diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index 0fa6c196c..10ccaae96 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -57,7 +57,9 @@ public enum DriverTypeEnum { DEVICE_STATUS(23,"device_status","立库设备状态","conveyor"), - INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station"); + INDOOR_MANIPULATOR(24,"indoor_manipulator","内包间-行架机械手","station"), + + PLUGGING_UNPLUGGING_MACHINE(25,"plugging_unplugging_machine","插拔轴机","station"); //驱动索引 diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java index 9693e066f..69e69deee 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java @@ -18,6 +18,7 @@ import org.nl.acs.device_driver.RouteableDeviceDriver; import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.lamp_three_color.LampThreecolorDeviceDriver; import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver; +import org.nl.acs.device_driver.basedriver.plugging_unplugging_machine.PluggingUnpluggingMachineDeviceDriver; import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; @@ -199,9 +200,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple device_code = this.getDeviceCode(); mode = this.itemProtocol.getMode(); move = this.itemProtocol.getMove(); - if(mode==2){ - log.info("123"); - } action = this.itemProtocol.getAction(); walk_y = this.itemProtocol.getWalk_y(); error = this.itemProtocol.getError(); @@ -312,10 +310,18 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple logServer.deviceItemValue(this.device_code, "inflatable_shaft_size", String.valueOf(inflatable_shaft_size)); logServer.deviceExecuteLog(this.device_code, "", "", "信号inflatable_shaft_size：" + last_inflatable_shaft_size + "->" + inflatable_shaft_size); } - if (task > 0) { + + if (task > 0 && getTo_task_type() == 1) { update_instruction_status(); + } else if (task > 0 && getTo_task_type() == 2) {// + update_instruction_status2(); + } else if (task > 0 && getTo_task_type() == 6) { + update_instruction_status3(); + } else if (task > 0 && getTo_task_type() == 7) { + update_instruction_status4(); } + } catch (Exception var17) { var17.printStackTrace(); feedMessage = var17.getMessage(); @@ -367,10 +373,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple this.setNotCreateTaskMessage(remark); } } - if (mode == 3 && !feedbackSucess && action > 0) { - apply_feedback(); - } - } last_mode = mode; last_move = move; @@ -416,91 +418,6 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple } } - public synchronized boolean apply_feedback() { - Date date = new Date(); - if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) { - log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); - return false; - } else { - ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); - ApplyManipulatorActionResponse applyManipulatorActionResponse; - if (action == 2) { - this.instruction_apply_time = date; - message = "完成反馈LMS..."; - JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("storage_code ='" + this.device_code + "'").uniqueResult(0); - String start_point_code = null; - if (!ObjectUtil.isEmpty(device_json)) { - start_point_code = (String) device_json.get("parent_storage_code") == null ? this.device_code : (String) device_json.get("parent_storage_code"); - } - applyManipulatorActionRequest.setDevice_code(start_point_code); - applyManipulatorActionRequest.setType("2"); - applyManipulatorActionRequest.setTask_code(String.valueOf(task)); - applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size)); - applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); - logServer.deviceExecuteLog(this.device_code, "", "", "反馈请求参数:" + JSON.toJSONString(applyManipulatorActionRequest)); - if (applyManipulatorActionResponse.getstatus() == 200) { - requireSucess = true; - message = "反馈LMS成功..."; - logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); - String version = applyManipulatorActionResponse.getVersion(); - String bushing_num = applyManipulatorActionResponse.getBushing_num(); - String is_bushing = applyManipulatorActionResponse.getIs_bushing(); - String detail_type = applyManipulatorActionResponse.getDetail_type(); - Map map = new LinkedHashMap<>(); - map.put("to_command", "2"); - map.put("to_task_type", detail_type); - map.put("inflatableShaftVersion", version); - map.put("tube_num", bushing_num); - map.put("is_wrapped", is_bushing); - this.writing(map); - this.setFeedbackSucess(true); - } else { - requireSucess = true; - message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse); - logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); - } - - } - if (action == 3) { - applyManipulatorActionRequest.setType("3"); - applyManipulatorActionRequest.setTask_code(String.valueOf(task)); - applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); - String put_device_code = applyManipulatorActionResponse.getPut_device_code(); - String detail_type = applyManipulatorActionResponse.getDetail_type(); - Map map = new LinkedHashMap<>(); - map.put("to_command", "3"); - map.put("to_task_type", detail_type); - map.put("to_putpoint", put_device_code); - this.writing(map); - this.setFeedbackSucess(true); - } - if (action == 4) { - applyManipulatorActionRequest.setType("4"); - applyManipulatorActionRequest.setTask_code(String.valueOf(task)); - applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); - String get_device_code = applyManipulatorActionResponse.getGet_device_code(); - Map map = new LinkedHashMap<>(); - map.put("to_command", "4"); - map.put("to_new_getpoint", get_device_code); - this.writing(map); - this.setFeedbackSucess(true); - } - if (action == 5) { - applyManipulatorActionRequest.setType("5"); - applyManipulatorActionRequest.setTask_code(String.valueOf(task)); - applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); - String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2(); - String detail_type = applyManipulatorActionResponse.getDetail_type(); - Map map = new LinkedHashMap<>(); - map.put("to_command", "5"); - map.put("to_task_type", detail_type); - map.put("to_two_putpoint", put_device_code2); - this.writing(map); - this.setFeedbackSucess(true); - } - return true; - } - } public synchronized boolean finish_instruction(Instruction inst) throws Exception { instructionService.finish(inst); @@ -515,7 +432,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple } else { this.instruction_update_time = date; //更改任务状态 - if (task > 0 && action == 2) { + if (task > 0) { //inst_message Instruction inst1 = checkInst(); if (inst1 != null) { @@ -527,50 +444,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple } } - if (task > 0 && action == 3) { - //inst_message - Instruction inst1 = checkInst(); - if (inst1 != null) { - if (StrUtil.equals(inst1.getInstruction_status(), "0")) { - inst1.setInstruction_status("1"); - inst1.setExecute_device_code(this.device_code); - instructionService.update(inst1); - } - } - } - - if (task > 0 && action == 4) { - //inst_message - Instruction inst1 = checkInst(); - if (inst1 != null) { - if (StrUtil.equals(inst1.getInstruction_status(), "0")) { - inst1.setInstruction_status("1"); - inst1.setExecute_device_code(this.device_code); - instructionService.update(inst1); - } - } - } - - if (task > 0 && action == 5) { - //inst_message - Instruction inst1 = checkInst(); - if (inst1 != null) { - if (StrUtil.equals(inst1.getInstruction_status(), "0")) { - inst1.setInstruction_status("1"); - inst1.setExecute_device_code(this.device_code); - instructionService.update(inst1); - } - } - } - - - //放货完成 - if (mode == 3 && action == 6 && move == 0 && task > 0) { + //任务完成 + if (action == 8) { Instruction inst2 = checkInst(); if (inst2 != null) { try { finish_instruction(inst2); - this.writing("to_command", "6"); + this.writing("to_command", "8"); } catch (Exception e) { e.printStackTrace(); } @@ -596,6 +476,300 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple } } + private synchronized void update_instruction_status2() { + Date date = new Date(); + if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out); + + } else { + this.instruction_update_time = date; + //更改任务状态 + if (task > 0) { + //inst_message + Instruction inst1 = checkInst(); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + inst1.setInstruction_status("1"); + inst1.setExecute_device_code(this.device_code); + instructionService.update(inst1); + } + } + } + + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + //反馈气胀轴尺寸 + if (mode == 3) { + Instruction inst2 = checkInst(); + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + applyManipulatorActionRequest.setType(truss_type); + applyManipulatorActionRequest.setTask_code(task_code); + applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + if (applyManipulatorActionResponse.getstatus() == 200) { + requireSucess = true; + message = "反馈LMS成功..."; + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + Map map = new LinkedHashMap<>(); + map.put("to_command", "2"); + map.put("to_task_type", "2"); + this.writing(map); + this.setFeedbackSucess(true); + } else { + requireSucess = true; + message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse); + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + } + } + + //申请放货点 + if (action == 3) { + Instruction inst2 = checkInst(); + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + applyManipulatorActionRequest.setType(truss_type); + applyManipulatorActionRequest.setTask_code(String.valueOf(task)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + String put_device_code = applyManipulatorActionResponse.getPut_device_code(); + String detail_type = applyManipulatorActionResponse.getDetail_type(); + Map map = new LinkedHashMap<>(); + map.put("to_command", "3"); + map.put("to_putpoint", put_device_code); + this.writing(map); + this.setFeedbackSucess(true); + } + + //任务完成 + if (action == 8) { + Instruction inst2 = checkInst(); + if (inst2 != null) { + try { + finish_instruction(inst2); + this.writing("to_command", "8"); + } catch (Exception e) { + e.printStackTrace(); + } + feedMessage = ""; + } + } 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 != 6) { + feedMessage = feedMessage + "动作信号(action)不为放货完成状态,"; + } + if (move != 0) { + feedMessage = feedMessage + "光电信号(move)不为无货状态,"; + } + if (task == 0) { + feedMessage = feedMessage + "当前上报任务号(task)不应该为0。"; + } + } + + + } + } + + private synchronized void update_instruction_status3() { + Date date = new Date(); + if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out); + + } else { + this.instruction_update_time = date; + //更改任务状态 + if (task > 0) { + //inst_message + Instruction inst1 = checkInst(); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + inst1.setInstruction_status("1"); + inst1.setExecute_device_code(this.device_code); + instructionService.update(inst1); + } + } + } + + + + + //任务完成 + if (action == 8) { + Instruction inst2 = checkInst(); + if (inst2 != null) { + try { + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + finish_instruction(inst2); + this.writing("to_command", "8"); + } catch (Exception e) { + e.printStackTrace(); + } + feedMessage = ""; + } + } 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) { + feedMessage = feedMessage + "动作信号(action)不为放货完成状态,"; + } + if (move != 0) { + feedMessage = feedMessage + "光电信号(move)不为无货状态,"; + } + if (task == 0) { + feedMessage = feedMessage + "当前上报任务号(task)不应该为0。"; + } + } + + + } + } + + private synchronized void update_instruction_status4() { + Date date = new Date(); + if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out); + + } else { + this.instruction_update_time = date; + //更改任务状态 + if (task > 0) { + //inst_message + Instruction inst1 = checkInst(); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + inst1.setInstruction_status("1"); + inst1.setExecute_device_code(this.device_code); + instructionService.update(inst1); + } + } + } + + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + //反馈尺寸 + if (action == 2) { + Instruction inst2 = checkInst(); + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + applyManipulatorActionRequest.setType(truss_type); + applyManipulatorActionRequest.setTask_code(task_code); + applyManipulatorActionRequest.setSize(String.valueOf(inflatable_shaft_size)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + if (applyManipulatorActionResponse.getstatus() == 200) { + requireSucess = true; + message = "反馈LMS成功..."; + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求成功,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + String version = applyManipulatorActionResponse.getVersion(); + String bushing_num = applyManipulatorActionResponse.getBushing_num(); + String is_bushing = applyManipulatorActionResponse.getIs_bushing(); + String detail_type = applyManipulatorActionResponse.getDetail_type(); + String put_device_code = applyManipulatorActionResponse.getPut_device_code(); + Map map = new LinkedHashMap<>(); + map.put("to_command", "2"); + map.put("inflatableShaftVersion", version); + map.put("tube_num", bushing_num); + map.put("is_wrapped", is_bushing); + map.put("to_putpoint", put_device_code); + this.writing(map); + this.setFeedbackSucess(true); + } else { + requireSucess = true; + message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse); + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + } + } + + if (action == 3) { + Instruction inst2 = checkInst(); + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + applyManipulatorActionRequest.setType(truss_type); + applyManipulatorActionRequest.setTask_code(String.valueOf(task)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + String put_device_code = applyManipulatorActionResponse.getPut_device_code(); + String detail_type = applyManipulatorActionResponse.getDetail_type(); + Map map = new LinkedHashMap<>(); + map.put("to_command", "3"); + map.put("to_task_type", detail_type); + map.put("to_putpoint", put_device_code); + this.writing(map); + this.setFeedbackSucess(true); + } + if (mode == 3 && action == 4 && task > 0) { + applyManipulatorActionRequest.setType("4"); + applyManipulatorActionRequest.setTask_code(String.valueOf(task)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + String get_device_code = applyManipulatorActionResponse.getGet_device_code(); + String put_device_code = applyManipulatorActionResponse.getPut_device_code(); + Map map = new LinkedHashMap<>(); + map.put("to_command", "4"); + map.put("to_new_getpoint", get_device_code); + map.put("to_putpoint", put_device_code); + this.writing(map); + this.setFeedbackSucess(true); + } + if (action == 5) { + applyManipulatorActionRequest.setType("5"); + applyManipulatorActionRequest.setTask_code(String.valueOf(task)); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + String put_device_code2 = applyManipulatorActionResponse.getPut_device_code2(); + String detail_type = applyManipulatorActionResponse.getDetail_type(); + String get_device_code = applyManipulatorActionResponse.getGet_device_code(); + Map map = new LinkedHashMap<>(); + map.put("to_command", "5"); + map.put("to_task_type", detail_type); + map.put("to_two_putpoint", put_device_code2); + map.put("to_new_getpoint", get_device_code); + this.writing(map); + this.setFeedbackSucess(true); + } + + + //放货完成 + if (action == 8) { + Instruction inst2 = checkInst(); + if (inst2 != null) { + try { + String task_code = inst2.getTask_code(); + TaskDto taskDto = taskserver.findByCode(task_code); + String truss_type = taskDto.getTruss_type(); + finish_instruction(inst2); + this.writing("to_command", "8"); + } catch (Exception e) { + e.printStackTrace(); + } + feedMessage = ""; + } + } 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) { + feedMessage = feedMessage + "动作信号(action)不为放货完成状态,"; + } + if (move != 0) { + feedMessage = feedMessage + "光电信号(move)不为无货状态,"; + } + if (task == 0) { + feedMessage = feedMessage + "当前上报任务号(task)不应该为0。"; + } + } + + + } + } + public Instruction checkInst() { if (ObjectUtil.isNotEmpty(this.inst)) { if (this.task > 0) { @@ -693,7 +867,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple TaskDto task = null; for (int i = 0; i < getDeviceCodeList.size(); i++) { String startDeviceCode = getDeviceCodeList.get(i); - List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode); + List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus2(startDeviceCode); if (ObjectUtil.isNotEmpty(taskDtos)) { //按照优先级排序 优先级相等按照创建时间排序 taskDtos = this.sortTask(taskDtos); @@ -734,13 +908,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple Map map = new LinkedHashMap<>(); map.put("to_command", "1"); - if (action==2) { + if (action == 2) { map.put("inflatableShaftVersion", version); map.put("tube_num", bushing_num); map.put("is_wrapped", is_bushing); } - if (action==1||action==5){ - map.put("to_task_type", String.valueOf(action)); + if (taskDto.getTruss_type() == "1" || taskDto.getTruss_type() == "5") { + map.put("to_task_type", taskDto.getTruss_type()); } map.put("to_onset", start_addr); map.put("to_task", instruction.getInstruction_code()); @@ -756,7 +930,7 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple taskDtoList = this.sortTask(taskDtoList); task = taskDtoList.get(j); // 9 行架任务 - if (!StrUtil.equals(task.getTask_type(), "9")) { + if (!StrUtil.equals(task.getTruss_type(), "9")) { task = null; continue; } @@ -841,13 +1015,13 @@ public class IndoorManipulatorDeviceDriver extends AbstractOpcDeviceDriver imple String bushing_num = task.getBushing_num(); Map map = new LinkedHashMap<>(); map.put("to_command", "1"); - if (action==2) { + if (action == 2) { map.put("inflatableShaftVersion", version); map.put("tube_num", bushing_num); map.put("is_wrapped", is_bushing); } - if (action==1||action==5){ - map.put("to_task_type", String.valueOf(action)); + if (task.getTruss_type() == "1" || task.getTruss_type() == "5") { + map.put("to_task_type", task.getTruss_type()); } map.put("to_onset", start_addr); map.put("to_task", instdto.getInstruction_code()); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java new file mode 100644 index 000000000..df30a3944 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java @@ -0,0 +1,88 @@ +package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine; + +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_move = "move"; + public static String item_error = "error"; + public static String item_task = "task"; + public static String item_to_command = "to_command"; + + private PluggingUnpluggingMachineDeviceDriver driver; + + public ItemProtocol(PluggingUnpluggingMachineDeviceDriver driver){ + this.driver=driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getMove() { + return this.getOpcIntegerValue(item_move); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + public int getToCommand() { + return this.getOpcIntegerValue(item_to_command); + } + + + //是否有货 + public int hasGoods(int move) { + return move; + } + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(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", "DB600.B0")); + list.add(new ItemDto(item_mode, "工作状态", "DB600.B2")); + list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3")); + list.add(new ItemDto(item_error, "报警信号", "DB600.B5")); + list.add(new ItemDto(item_task, "任务号", "DB600.D6")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2")); + return list; + } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java new file mode 100644 index 000000000..e38405519 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java @@ -0,0 +1,61 @@ +package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 插拔轴机驱动定义 + * 说明：该站点为插拔轴机 + */ +@Service +public class PluggingUnpluggingMachineDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "plugging_unplugging_machine"; + } + + @Override + public String getDriverName() { + return "插拔轴机"; + } + + @Override + public String getDriverDescription() { + return "插拔轴机"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new PluggingUnpluggingMachineDeviceDriver()).setDevice(device).setDriverDefination(this); + } + + @Override + public Class getDeviceDriverType() { + return PluggingUnpluggingMachineDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.conveyor); + return types; + } + + @Override + public List getReadableItemDtos() { + return org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol.getReadableItemDtos(); + } + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java new file mode 100644 index 000000000..2b2e081aa --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java @@ -0,0 +1,280 @@ +package org.nl.acs.device_driver.basedriver.plugging_unplugging_machine; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.DeviceDriver; +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.ext.wms.data.ApplyManipulatorActionRequest; +import org.nl.acs.ext.wms.data.ApplyManipulatorActionResponse; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.history.service.DeviceErrorLogService; +import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.task.service.TaskService; +import org.nl.modules.system.service.ParamService; +import org.nl.modules.system.service.impl.ParamServiceImpl; +import org.nl.modules.wql.util.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.*; + +@Slf4j +@Data +@RequiredArgsConstructor +public class PluggingUnpluggingMachineDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + @Autowired + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + @Autowired + DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class); + @Autowired + ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); + + + int mode = 0; + int error = 0; + int move = 0; + int task = 0; + int last_mode = 0; + int last_error = 0; + int last_move = 0; + int last_task = 0; + Boolean isonline = true; + + Boolean iserror = false; + //行架机械手申请任务成功标识 + boolean requireSucess = false; + + //1-执行任务；2-取货完成；3-放货完成； + int flag; + + String device_code; + + String message = null; + + @Override + public Device getDevice() { + return this.device; + } + + @Override + public void execute() { + String message = null; + try { + device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + error = this.itemProtocol.getError(); + move = this.itemProtocol.getMove(); + task = this.itemProtocol.getTask(); + + if (mode != last_mode) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode + "复位请求标记"); + } + if (move != last_move) { + logServer.deviceExecuteLog(this.device_code, "", "", "信号move：" + last_move + "->" + move); + } + + } catch (Exception var17) { + + + } + + if (mode == 0) { + this.setIsonline(false); + message = "未联机"; + //有报警 + + } else { + this.setIsonline(true); + this.setIserror(false); + if (error != 0) { + this.setIserror(true); + message = "有报警"; + } + 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; + case 4: + if (!requireSucess) { + feedback(); + } + break; + case 5: + if (!requireSucess) { + feedback1(); + } + break; + } + + } + last_mode = mode; + last_error = error; + last_move = move; + last_task = task; + } + + private synchronized void feedback1() { + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + applyManipulatorActionRequest.setType("7"); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + if (applyManipulatorActionResponse.getstatus() == 200) { + + Map map = new LinkedHashMap<>(); + map.put("to_command", "5"); + requireSucess = true; + } else { + requireSucess = true; + message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse); + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + } + } + + private synchronized void feedback() { + ApplyManipulatorActionRequest applyManipulatorActionRequest = new ApplyManipulatorActionRequest(); + ApplyManipulatorActionResponse applyManipulatorActionResponse; + applyManipulatorActionRequest.setType("6"); + applyManipulatorActionResponse = acsToWmsService.applyManipulatorActionRequest(applyManipulatorActionRequest); + if (applyManipulatorActionResponse.getstatus() == 200) { + + Map map = new LinkedHashMap<>(); + map.put("to_command", "4"); + requireSucess = true; + } else { + requireSucess = true; + message = "完成反馈LMS失败，" + String.valueOf(applyManipulatorActionResponse); + logServer.deviceExecuteLog(this.device_code, "", "", "反馈完成请求失败,响应参数:" + JSON.toJSONString(applyManipulatorActionResponse)); + } + } + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + public void writing(List list) { + + //String opcservcerid = this.getDevice().getOpc_server_id(); +//Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + for (int i = 0; i < list.size(); i++) { + Object ob = list.get(i); + JSONObject json = (JSONObject) JSONObject.toJSON(ob); + if (!StrUtil.isEmpty(json.getString("value"))) { + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + json.getString("code"); + itemMap.put(to_param, json.getString("value")); + } + } + logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap); + this.control(itemMap); + } + + //将扩展表中的字符串数据转换成集合 + public List getExtraDeviceCodes(String extraName) { + String extraValue = (String) this.getDevice().getExtraValue().get(extraName); + if (StrUtil.isEmpty(extraValue)) { + return new ArrayList<>(); + } + String devicesString = extraValue.substring(1, extraValue.length() - 1); + List devicesList = new ArrayList<>(); + String[] devices = devicesString.split(","); + for (int i = 0; i < devices.length; i++) { + String s = devices[i].replace("\"", "").replace("\"", ""); + devicesList.add(s); + } + return devicesList; + } + + + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String action = ""; + String move = ""; + if (this.getMode() == 0) { + mode = "未联机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "联机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + jo.put("hasGoods", false); + } else if (this.getMove() == 1) { + move = "有货"; + jo.put("hasGoods", true); + } else if (this.getMove() == 2) { + move = "有托盘有货"; + jo.put("hasGoods", true); + } + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("isOnline", this.getIsonline()); + jo.put("isError", this.getIserror()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } + + public void writing(String param, String value) { + String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + param; + Map itemMap = new HashMap(); + itemMap.put(to_param, Integer.parseInt(value)); + + this.control(itemMap); + logServer.deviceExecuteLog(device_code, "", "", "下发电气信号设备号:" + device_code + ",下发电气:" + to_param + ",下发电气值:" + value); + } + + + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java index 9ee34077f..4fec7dd92 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java @@ -11,6 +11,8 @@ public class ApplyManipulatorActionRequest extends BaseRequest { * 3-反馈新放货点 * 4-反馈新取货点 * 5-反馈二次放货点 + * 6-套轴申请 + * 7-套轴完成 */ private String type; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java index 9ed99ea66..1715b5d6a 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java @@ -421,7 +421,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService { ApplyManipulatorActionResponse applyManipulatorActionResponse = new ApplyManipulatorActionResponse(); if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) { String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); - AddressDto addressDto = addressService.findByCode("applyLabelingAndBinding"); + AddressDto addressDto = addressService.findByCode("applyManipulatorAction"); String methods_url = addressDto.getMethods_url(); String url = wmsUrl + methods_url; log.info("ApplyManipulatorActionRequest----请求参数{}", param); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java index 70e9b8981..1dd5ef218 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java @@ -127,6 +127,13 @@ public interface TaskService { */ List queryTaskByDeviceCodeAndStatus(String device_code); + /** + * 根据设备号和任务状态查询 + * @param device_code + * @return + */ + List queryTaskByDeviceCodeAndStatus2(String device_code); + /** * 根据任务类型查询 * @param task_type diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index c1b3dd7c7..7b4c6f652 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -402,6 +402,39 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return list; } + @Override + public List queryTaskByDeviceCodeAndStatus2(String device_code) { + List list = new ArrayList<>(); + Iterator iterator = tasks.iterator(); + while (iterator.hasNext()) { + TaskDto task = iterator.next(); + if (task.getStart_device_code().equals(device_code) + && StrUtil.equals(task.getTask_status(), "1")) { + Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code()); + if (ObjectUtil.isNotEmpty(instruction)) { + list.add(task); + } + } else { + if (StrUtil.equals(task.getTask_type(), "9") && StrUtil.isNotEmpty(task.getPut_device_code())) { +// if(task.getNext_device_code().equals(device_code) +// && StrUtil.equals(task.getTask_status(), "1")){ +// Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code()); +// if (ObjectUtil.isNotEmpty(instruction)) { +// list.add(task); +// } +// } + Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code()); + if (ObjectUtil.isNotEmpty(instruction)) { + if (StrUtil.equals(instruction.getStart_device_code(), device_code)) { + list.add(task); + } + } + } + } + } + return list; + } + @Override public List queryTaskByType(String task_type) { List list = new ArrayList<>(); diff --git a/acs/nladmin-ui/src/views/acs/device/config.vue b/acs/nladmin-ui/src/views/acs/device/config.vue index 11759bbb1..69bb4b800 100644 --- a/acs/nladmin-ui/src/views/acs/device/config.vue +++ b/acs/nladmin-ui/src/views/acs/device/config.vue @@ -102,6 +102,7 @@ import lamp_three_color from '@/views/acs/device/driver/lamp_three_color' import paper_tube_conveyor from '@/views/acs/device/driver/paper_tube_conveyor' import device_status from '@/views/acs/device/driver/device_status' import indoor_manipulator from '@/views/acs/device/driver/indoor_manipulator' +import plugging_unplugging_machine from '@/views/acs/device/driver/plugging_unplugging_machine' export default { name: 'DeviceConfig', @@ -134,7 +135,8 @@ export default { lamp_three_color, paper_tube_conveyor, device_status, - indoor_manipulator + indoor_manipulator, + plugging_unplugging_machine }, dicts: ['device_type'], mixins: [crud], diff --git a/acs/nladmin-ui/src/views/acs/device/driver/plugging_unplugging_machine.vue b/acs/nladmin-ui/src/views/acs/device/driver/plugging_unplugging_machine.vue new file mode 100644 index 000000000..29210e74c --- /dev/null +++ b/acs/nladmin-ui/src/views/acs/device/driver/plugging_unplugging_machine.vue @@ -0,0 +1,507 @@ + + + + +