 && move2 == 0 && task2 > 0,此时读取到mode = " + mode
+ "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
feedMessage = "后工位未取货原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action2 != 1) {
feedMessage += "后工位动作信号不为取货中(action2 != 1),";
}
if (move2 != 0) {
feedMessage += "后工位光电信号不为空(move2 != 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0)";
}
}
}
@@ -330,8 +346,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type2() == 3 || this.getNow_steps_type3() == 3) {
feedMessage = "请检查：mode == 3 && action2 == 2 && move2 == 1 && task2 > 0,此时读取到mode = " + mode
+ "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
feedMessage = "后工位取货完成后未反馈原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action2 != 2) {
feedMessage += "后工位未取货完成(action2 != 2),";
}
if (move2 == 0) {
feedMessage += "后工位光电信号为空(move2 == 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0)";
}
}
}
@@ -345,8 +372,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type1() == 2 || this.getNow_steps_type3() == 4) {
feedMessage = "请检查mode == 3 && action1 == 1 && move1 == 0 && task1 > 0,此时读取到mode = " + mode
+ "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1;
feedMessage = "前工位未取货原因";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action1 != 1) {
feedMessage += "前工位动作信号不为取货中(action2 != 1),";
}
if (move1 != 0) {
feedMessage += "前工位光电信号不为空(move2 != 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task2 == 0)";
}
}
}
@@ -361,8 +399,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type1() == 3 || this.getNow_steps_type3() == 5) {
feedMessage = "请检查:mode == 3 && action1 == 2 && move1 == 1 && task1 > 0,此时读取到mode = " + mode
+ "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1;
feedMessage = "前工位取货完成后未反馈原因";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action1 != 2) {
feedMessage += "前工位未取货完成(action2 != 2),";
}
if (move1 == 0) {
feedMessage += "前工位光电信号为空(move2 == 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task2 == 0)";
}
}
}
@@ -377,8 +426,19 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type2() == 4 || this.getNow_steps_type3() == 6) {
feedMessage = "请检查：mode == 3 && action2 == 3 && move2 == 1 && task2 > 0,此时读取到mode = " + mode
+ "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2;
feedMessage = "后工位未放货原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action2 != 3) {
feedMessage += "后工位动作信号不为放货中(action2 != 3),";
}
if (move2 == 0) {
feedMessage += "后工位光电信号为空(move2 == 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0)";
}
}
}
@@ -408,8 +468,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type2() == 5) {
feedMessage = "请检查:mode == 3 && action2 == 4 && move2 == 0 && task2 > 0 && type == 2,此时读取到 " +
"mode =" + mode + "action2 = " + action2 + "move2 = " + move2 + "task2 = " + task2 + "type = " + type;
feedMessage = "单任务后工位放货完成后未反馈原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action2 != 4) {
feedMessage += "后工位未放货完成(action2 != 4),";
}
if (move2 != 0) {
feedMessage += "后工位光电信号为有货(move2 != 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0),";
}
if (type != 2) {
feedMessage += "不是后工位单任务(type != 2)";
}
}
}
@@ -419,8 +493,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
this.setNow_steps_type3(8);
} else {
if (this.getNow_steps_type3() == 7) {
feedMessage = "请检查：mode == 3 && action2 == 4 && move2 == 0 && task1 > 0 && task2 > 0 && type == 3,此时读取到mode = " + mode
+ "action2 = " + action2 + "move2 = " + move2 + "task1 = " + task1 + "task2 = " + task2 + "type = " + type;
feedMessage = "双任务后工位放货完成后未反馈原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action2 != 4) {
feedMessage += "后工位未放货完成(action2 != 4),";
}
if (move2 != 0) {
feedMessage += "后工位光电信号为有货(move2 != 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task1 == 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0),";
}
if (type != 3) {
feedMessage += "不是双任务(type != 3)";
}
}
}
@@ -453,14 +544,30 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
} else {
log.warn("后工位放货位有货,放货位:{},mode:{},move:{}", next_device_code, mode, move);
if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
feedMessage = "请检查输送线：move == 1 && mode == 2,此时读取到mode = " + mode + "move = " + move;
feedMessage = "前工位未放货原因-->";
if (mode != 2) {
feedMessage += "前工位放货位工作模式不为待机(mode != 2),";
} else if (move == 0) {
feedMessage += "前工位放货位无货(move == 0)";
}
}
}
}
} else {
if (this.getNow_steps_type1() == 4 || this.getNow_steps_type3() == 8) {
feedMessage = "请检查：mode == 3 && action1 == 3 && move1 == 1 && task1 > 0,此时读取到mode = " + mode + "action1 = "
+ action1 + "move1 = " + move1 + "task1 = " + task1;
feedMessage = "前工位未放货原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action1 != 3) {
feedMessage += "前工位动作信号不为放货中(action1 != 3),";
}
if (move1 == 0) {
feedMessage += "前工位光电信号为空(move1 == 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task1 == 0),";
}
}
}
@@ -491,8 +598,22 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type1() == 5) {
feedMessage = "请检查:mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && type == 1,此时读取到 mode = " +
mode + "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1 + "type = " + type;
feedMessage = "单任务前工位放货完成后未反馈原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action1 != 4) {
feedMessage += "前工位未放货完成(action1 != 4),";
}
if (move1 != 0) {
feedMessage += "前工位光电信号为有货(move1 != 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task1 == 0),";
}
if (type != 1) {
feedMessage += "不为前工位单任务(type != 1)";
}
}
}
@@ -523,8 +644,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
}
} else {
if (this.getNow_steps_type3() == 9) {
feedMessage = "请检查：mode == 3 && action1 == 4 && move1 == 0 && task1 > 0 && task2 > 0 && type == 3,此时读取到mode = " + mode
+ "action1 = " + action1 + "move1 = " + move1 + "task1 = " + task1 + "task2 = " + task2 + "type = " + type;
feedMessage = "双任务前工位放货完成后未反馈原因-->";
if (mode != 3) {
feedMessage += "行架工作模式不为运行中(mode != 3),";
}
if (action1 != 4) {
feedMessage += "前工位未放货完成(action1 != 4),";
}
if (move1 != 0) {
feedMessage += "前工位光电信号为有货(move1 != 0),";
}
if (task1 == 0) {
feedMessage += "前工位没有任务(task1 == 0),";
}
if (task2 == 0) {
feedMessage += "后工位没有任务(task2 == 0),";
}
if (type != 3) {
feedMessage += "不是双任务(type != 3)";
}
}
}
@@ -592,25 +730,25 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
if (!requireSucess) {
String remark = "";
if (mode != 2) {
remark = remark + "mode不为2,";
remark = remark + "行架工作模式不为待机(mode != 2),";
}
if (move1 != 0) {
remark = remark + "move1不为0,";
remark = remark + "前工位有货(move1 != 0),";
}
if (move2 != 0) {
remark = remark + "move2不为0,";
remark = remark + "后工位有货(move2 != 0),";
}
if (action1 != 0) {
remark = remark + "action1不为0,";
remark = remark + "前工位动作信号不为0(action1 != 0),";
}
if (action2 != 0) {
remark = remark + "action2不为0,";
remark = remark + "后工位动作信号不为0(action2 != 0),";
}
if (task1 != 0) {
remark = remark + "task1不为0,";
remark = remark + "前工位存在任务(task1 != 0),";
}
if (task2 != 0) {
remark = remark + "task2不为0,";
remark = remark + "后工位存在任务(task2 != 0),";
}
this.setNotCreateTaskMessage(remark);
}
@@ -973,24 +1111,24 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
List list = new ArrayList();
if (StrUtil.equals(type, "1")) {
Map map1 = new HashMap();
map1.put("code","to_onset1");
map1.put("value",start_addr);
map1.put("code", "to_onset1");
map1.put("value", start_addr);
list.add(map1);
Map map2 = new HashMap();
map2.put("code","to_target1");
map2.put("value",next_addr);
map2.put("code", "to_target1");
map2.put("value", next_addr);
list.add(map2);
Map map3 = new HashMap();
map3.put("code","to_task1");
map3.put("value",dto.getInstruction_code());
map3.put("code", "to_task1");
map3.put("value", dto.getInstruction_code());
list.add(map3);
Map map4 = new HashMap();
map4.put("code","to_type");
map4.put("value","1");
map4.put("code", "to_type");
map4.put("value", "1");
list.add(map4);
Map map5 = new HashMap();
map5.put("code","to_command1");
map5.put("value","1");
map5.put("code", "to_command1");
map5.put("value", "1");
list.add(map5);
this.writing(list);
logServer.deviceExecuteLog(device_code, "", "", dto.getInstruction_code() + "下发前工位任务");
@@ -1003,24 +1141,24 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
this.setNow_steps_type1(2);
} else if (StrUtil.equals(type, "2")) {
Map map1 = new HashMap();
map1.put("code","to_onset2");
map1.put("value",start_addr);
map1.put("code", "to_onset2");
map1.put("value", start_addr);
list.add(map1);
Map map2 = new HashMap();
map2.put("code","to_target2");
map2.put("value",next_addr);
map2.put("code", "to_target2");
map2.put("value", next_addr);
list.add(map2);
Map map3 = new HashMap();
map3.put("code","to_task2");
map3.put("value",dto.getInstruction_code());
map3.put("code", "to_task2");
map3.put("value", dto.getInstruction_code());
list.add(map3);
Map map4 = new HashMap();
map4.put("code","to_type");
map4.put("value","2");
map4.put("code", "to_type");
map4.put("value", "2");
list.add(map4);
Map map5 = new HashMap();
map5.put("code","to_command2");
map5.put("value","1");
map5.put("code", "to_command2");
map5.put("value", "1");
list.add(map5);
this.writing(list);
logServer.deviceExecuteLog(device_code, "", "", dto.getInstruction_code() + "下发后工位任务");
@@ -1041,40 +1179,40 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
Map map1 = new HashMap();
map1.put("code","to_onset1");
map1.put("value",start_addr2);
map1.put("code", "to_onset1");
map1.put("value", start_addr2);
list.add(map1);
Map map2 = new HashMap();
map2.put("code","to_target1");
map2.put("value",next_addr2);
map2.put("code", "to_target1");
map2.put("value", next_addr2);
list.add(map2);
Map map3 = new HashMap();
map3.put("code","to_task1");
map3.put("value",dto.getInstruction_code());
map3.put("code", "to_task1");
map3.put("value", dto.getInstruction_code());
list.add(map3);
Map map4 = new HashMap();
map4.put("code","to_onset2");
map4.put("value",start_addr);
map4.put("code", "to_onset2");
map4.put("value", start_addr);
list.add(map4);
Map map5 = new HashMap();
map5.put("code","to_target2");
map5.put("value",next_addr);
map5.put("code", "to_target2");
map5.put("value", next_addr);
list.add(map5);
Map map6 = new HashMap();
map6.put("code","to_task2");
map6.put("value",dto.getInstruction_code());
map6.put("code", "to_task2");
map6.put("value", dto.getInstruction_code());
list.add(map6);
Map map7 = new HashMap();
map7.put("code","to_type");
map7.put("value","3");
map7.put("code", "to_type");
map7.put("value", "3");
list.add(map7);
Map map8 = new HashMap();
map8.put("code","to_command1");
map8.put("value","1");
map8.put("code", "to_command1");
map8.put("value", "1");
list.add(map8);
Map map9 = new HashMap();
map9.put("code","to_command2");
map9.put("value","1");
map9.put("code", "to_command2");
map9.put("value", "1");
list.add(map9);
this.writing(list);
logServer.deviceExecuteLog(device_code, "", "", dto.getInstruction_code() + "下发双工位任务");
@@ -1092,7 +1230,7 @@ public class SlitTwoManipulatorDeviceDriver extends AbstractOpcDeviceDriver impl
this.setNow_steps_type3(2);
}
if(task1 != Integer.parseInt(dto.getInstruction_code()) || task2 != Integer.parseInt(dto.getInstruction_code()) ){
if (task1 != Integer.parseInt(dto.getInstruction_code()) || task2 != Integer.parseInt(dto.getInstruction_code())) {
this.writing(list);
logServer.deviceExecuteLog(device_code, "", "", dto.getInstruction_code() + "再次下发电气信号");
}