纽迪希亚2优化

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java

@@ -667,6 +667,24 @@ public class AgvServiceImpl implements AgvService {
                     }
                 }
             }
+            if (addressdevice.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
+                ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) addressdevice.getDeviceDriver();
+                //请求取货
+                if ("Load".equals(action)) {
+                    if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() > 0) {
+                        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;
+                    }
+                }
+            }
             if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
                 specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
@@ -745,7 +763,7 @@ public class AgvServiceImpl implements AgvService {
                     if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() == 0) {
                         inst.setExecute_device_code(processingVehicle);
                         inst.setExecute_status("2");
-                        ndxySpecialTwoDeviceDriver.setFlag(2);
+                        ndxySpecialTwoDeviceDriver.writing(2);
                         is_feedback = true;
                     }
                     //放货完成
@@ -753,7 +771,7 @@ public class AgvServiceImpl implements AgvService {
                     if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() > 0) {
                         inst.setExecute_device_code(address);
                         inst.setExecute_status("4");
-                        ndxySpecialTwoDeviceDriver.setFlag(4);
+                        ndxySpecialTwoDeviceDriver.writing(4);
                         is_feedback = true;
                     }
                 }

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/electric_fence/ElectricFenceDeviceDriver.java

@@ -67,13 +67,16 @@ public class ElectricFenceDeviceDriver extends AbstractOpcDeviceDriver implement
             this.execute_log.log("设备:" + device_code + ",last_mode -> mode:" + last_mode + "->" + mode);
         }
         if (action != last_action) {
+            if (action == 1) {
+                agvService.pause();
+            }
             this.execute_log.log("设备:" + device_code + ",last_action -> action:" + last_action + "->" + action);
         }
         if (error != last_error) {
-            if (this.error == 1) {
+            if (error == 1) {
                 agvService.pause();
             }
-            if (this.error == 0){
+            if (error == 0) {
                 agvService.resume();
             }
             //this.execute_log.setContainer("");

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java

@@ -15,11 +15,11 @@ 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_task = "task";
+    public static String item_ioaction = "ioaction";
     public static String item_to_command = "to_command";
-    public static String item_to_target = "to_target";
+    public static String item_to_mode_switch = "to_mode_switch";
-    public static String item_to_task = "to_task";
     public static String item_weight = "weight";
 
     private NdxySpecialTwoDeviceDriver driver;
@@ -44,24 +44,24 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_action);
     }
 
+    public int getMode_switch() {
+        return this.getOpcIntegerValue(item_mode_switch);
+    }
+
     public int getError() {
         return this.getOpcIntegerValue(item_error);
     }
 
-    public int getTask() {
+    public int getIoaction() {
-        return this.getOpcIntegerValue(item_task);
+        return this.getOpcIntegerValue(item_ioaction);
     }
 
     public int getToCommand() {
         return this.getOpcIntegerValue(item_to_command);
     }
 
-    public int getToTarget() {
+    public int getTo_mode_switch() {
-        return this.getOpcIntegerValue(item_to_target);
+        return this.getOpcIntegerValue(item_to_mode_switch);
-    }
-
-    public int getToTask() {
-        return this.getOpcIntegerValue(item_to_task);
     }
 
     //是否有货
@@ -90,16 +90,16 @@ public class ItemProtocol {
         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_task, "任务号", "DB600.D8"));
         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_target, "目标站", "DB601.W4"));
+        list.add(new ItemDto(item_to_mode_switch, "切换模式", "DB601.W4"));
-        list.add(new ItemDto(item_to_task, "任务号", "DB601.D8"));
         return list;
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java

@@ -58,11 +58,12 @@ public class NdxySpecialTwoDefination implements OpcDeviceDriverDefination {
     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", true));
+        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"));
-        list.add(new ItemDto(ItemProtocol.item_task, "任务号", "DB600.D7"));
         return list;
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java

@@ -67,11 +67,13 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
     int move = 0;
     int task = 0;
     int action = 0;
+    int ioaction = 0;
     int last_mode = 0;
     int last_error = 0;
     int last_move = 0;
     int last_task = 0;
     int last_action = 0;
+    int last_ioaction = 0;
     Boolean isonline = true;
     int hasGoods = 0;
     String message = null;
@@ -122,6 +124,10 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
     int flag;
 
+    //允许模式切换 0不允许 1允许
+    int mode_switch = 0;
+    int last_mode_switch = 0;
+
     String devicecode;
 
     @Override
@@ -139,7 +145,8 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
             error = this.itemProtocol.getError();
             move = this.itemProtocol.getMove();
             action = this.itemProtocol.getAction();
-            task = this.itemProtocol.getTask();
+            ioaction = this.itemProtocol.getIoaction();
+            mode_switch = this.itemProtocol.getMode_switch();
             hasGoods = this.itemProtocol.getMove();
 
             if (mode != last_mode) {
@@ -154,6 +161,15 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
                 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);
             }
@@ -161,6 +177,14 @@ 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_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();
@@ -252,6 +276,8 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
         last_move = move;
         last_task = task;
         last_action = action;
+        last_ioaction = ioaction;
+        last_mode_switch = mode_switch;
     }
 
 
@@ -308,8 +334,7 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
                     standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
                     if (standardOrdinarySiteDeviceDriver.getHasGoods() == 0
                             && ObjectUtil.isEmpty(taskserver.findByNextCode(next_device_code))
-                            && ObjectUtil.isEmpty(taskserver.findByStartCode(this.device_code))
+                            && ObjectUtil.isEmpty(taskserver.findByStartCode(this.device_code))) {
-                            && this.action == 1) {
                         break;
                     } else {
                         next_device_code = "";
@@ -351,32 +376,6 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
         return true;
     }
 
-    protected void executing(Instruction instruction) {
-        this.executing(1, instruction, "");
-    }
-
-    public void executing(int command, Instruction instruction, String appendMessage) {
-        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_command;
-        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_task;
-        if (appendMessage == null) {
-            appendMessage = "";
-        }
-        if (instruction != null) {
-            instruction_num = Integer.parseInt(instruction.getInstruction_code());
-        }
-        String opcservcerid = this.getDevice().getOpc_server_id();
-        Server server = ReadUtil.getServer(opcservcerid);
-        Map<String, Object> itemMap = new HashMap<String, Object>();
-        itemMap.put(to_command, 1);
-        itemMap.put(to_task, instruction_num);
-        ReadUtil.write(itemMap, server);
-
-    }
-
     public void executing(Server server, Map<String, Object> itemMap) {
         ReadUtil.write(itemMap, server);
     }
@@ -396,20 +395,16 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
     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_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+        String to_mode_switch = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
-                + "." + ItemProtocol.item_to_target;
+                + "." + ItemProtocol.item_to_mode_switch;
-        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+
-                + "." + ItemProtocol.item_to_task;
         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_target, command);
+            itemMap.put(to_mode_switch, command);
-
-        } else if (type == 3) {
-            itemMap.put(to_task, command);
         }
         ReadUtil.write(itemMap, server);
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java

@@ -282,11 +282,11 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
 
             switch (flag) {
                 //取货完成
-                case 1:
+                case 2:
                     writing(2);
                     return;
                 //放货完成
-                case 2:
+                case 4:
                     writing(3);
                     return;