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add : 测试入库

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lishuai
2024-01-19 13:10:03 +08:00
parent d8945feaf4
commit 7ecd9c6cc0
15 changed files with 115 additions and 167 deletions
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2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java
View File

@@ -116,7 +116,7 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
}
if (i > 3) {
// log.info("写入次数超过3次而失败");
// log.info("写入次数超过3次而失败");
throw new RuntimeException("写入次数超过3次而失败");
}
++i;

8
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDefination.java
View File

@@ -18,17 +18,17 @@ import java.util.List;
public class BoxStorageOutConveyorDefination implements OpcDeviceDriverDefination {
@Override
public String getDriverCode() {
return "box_storage_conveyor";
return "box_storage_out_conveyor";
}
@Override
public String getDriverName() {
return "一楼木箱入库站点";
return "一楼木箱出入库标准站点";
}
@Override
public String getDriverDescription() {
return "一楼木箱入库站点";
return "一楼木箱出入库标准站点";
}
@Override
@@ -45,7 +45,7 @@ public class BoxStorageOutConveyorDefination implements OpcDeviceDriverDefinatio
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.station);
types.add(DeviceType.conveyor);
return types;
}

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java
View File

@@ -203,7 +203,7 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
log.debug("设备运转模式:等待工作");
break;
case 2:
//木箱出库申请任务
//申请任务
if (move > 0 && !requireSucess) {
instruction_require();
}

62
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
View File

@@ -187,64 +187,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
weight = this.itemProtocol.getWeight();
barcode = this.itemProtocol.getBarcode();
if (to_container_type != last_to_container_type) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号to_container_type：" + last_to_container_type + "->" + to_container_type);
}
if (container_type != last_container_type) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号container_type：" + last_container_type + "->" + container_type);
}
if (hj_task != last_hj_task) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号hj_task：" + last_hj_task + "->" + hj_task);
}
if (qty != last_qty) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号qty：" + last_qty + "->" + qty);
}
if (weight != last_weight) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号weight：" + last_weight + "->" + weight);
}
if (barcode != last_barcode) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号barcode：" + last_barcode + "->" + barcode);
}
if (carrier_direction != last_carrier_direction) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号carrier_direction：" + last_carrier_direction + "->" + carrier_direction);
}
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) {
//存在报警信号，则下发去异常处理位的任务
applyErrorTask();
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);
}
// 更新指令状态
updateInstruct();
} catch (Exception e) {
logServer.deviceExecuteLog(this.device_code, "", "", "读取信号值时出现异常:" + Arrays.toString(e.getStackTrace()));
@@ -258,7 +201,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
} else if (error != 0) {
this.setIserror(true);
message = "有报警";
//无报警
//申请异常位任务
applyErrorTask();
} else {
this.setIsonline(true);
this.setIserror(false);
@@ -271,7 +215,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
}
//申请入库指令、异常位指令
if (mode == 2 && move == 1 && task > 0 && !requireSucess) {
if (mode == 2 && move == 1 && !requireSucess) {
boolean res = instruction_require();
if (res) {
notCreateInstMessage = "";

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
View File

@@ -308,7 +308,7 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
//找符合条件的任务
BoxSubvolumesConveyorDeviceDriver boxOutSubvolumesConveyorDeviceDriver = new BoxSubvolumesConveyorDeviceDriver();
String deviceCode = boxOutSubvolumesConveyorDeviceDriver.getDevice_code();
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Truss_Task.getIndex());
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode);
if (ObjectUtil.isNotEmpty(taskDto)) {
String interactionJson = taskDto.getInteraction_json();

1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/ItemProtocol.java
View File

@@ -1,5 +1,6 @@
package org.nl.acs.device_driver.one_manipulator.box_package_manipulator;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.StrUtil;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

178
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java
View File

@@ -154,7 +154,6 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
to_barcode = this.itemProtocol.getTo_barcode();
// 更新指令状态
if (mode == 3 && task > 0) {
updateInstructionStatus();
@@ -242,10 +241,10 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
//放货完成
if (mode == 3 && action == 4 && move == 0) {
if (action == 4 && move == 0) {
if (inst != null) {
try {
logServer.deviceExecuteLog(this.device_code,"","","放货完成");
logServer.deviceExecuteLog(this.device_code, "", "", "放货完成");
finish_instruction(inst);
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", 5);
@@ -256,12 +255,12 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
e.printStackTrace();
}
feedMessage = "";
}else {
} else {
feedMessage = "行架机械手:";
if (mode != 3) {
feedMessage = feedMessage + "工作模式(mode)不为运行中状态,";
}
if (action != 8) {
if (action != 5) {
feedMessage = feedMessage + "动作信号(action)不为放货完成状态,";
}
if (move != 0) {
@@ -285,95 +284,100 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
return false;
} else {
this.instruction_require_time = date;
//抓取工位
if (ObjectUtil.isEmpty(getDeviceCodeList)) {
getDeviceCodeList = this.getExtraDeviceCodes("get_device_code");
}
//放货工位
if (ObjectUtil.isEmpty(putDeviceCodeList)) {
putDeviceCodeList = this.getExtraDeviceCodes("put_device_code");
}
//找终点为入库输送线工位任务类型为行架的任务
BoxSubvolumesConveyorDeviceDriver boxOutSubvolumesConveyorDeviceDriver = new BoxSubvolumesConveyorDeviceDriver();
String deviceCode = boxOutSubvolumesConveyorDeviceDriver.getDevice_code();
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Box_Storage.getIndex());
if (ObjectUtil.isNotEmpty(taskDto)) {
for (int i = 0; i < getDeviceCodeList.size(); i++) {
String startDeviceCode = getDeviceCodeList.get(i);
TaskDto taskDto = taskserver.findByStartCodeAndReady(startDeviceCode);
if (ObjectUtil.isNotEmpty(taskDto)) {
String interactionJson = taskDto.getInteraction_json();
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
String start_device_code = taskDto.getStart_device_code();
String next_device_code = taskDto.getNext_device_code();
Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
String start_addr = startDevice.getExtraValue().get("address").toString();
String next_addr = nextDevice.getExtraValue().get("address").toString();
String taskid = taskDto.getTask_id();
String taskcode = taskDto.getTask_code();
String start_point_code = taskDto.getStart_point_code();
String route_plan_code = taskDto.getRoute_plan_code();
String next_point_code = taskDto.getNext_point_code();
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setCreate_by("auto");
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.setInstruction_status("0");
instdto.setExecute_device_code(device_code);
String interactionJson = taskDto.getInteraction_json();
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
String start_device_code = taskDto.getStart_device_code();
String next_device_code = taskDto.getNext_device_code();
Device startDevice = deviceAppService.findDeviceByCode(start_device_code);
Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
String start_addr = startDevice.getExtraValue().get("address").toString();
String next_addr = nextDevice.getExtraValue().get("address").toString();
String taskid = taskDto.getTask_id();
String taskcode = taskDto.getTask_code();
String start_point_code = taskDto.getStart_point_code();
String route_plan_code = taskDto.getRoute_plan_code();
String next_point_code = taskDto.getNext_point_code();
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
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.setInstruction_status("0");
instdto.setExecute_device_code(device_code);
try {
instructionService.create(instdto);
} catch (Exception e) {
notCreateInstMessage = e.getMessage();
logServer.deviceExecuteLog(this.getDevice_code(), "", "", "创建指令时出现异常:" + e.getMessage());
return false;
}
logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+ instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+ ",指令终点:" + instdto.getNext_device_code() + ",交互参数：" + interactionJsonDTO.toString());
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", 1);
map.put("to_target", next_addr);
map.put("to_onset", start_addr);
map.put("to_task", instdto.getInstruction_code());
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getItem_to_weight())) {
map.put("to_wedth", interactionJsonDTO.getItem_to_weight());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getItem_to_length())) {
map.put("to_length", interactionJsonDTO.getItem_to_length());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getItem_to_height())) {
map.put("to_height", interactionJsonDTO.getItem_to_height());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getItem_to_barcode())) {
map.put("to_barcode", interactionJsonDTO.getItem_to_barcode());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getItem_to_layer())) {
map.put("to_layer", interactionJsonDTO.getItem_to_layer());
}
try {
this.writing(map);
} catch (Exception e) {
try {
instructionService.create(instdto);
//创建指令后修改任务状态
taskDto.setTask_status("1");
taskserver.update(taskDto);
} catch (Exception e) {
notCreateInstMessage = e.getMessage();
logServer.deviceExecuteLog(this.getDevice_code(), "", "", "创建指令时出现异常:" + e.getMessage());
return false;
}
logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+ instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+ ",指令终点:" + instdto.getNext_device_code() + ",交互参数：" + interactionJsonDTO.toString() + ",指令执行失败:" + e.getMessage());
+ ",指令终点:" + instdto.getNext_device_code() + ",交互参数：" + interactionJsonDTO.toString());
Map<String, Object> map = new LinkedHashMap<>();
map.put("to_command", 1);
map.put("to_target", next_addr);
map.put("to_onset", start_addr);
map.put("to_task", instdto.getInstruction_code());
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getTo_weight())) {
map.put("to_wedth", interactionJsonDTO.getTo_weight());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getTo_length())) {
map.put("to_length", interactionJsonDTO.getTo_length());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getTo_height())) {
map.put("to_height", interactionJsonDTO.getTo_height());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getTo_barcode())) {
map.put("to_barcode", interactionJsonDTO.getTo_barcode());
}
if (ObjectUtil.isNotEmpty(interactionJsonDTO.getTo_layer())) {
map.put("to_layer", interactionJsonDTO.getTo_layer());
}
try {
this.writing(map);
} catch (Exception e) {
logServer.deviceExecuteLog(device_code, "", "", "当前设备:" + device_code + ",下发指令:"
+ instdto.getInstruction_code() + ",指令起点:" + instdto.getStart_device_code()
+ ",指令终点:" + instdto.getNext_device_code() + ",交互参数：" + interactionJsonDTO.toString() + ",指令执行失败:" + e.getMessage());
}
this.setRequireSucess(true);
return true;
}else{
notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
}
this.setRequireSucess(true);
return true;
} else {
notCreateInstMessage = "未找到关联设备的任务，指令无法创建";
}
return true;
}
}
/**
* 下发
* @param map
*/
public void writing(Map<String, Object> map) {
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
Map<String, Object> itemMap = new LinkedHashMap<>();
@@ -383,15 +387,12 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
});
if (ObjectUtil.isNotEmpty(itemMap)) {
try {
this.checkcontrol(itemMap);
} catch (Exception e) {
throw new RuntimeException(e);
}
this.control(itemMap);
logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
}
}
public synchronized boolean finish_instruction(Instruction inst) throws Exception {
instructionService.finish(inst);
return true;
@@ -405,6 +406,7 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
public String getToParam() {
return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
}
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();

10
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/InteractionJsonDTO.java
View File

@@ -8,24 +8,24 @@ public class InteractionJsonDTO {
/**
*木箱长度
*/
private String item_to_length = "to_length";
private String to_length;
/**
*木箱宽度
*/
private String item_to_weight = "to_weight";
private String to_weight;
/**
*木箱高度
*/
private String item_to_height = "to_height";
private String to_height;
/**
*下发木箱条码
*/
private String item_to_barcode = "to_barcode";
private String to_barcode;
/**
*下发木箱层数
*/
private String item_to_layer = "to_layer";
private String to_layer;
}

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/ItemProtocol.java
View File

@@ -169,6 +169,8 @@ public class ItemProtocol {
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_y, "行走列", "DB1.B4"));
list.add(new ItemDto(item_to_barcode, "下发木箱条码", "DB1.B7"));
list.add(new ItemDto(item_to_layer, "下发木箱层数", "DB1.B8"));
return list;
}

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java
View File

@@ -283,7 +283,7 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
this.instruction_require_time = date;
BoxStorageOutConveyorDeviceDriver boxStorageConveyorDeviceDriver = new BoxStorageOutConveyorDeviceDriver();
String deviceCode = boxStorageConveyorDeviceDriver.getDevice_code();
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Return_Good.getIndex());
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode);
if (ObjectUtil.isNotEmpty(taskDto)) {
String start_device_code = taskDto.getStart_device_code();
String next_device_code = taskDto.getNext_device_code();

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java
View File

@@ -289,7 +289,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
BoxManipulatorSiteDeviceDriver boxManipulatorSiteDeviceDriver = new BoxManipulatorSiteDeviceDriver();
String deviceCode = boxManipulatorSiteDeviceDriver.getDevice_code();
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode, TaskTypeEnum.Truss_Task.getIndex());
TaskDto taskDto = taskserver.findByEndCodeAndReady(deviceCode);
String interactionJson = taskDto.getInteraction_json();
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
if (ObjectUtil.isNotEmpty(taskDto)) {

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/rgv/RgvDefination.java
View File

@@ -40,7 +40,7 @@ public class RgvDefination implements OpcDeviceDriverDefination {
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.conveyor);
types.add(DeviceType.rgv);
return types;
}

3
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -386,10 +386,9 @@ public interface TaskService extends CommonService<Task> {
* 根据终点设备编号查询当前是否有就绪任务
*
* @param device_code
* @param index
* @return
*/
TaskDto findByEndCodeAndReady(String device_code, String index);
TaskDto findByEndCodeAndReady(String device_code);
/**

4
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -1000,11 +1000,11 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
@Override
public TaskDto findByEndCodeAndReady(String device_code, String index) {
public TaskDto findByEndCodeAndReady(String device_code) {
Optional<TaskDto> optionalTask = tasks.stream()
.filter(task -> StrUtil.equals(task.getNext_device_code(), device_code)
&& StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())
&& StrUtil.equals(task.getTask_type(), index))
)
.findFirst();
return optionalTask.orElse(null);
}