diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java index ed51be1..7e46f99 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java @@ -672,16 +672,10 @@ public class AgvServiceImpl implements AgvService { ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) addressdevice.getDeviceDriver(); //请求取货 if ("Load".equals(action)) { - if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() > 0) { + ndxySpecialTwoDeviceDriver.writing("item_to_address",1); + ndxySpecialTwoDeviceDriver.writing("to_pick_ready",1); + if (ndxySpecialTwoDeviceDriver.getMode() == 1 && ndxySpecialTwoDeviceDriver.getMove() > 0 && ndxySpecialTwoDeviceDriver.getAction()==1) { inst.setExecute_status("1"); - ndxySpecialTwoDeviceDriver.writing(1); - is_feedback = true; - } - //请求放货 - } else if ("Unload".equals(action)) { - if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - ndxySpecialTwoDeviceDriver.writing(3); is_feedback = true; } } @@ -764,7 +758,7 @@ public class AgvServiceImpl implements AgvService { if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() == 0) { inst.setExecute_device_code(processingVehicle); inst.setExecute_status("2"); - ndxySpecialTwoDeviceDriver.writing(2); +// ndxySpecialTwoDeviceDriver.writing(2); is_feedback = true; } //放货完成 @@ -772,7 +766,7 @@ public class AgvServiceImpl implements AgvService { if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() > 0) { inst.setExecute_device_code(address); inst.setExecute_status("4"); - ndxySpecialTwoDeviceDriver.writing(4); +// ndxySpecialTwoDeviceDriver.writing(4); is_feedback = true; } } @@ -1033,25 +1027,15 @@ public class AgvServiceImpl implements AgvService { ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) device.getDeviceDriver(); //请求取货 if (StrUtil.equals(type, "01") && ndxySpecialTwoDeviceDriver.getMove() != 0) { - ndxySpecialTwoDeviceDriver.writing(1, 1); +// ndxySpecialTwoDeviceDriver.writing(1, 1); is_feedback = true; } //取货完成 else if (StrUtil.equals(type, "02")) { - ndxySpecialTwoDeviceDriver.writing(1, 2); + ndxySpecialTwoDeviceDriver.writing("to_pick_finish", 1); is_feedback = true; } - //请求放货 - else if (StrUtil.equals(type, "03") && ndxySpecialTwoDeviceDriver.getMove() == 0) { - ndxySpecialTwoDeviceDriver.writing(1, 3); - is_feedback = true; - } - //放货完成 - else if (StrUtil.equals(type, "04")) { - ndxySpecialTwoDeviceDriver.writing(1, 4); - is_feedback = true; - } } if (device.getDeviceDriver() instanceof YkbkSpecialDeviceDriver) { ykbkSpecialDeviceDriver = (YkbkSpecialDeviceDriver) device.getDeviceDriver(); diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java index 87b0e06..f8a023e 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java @@ -15,12 +15,14 @@ public class ItemProtocol { public static String item_mode = "mode"; public static String item_move = "move"; public static String item_action = "action"; - public static String item_mode_switch = "mode_switch"; - public static String item_error = "error"; - public static String item_ioaction = "ioaction"; - public static String item_to_command = "to_command"; + public static String item_pick_start = "pick_start"; + public static String item_device_status = "device_status"; + public static String item_to_ready = "to_ready"; + public static String item_to_agv_status = "to_agv_status"; + public static String item_to_address = "to_address"; public static String item_to_mode_switch = "to_mode_switch"; - public static String item_weight = "weight"; + public static String item_to_pick_ready = "to_pick_ready"; + public static String item_to_pick_finish = "to_pick_finish"; private NdxySpecialTwoDeviceDriver driver; @@ -44,25 +46,14 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_action); } - public int getMode_switch() { - return this.getOpcIntegerValue(item_mode_switch); + public int getPick_start() { + return this.getOpcIntegerValue(item_pick_start); } - public int getError() { - return this.getOpcIntegerValue(item_error); + public int getDevice_status() { + return this.getOpcIntegerValue(item_device_status); } - public int getIoaction() { - return this.getOpcIntegerValue(item_ioaction); - } - - public int getToCommand() { - return this.getOpcIntegerValue(item_to_command); - } - - public int getTo_mode_switch() { - return this.getOpcIntegerValue(item_to_mode_switch); - } //是否有货 public int hasGoods(int move) { @@ -86,20 +77,23 @@ public class ItemProtocol { 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.B1", Boolean.valueOf(true))); - list.add(new ItemDto(item_move, "光电开关信号", "DB600.B2")); - list.add(new ItemDto(item_action, "取放信号", "DB600.B3")); - list.add(new ItemDto(item_ioaction, "进出信号", "DB600.B4")); - list.add(new ItemDto(item_mode_switch, "允许模式切换信号", "DB600.B5")); - list.add(new ItemDto(item_error, "报警信号", "DB600.B6")); + list.add(new ItemDto(item_heartbeat, "心跳", "DB700.B0")); + list.add(new ItemDto(item_mode, "工作状态", "DB700.B1", Boolean.valueOf(true))); + list.add(new ItemDto(item_move, "光电开关信号", "DB700.B2")); + list.add(new ItemDto(item_action, "取放信号", "DB700.B3")); + list.add(new ItemDto(item_pick_start, "卸载开始", "DB700.B4")); + list.add(new ItemDto(item_device_status, "码垛机状态", "DB700.B5")); + return list; } public static List getWriteableItemDtos() { ArrayList list = new ArrayList(); - list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2", Boolean.valueOf(true))); - list.add(new ItemDto(item_to_mode_switch, "切换模式", "DB601.W4")); + list.add(new ItemDto(item_to_ready, "就绪", "DB701.W2", Boolean.valueOf(true))); + list.add(new ItemDto(item_to_agv_status, "AGV状态", "DB701.W4")); + list.add(new ItemDto(item_to_address, "到位", "DB701.W6")); + list.add(new ItemDto(item_to_pick_ready, "允许卸货", "DB701.W8")); + list.add(new ItemDto(item_to_pick_finish, "卸货完成", "DB701.W10")); return list; } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java index 44b39d5..41f63e8 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java @@ -52,20 +52,9 @@ public class NdxySpecialTwoDefination implements OpcDeviceDriverDefination { @Override public List getReadableItemDtos() { - return getReadableItemDtos2(); + return ItemProtocol.getReadableItemDtos(); } - public static List getReadableItemDtos2() { - List list = new ArrayList(); - list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "DB600.B0")); - list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB600.B1", Boolean.valueOf(true))); - list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "DB600.B2")); - list.add(new ItemDto(ItemProtocol.item_action, "取放信号", "DB600.B3")); - list.add(new ItemDto(ItemProtocol.item_ioaction, "进出信号", "DB600.B4")); - list.add(new ItemDto(ItemProtocol.item_mode_switch, "允许模式切换信号", "DB600.B5")); - list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B6")); - return list; - } @Override public List getWriteableItemDtos() { diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java index 41d5ccb..d02cb1a 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java @@ -138,17 +138,13 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen @Override - public void execute() { + public void execute() throws Exception { String message = null; try { device_code = this.getDeviceCode(); mode = this.itemProtocol.getMode(); - error = this.itemProtocol.getError(); move = this.itemProtocol.getMove(); action = this.itemProtocol.getAction(); - ioaction = this.itemProtocol.getIoaction(); - mode_switch = this.itemProtocol.getMode_switch(); - hasGoods = this.itemProtocol.getMove(); if (mode != last_mode) { this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); @@ -161,69 +157,11 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); this.execute_log.log("设备:" + device_code + ",last_move -> move:" + last_mode + "->" + move); } - if (error != last_error) { - if (error != 0) { - if (mode_switch == 1) { - this.writing(1); - } - } else { - if (mode_switch == 1) { - this.writing(2); - } - } - this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); - this.execute_log.log("设备:" + device_code + ",last_error -> error:" + last_error + "->" + error); - } + if (action != last_action) { this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); this.execute_log.log("设备:" + device_code + ",last_action -> action:" + last_action + "->" + action); } - if (ioaction != last_ioaction) { - this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); - this.execute_log.log("设备:" + device_code + ",last_ioaction -> ioaction:" + last_ioaction + "->" + ioaction); - } - if (mode_switch != last_mode_switch) { - this.execute_log.setResource(this.devicecode, this.device.getDevice_name()); - this.execute_log.log("设备:" + device_code + ",last_mode_switch -> mode_switch:" + last_mode_switch + "->" + mode_switch); - } - - if (this.getApply_handling()) { - String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString(); - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); - Device link_device = appService.findDeviceByCode(link_device_code); - NdxySpecialTwoDeviceDriver NdxySpecialTwoDevicedriver; - if (link_device.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) { - NdxySpecialTwoDevicedriver = (NdxySpecialTwoDeviceDriver) link_device.getDeviceDriver(); - //如果目标设备申请叫料 则允许生成任务 - if (NdxySpecialTwoDevicedriver.getApply_material()) { - TaskDto dto = new TaskDto(); - String now = DateUtil.now(); - dto.setTask_id(IdUtil.simpleUUID()); - dto.setCreate_by(this.getDevice().getDevice_code()); - dto.setUpdate_by(this.getDevice().getDevice_code()); - dto.setStart_point_code(this.getDevice().getDevice_code()); - - String taskcode = CodeUtil.getNewCode("TASK_NO"); - dto.setTask_code("-" + taskcode); - dto.setTask_status("0"); - dto.setPriority("101"); -// RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code()); -// String next_device_codecode = jo.getNext_device_code(); -// if(StrUtil.isEmpty(next_device_codecode)){ -// throw new RuntimeException("该设备未找到对应路由"); -// } - dto.setNext_point_code(NdxySpecialTwoDevicedriver.getDevicecode()); - dto.setUpdate_time(now); - dto.setCreate_time(now); - - WQLObject wo = WQLObject.getWQLObject("acs_task"); - JSONObject json = JSONObject.fromObject(dto); - wo.insert(json); - NdxySpecialTwoDevicedriver.setApply_material(false); - } - } - this.setApply_handling(false); - } } catch (Exception var17) { return; @@ -252,24 +190,10 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen List toInstructions; switch (mode) { case 1: - log.debug("设备运转模式:等待工作"); - return; - case 2: - if (!requireSucess && this.move != 0) { + if (!requireSucess && this.move != 0 && mode ==1 && action ==1) { standby(); } } - } - - switch (flag) { - //取货完成 - case 2: - writing(2); - return; - //放货完成 - case 4: - writing(4); - return; } last_mode = mode; @@ -306,7 +230,7 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen * * @return */ - public synchronized boolean standby() { + public synchronized boolean standby() throws Exception { Date date = new Date(); if (date.getTime() - this.instruction_require_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); @@ -369,9 +293,10 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen } } - WQLObject wo = WQLObject.getWQLObject("acs_task"); - JSONObject json = JSONObject.fromObject(dto); - wo.insert(json); +// WQLObject wo = WQLObject.getWQLObject("acs_task"); +// JSONObject json = JSONObject.fromObject(dto); +// wo.insert(json); + taskserver.create(dto); Device device = appService.findDeviceByCode(next_device_code); device.setIslock("true"); this.setRequireSucess(true); @@ -393,36 +318,21 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen ReadUtil.write(itemMap, server); } - public void writing(int command) { + + public void writing(String type, int command) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() - + "." + ItemProtocol.item_to_command; + + "." + type; String opcservcerid = this.getDevice().getOpc_server_id(); Server server = ReadUtil.getServer(opcservcerid); Map itemMap = new HashMap(); + itemMap.put(to_command, command); ReadUtil.write(itemMap, server); } - public void writing(int type, int command) { - String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() - + "." + ItemProtocol.item_to_command; - String to_mode_switch = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() - + "." + ItemProtocol.item_to_mode_switch; - - String opcservcerid = this.getDevice().getOpc_server_id(); - Server server = ReadUtil.getServer(opcservcerid); - Map itemMap = new HashMap(); - if (type == 1) { - itemMap.put(to_command, command); - } else if (type == 2) { - itemMap.put(to_mode_switch, command); - } - ReadUtil.write(itemMap, server); - - } - public boolean instruction_require(String container_code) { return instruction_require(container_code, WcsConfig.task_container_type_default_desc); } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 3c09b09..33a1638 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -17,6 +17,7 @@ import org.nl.acs.config.server.AcsConfigService; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device.service.impl.DeviceServiceImpl; import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver; +import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver; import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver; import org.nl.acs.device_driver.standard_conveyor_control_with_plcscanner.StandardCoveyorControlWithPlcScannerDeviceDriver; import org.nl.acs.device_driver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver; @@ -310,6 +311,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver; StandardCoveyorControlWithPlcScannerDeviceDriver standardCoveyorControlWithPlcScannerDeviceDriver; StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver; + NdxySpecialTwoDeviceDriver ndxySpecialTwoDeviceDriver; StandardStorageDeviceDriver standardStorageDeviceDriver; //将指令赋予对象 下发指令号给电气 if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { @@ -413,6 +415,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu } + if (startdevice.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) { + ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) startdevice.getDeviceDriver(); + ndxySpecialTwoDeviceDriver.writing("to_ready",1); + } + try { // != 0 为agv任务 diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java index 59c5988..e6b24ea 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java @@ -6,6 +6,7 @@ import net.sf.json.JSONArray; import net.sf.json.JSONObject; import org.nl.acs.agv.server.AgvService; import org.nl.acs.device_driver.electric_fence.ElectricFenceDeviceDriver; +import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver; import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.opc.Device; @@ -46,12 +47,22 @@ public class QueryMagicAgvDeviceStatus { String mode = ""; List allDevice = appService.findAllDevice(); WeighingSiteDeviceDriver weighingSiteDeviceDriver; + NdxySpecialTwoDeviceDriver ndxySpecialTwoDeviceDriver; for (int z = 0; z < allDevice.size(); z++) { Device deviceBycode = allDevice.get(z); if (deviceBycode.getDeviceDriver() instanceof WeighingSiteDeviceDriver) { weighingSiteDeviceDriver = (WeighingSiteDeviceDriver) deviceBycode.getDeviceDriver(); mode = weighingSiteDeviceDriver.getNowMode(); } + + if (deviceBycode.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) { + ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) deviceBycode.getDeviceDriver(); + if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING") || jo.optString("state").equals("IDLE") ){ + ndxySpecialTwoDeviceDriver.writing("to_agv_status",1); + } else { + ndxySpecialTwoDeviceDriver.writing("to_agv_status",0); + } + } } ElectricFenceDeviceDriver electricFenceDeviceDriver;