更新

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();

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_pick_start = "pick_start";
-    public static String item_error = "error";
+    public static String item_device_status = "device_status";
-    public static String item_ioaction = "ioaction";
+    public static String item_to_ready = "to_ready";
-    public static String item_to_command = "to_command";
+    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() {
+    public int getPick_start() {
-        return this.getOpcIntegerValue(item_mode_switch);
+        return this.getOpcIntegerValue(item_pick_start);
     }
 
-    public int getError() {
+    public int getDevice_status() {
-        return this.getOpcIntegerValue(item_error);
+        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<ItemDto> getReadableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB700.B0"));
-        list.add(new ItemDto(item_mode, "工作状态", "DB600.B1", Boolean.valueOf(true)));
+        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", "DB600.B2"));
+        list.add(new ItemDto(item_move, "光电开关信号", "DB700.B2"));
-        list.add(new ItemDto(item_action, "取放信号", "DB600.B3"));
+        list.add(new ItemDto(item_action, "取放信号", "DB700.B3"));
-        list.add(new ItemDto(item_ioaction, "进出信号", "DB600.B4"));
+        list.add(new ItemDto(item_pick_start, "卸载开始", "DB700.B4"));
-        list.add(new ItemDto(item_mode_switch, "允许模式切换信号", "DB600.B5"));
+        list.add(new ItemDto(item_device_status, "码垛机状态", "DB700.B5"));
-        list.add(new ItemDto(item_error, "报警信号", "DB600.B6"));
+
         return list;
     }
 
     public static List<ItemDto> 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_ready, "就绪", "DB701.W2", Boolean.valueOf(true)));
-        list.add(new ItemDto(item_to_mode_switch, "切换模式", "DB601.W4"));
+        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;
     }
 

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<ItemDto> getReadableItemDtos() {
-        return getReadableItemDtos2();
+        return ItemProtocol.getReadableItemDtos();
     }
 
-    public static List<ItemDto> getReadableItemDtos2() {
-        List<ItemDto> 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<ItemDto> getWriteableItemDtos() {

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");
+                    if (!requireSucess && this.move != 0 && mode ==1 && action ==1) {
-                    return;
-                case 2:
-                    if (!requireSucess && this.move != 0) {
                         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");
+//            WQLObject wo = WQLObject.getWQLObject("acs_task");
-            JSONObject json = JSONObject.fromObject(dto);
+//            JSONObject json = JSONObject.fromObject(dto);
-            wo.insert(json);
+//            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<String, Object> itemMap = new HashMap<String, Object>();
+
         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<String, Object> itemMap = new HashMap<String, Object>();
-        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);
     }

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

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<Device> 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;