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rev 内包间行架

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This commit is contained in:
tuqiang
2023-11-09 10:02:16 +08:00
parent 293906cdb5
commit f36891047d
11 changed files with 1301 additions and 145 deletions
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4
acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
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@@ -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

458
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/indoor_manipulator/IndoorManipulatorDeviceDriver.java
View File

@@ -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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<String, Object> 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<TaskDto> taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(startDeviceCode);
List<TaskDto> 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<String, Object> 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<String, Object> 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());

88
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/ItemProtocol.java Normal file
View File

@@ -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<ItemDto> 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<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2"));
return list;
}
}

61
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDefination.java Normal file
View File

@@ -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<? extends DeviceDriver> getDeviceDriverType() {
return PluggingUnpluggingMachineDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.conveyor);
return types;
}
@Override
public List<ItemDto> getReadableItemDtos() {
return org.nl.acs.device_driver.basedriver.standard_inspect_site.ItemProtocol.getReadableItemDtos();
}
@Override
public List<ItemDto> getWriteableItemDtos() {
return ItemProtocol.getWriteableItemDtos();
}
}

280
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/plugging_unplugging_machine/PluggingUnpluggingMachineDeviceDriver.java Normal file
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@@ -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<String, Object> 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<String, Object> 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<String, Object> itemMap = new HashMap<String, Object>();
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<String> 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<String> 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<String, Object> itemMap = new HashMap<String, Object>();
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);
}
}

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/ApplyManipulatorActionRequest.java
View File

@@ -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;

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -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);

7
acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -127,6 +127,13 @@ public interface TaskService {
*/
List<TaskDto> queryTaskByDeviceCodeAndStatus(String device_code);
/**
* 根据设备号和任务状态查询
* @param device_code
* @return
*/
List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code);
/**
* 根据任务类型查询
* @param task_type

33
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -402,6 +402,39 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
return list;
}
@Override
public List<TaskDto> queryTaskByDeviceCodeAndStatus2(String device_code) {
List<TaskDto> list = new ArrayList<>();
Iterator<TaskDto> 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<TaskDto> queryTaskByType(String task_type) {
List<TaskDto> list = new ArrayList<>();