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add:新增行架-agv对接位驱动

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tuqiang
2024-02-02 15:17:31 +08:00
parent 2ea1f3497b
commit 9f25ba7b59
8 changed files with 1068 additions and 46 deletions
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241
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -16,6 +16,7 @@ import org.nl.acs.device_driver.paper_tube_pick_site.PaperTubePickSiteDeviceDriv
import org.nl.acs.device_driver.storage.standard_storage.StandardStorageDeviceDriver;
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.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
@@ -131,7 +132,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
//烘箱对接位
HongXiangStationDeviceDriver hongXiangStationDeviceDriver;
//行架-agv对接位
ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
if (phase == 0x02) {
if (ObjectUtil.isEmpty(inst)) {
@@ -239,6 +241,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
, standardInspectSiteDeviceDriver.getError(), ikey);
}
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(2);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
@@ -358,6 +375,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(3);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
@@ -485,14 +517,30 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
} else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(4);
manipulatorAgvStationDeviceDriver.writing(2);
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getMove() == 0) {
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(2);
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getMove() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -503,7 +551,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
hongXiangStationDeviceDriver.writing(0);
hongXiangStationDeviceDriver.writing(1);
} catch (Exception e) {
e.printStackTrace();
}
@@ -608,29 +656,41 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
} else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
hongXiangStationDeviceDriver.writing(0);
} catch (Exception e) {
e.printStackTrace();
}
if (hongXiangStationDeviceDriver.getMove() > 0) {
if (hongXiangStationDeviceDriver.getMove() == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, hongXiangStationDeviceDriver.getMove(), hongXiangStationDeviceDriver.getAction()
, hongXiangStationDeviceDriver.getError(), ikey);
}
}
else {
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(3);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
} else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(5);
paperTubePickSiteDeviceDriver.writing(3);
} catch (Exception e) {
e.printStackTrace();
}
@@ -641,31 +701,30 @@ 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, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
, paperTubePickSiteDeviceDriver.getError(), ikey);
}
}
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
try {
standardInspectSiteDeviceDriver.writing(1);
} catch (Exception e) {
e.printStackTrace();
}
if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
try {
standardInspectSiteDeviceDriver.writing(1);
} catch (Exception e) {
e.printStackTrace();
}
if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction()
, standardInspectSiteDeviceDriver.getError(), ikey);
}
} else {
message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, standardInspectSiteDeviceDriver.getMove(), standardInspectSiteDeviceDriver.getAction()
, standardInspectSiteDeviceDriver.getError(), ikey);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agvphase:" + phase + "反馈:" + data)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agvphase:" + phase + "反馈:" + data)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
//（Itype=1,上传称重数据）
else if (phase == 0x64) {
@@ -737,17 +796,42 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
if (paperTubePickSiteDeviceDriver.getMove() == 0)
try {
paperTubePickSiteDeviceDriver.writing(4);
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getMove() == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
, paperTubePickSiteDeviceDriver.getError(), ikey);
}
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(4);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
hongXiangStationDeviceDriver.writing(0);
hongXiangStationDeviceDriver.writing(1);
} catch (Exception e) {
e.printStackTrace();
}
if (hongXiangStationDeviceDriver.getMove() > 0) {
if (hongXiangStationDeviceDriver.getMove() == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -826,6 +910,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
this.setPhase(phase);
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(5);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
@@ -841,6 +940,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
, hongXiangStationDeviceDriver.getError(), ikey);
}
}
else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(5);
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getMove() > 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
, paperTubePickSiteDeviceDriver.getError(), ikey);
}
}
else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
standardInspectSiteDeviceDriver.writing(0);
@@ -911,14 +1025,29 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
this.setPhase(phase);
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
hongXiangStationDeviceDriver.writing(0);
manipulatorAgvStationDeviceDriver.writing(4);
} catch (Exception e) {
e.printStackTrace();
}
if (hongXiangStationDeviceDriver.getMove() > 0) {
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
try {
hongXiangStationDeviceDriver.writing(1);
} catch (Exception e) {
e.printStackTrace();
}
if (hongXiangStationDeviceDriver.getMove() == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + hongXiangStationDeviceDriver.getMove() + ",动作信号:" + hongXiangStationDeviceDriver.getAction() + "报警信号:" + hongXiangStationDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";
@@ -926,6 +1055,21 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
, hongXiangStationDeviceDriver.getError(), ikey);
}
}
else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(4);
} catch (Exception e) {
e.printStackTrace();
}
if (paperTubePickSiteDeviceDriver.getMove() == 0) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + paperTubePickSiteDeviceDriver.getMove() + ",动作信号:" + paperTubePickSiteDeviceDriver.getAction() + "报警信号:" + paperTubePickSiteDeviceDriver.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{}，不满足取货条件,指令号{}", device_code, paperTubePickSiteDeviceDriver.getMove(), paperTubePickSiteDeviceDriver.getAction()
, paperTubePickSiteDeviceDriver.getError(), ikey);
}
}
else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
@@ -991,10 +1135,25 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
this.setPhase(phase);
}
else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
try {
manipulatorAgvStationDeviceDriver.writing(5);
} catch (Exception e) {
e.printStackTrace();
}
if ((manipulatorAgvStationDeviceDriver.getAction() == 1)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + ",动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + "报警信号:" + ",指令号:" + ikey + "不满足取货条件";
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", device_code, manipulatorAgvStationDeviceDriver.getAction(), ikey);
}
}
else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
paperTubePickSiteDeviceDriver.writing(0);
paperTubePickSiteDeviceDriver.writing(5);
} catch (Exception e) {
e.printStackTrace();
}

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

@@ -31,7 +31,7 @@ import java.util.List;
import java.util.Map;
/**
*
* 纸管抓取位
*/
@Slf4j
@Data

67
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ItemProtocol.java Normal file
View File

@@ -0,0 +1,67 @@
package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import java.util.ArrayList;
import java.util.List;
@Slf4j
@Data
public class ItemProtocol {
public static String item_heartbeat = "heartbeat";
public static String item_mode = "mode";
public static String item_action = "action";
public static String item_to_command = "to_command";
private ManipulatorAgvStationDeviceDriver driver;
public ItemProtocol(ManipulatorAgvStationDeviceDriver driver){
this.driver=driver;
}
public int getItem_heartbeat(){
return this.getOpcIntegerValue(item_heartbeat);
} ;
public int getItem_mode(){
return this.getOpcIntegerValue(item_mode);
}
public int getItem_action(){
return this.getOpcIntegerValue(item_action);
}
Boolean isonline;
public int getOpcIntegerValue(String protocol) {
Integer value = this.driver.getIntegeregerValue(protocol);
if (value == null) {
setIsonline(false);
} else {
setIsonline(true);
return value;
}
return 0;
}
public static List<ItemDto> getReadableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_heartbeat, "心跳", "DB19.B0"));
list.add(new ItemDto(item_mode, "工作模式", "DB19.B1"));
list.add(new ItemDto(item_action, "取放信号", "DB19.B3"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_to_command, "下发命令", "DB20.W0"));
return list;
}
@Override
public String toString() {
return "";
}
}

57
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDefination.java Normal file
View File

@@ -0,0 +1,57 @@
package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
import org.springframework.stereotype.Service;
import java.util.LinkedList;
import java.util.List;
@Service
public class ManipulatorAgvStationDefination implements OpcDeviceDriverDefination {
@Override
public String getDriverCode() {
return "manipulator_agv_station";
}
@Override
public String getDriverName() {
return "行架-agv对接位";
}
@Override
public String getDriverDescription() {
return "行架-agv对接位";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new ManipulatorAgvStationDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return ManipulatorAgvStationDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.conveyor);
return types;
}
@Override
public List<ItemDto> getReadableItemDtos() {
return ItemProtocol.getReadableItemDtos();
}
@Override
public List<ItemDto> getWriteableItemDtos() {
return ItemProtocol.getWriteableItemDtos();
}
}

198
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/manipulator_agv_station/ManipulatorAgvStationDeviceDriver.java Normal file
View File

@@ -0,0 +1,198 @@
package org.nl.acs.device_driver.two_conveyor.manipulator_agv_station;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceExtraService;
import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
import org.nl.acs.device_driver.DeviceDriver;
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.history.service.DeviceErrorLogService;
import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.impl.RouteLineServiceImpl;
import org.nl.acs.task.service.TaskService;
import org.nl.config.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
/**
* 行架-agv对接位
*/
@Slf4j
@Data
@RequiredArgsConstructor
public class ManipulatorAgvStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor, FeedLmsRealFailed {
protected ItemProtocol itemProtocol = new ItemProtocol(this);
@Autowired
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
@Autowired
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
@Autowired
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@Autowired
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@Autowired
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
@Autowired
DeviceExtraService deviceExtraService = SpringContextHolder.getBean(DeviceExtraServiceImpl.class);
@Autowired
DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
private Date instruction_require_time = new Date();
private Date instruction_finished_time = new Date();
private Date instruction_apply_time = new Date();
private int instruction_require_time_out = 3000;
//工作模式
int mode = 0;
int last_mode = 0;
//动作信号
int action = 0;
int last_action = 0;
int heartbeat = 0;
int last_heartbeat = 0;
int to_command = 0;
int last_to_command = 0;
Boolean isonline = true;
Boolean iserror = false;
/**
* 1-执行任务；2-取货完成；3-放货完成；
*/
int flag;
String device_code;
@Override
public Device getDevice() {
return this.device;
}
/**
* 请求成功标记
*/
Boolean requireSucess = false;
@Override
public void execute() {
String message = null;
try {
device_code = this.getDeviceCode();
mode = this.itemProtocol.getItem_mode();
action = this.itemProtocol.getItem_action();
if (mode != last_mode) {
this.setRequireSucess(false);
if (mode == 2) {
this.writing(0);
}
}
} catch (Exception var17) {
return;
}
if (!this.itemProtocol.getIsonline()) {
this.setIsonline(false);
this.setIserror(true);
message = "信号量同步异常";
//未联机
} else if (mode == 0) {
this.setIsonline(false);
this.setIserror(true);
message = "未联机";
//有报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
Instruction instruction = null;
List toInstructions;
switch (mode) {
case 1:
log.debug("设备运转模式:等待工作");
return;
case 2:
break;
case 3:
break;
default:
break;
}
switch (flag) {
//取货完成
case 1:
writing(3);
return;
//放货完成
case 2:
writing(5);
return;
default:
break;
}
}
last_mode = mode;
last_action = action;
last_heartbeat = heartbeat;
last_to_command = to_command;
}
protected void thingToNothing() {
this.setRequireSucess(false);
}
public void writing(int command) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + org.nl.acs.device_driver.two_conveyor.hongxiang_conveyor.ItemProtocol.item_to_command;
//String opcservcerid = this.getDevice().getOpc_server_id();
//Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, command);
this.control(itemMap);
}
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
String mode = "";
String action = "";
jo.put("device_name", this.getDevice().getDevice_name());
jo.put("mode", "联机");
jo.put("action", action);
jo.put("isOnline", true);
jo.put("isError", this.getIserror());
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
@Override
public JSONObject feedLmsRealFailedInfo() {
return null;
}
}

6
acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
View File

@@ -9,11 +9,11 @@ spring:
db-type: com.alibaba.druid.pool.DruidDataSource
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
# url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
username: ${DB_USER:root}
# password: ${DB_PWD:Root.123456}
password: ${DB_PWD:root}
password: ${DB_PWD:p@ssw0rd}
# 初始连接数
initial-size: 5
# 最小连接数