更新

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

@@ -672,10 +672,16 @@ public class AgvServiceImpl implements AgvService {
                 ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) addressdevice.getDeviceDriver();
                 //请求取货
                 if ("Load".equals(action)) {
-                    ndxySpecialTwoDeviceDriver.writing("item_to_address",1);
+                    if (ndxySpecialTwoDeviceDriver.getMode() == 2 && ndxySpecialTwoDeviceDriver.getMove() > 0) {
-                    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;
                     }
                 }
@@ -758,7 +764,7 @@ 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
@@ -766,7 +772,7 @@ 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;
                     }
                 }
@@ -1027,15 +1033,25 @@ 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("to_pick_finish", 1);
+                ndxySpecialTwoDeviceDriver.writing(1, 2);
                 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/ItemProtocol.java

@@ -95,7 +95,7 @@ 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_ioaction, "进出信号", "DB600.B4"));
         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;

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special/NdxySpecialDefination.java

@@ -60,7 +60,7 @@ public class NdxySpecialDefination implements OpcDeviceDriverDefination {
         list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB600.B1", 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_ioaction, "进出信号", "DB600.B4"));
         list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B6"));
         list.add(new ItemDto(ItemProtocol.item_task, "任务号", "DB600.D8"));
         return list;

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

@@ -15,14 +15,12 @@ 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_pick_start = "pick_start";
+    public static String item_mode_switch = "mode_switch";
-    public static String item_device_status = "device_status";
+    public static String item_error = "error";
-    public static String item_to_ready = "to_ready";
+    public static String item_ioaction = "ioaction";
-    public static String item_to_agv_status = "to_agv_status";
+    public static String item_to_command = "to_command";
-    public static String item_to_address = "to_address";
     public static String item_to_mode_switch = "to_mode_switch";
-    public static String item_to_pick_ready = "to_pick_ready";
+    public static String item_weight = "weight";
-    public static String item_to_pick_finish = "to_pick_finish";
 
     private NdxySpecialTwoDeviceDriver driver;
 
@@ -46,14 +44,25 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_action);
     }
 
-    public int getPick_start() {
+    public int getMode_switch() {
-        return this.getOpcIntegerValue(item_pick_start);
+        return this.getOpcIntegerValue(item_mode_switch);
     }
 
-    public int getDevice_status() {
+    public int getError() {
-        return this.getOpcIntegerValue(item_device_status);
+        return this.getOpcIntegerValue(item_error);
     }
 
+    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) {
@@ -77,23 +86,20 @@ public class ItemProtocol {
 
     public static List<ItemDto> getReadableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_heartbeat, "心跳", "DB700.B0"));
+        list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
-        list.add(new ItemDto(item_mode, "工作状态", "DB700.B1", Boolean.valueOf(true)));
+        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", "DB700.B2"));
+        list.add(new ItemDto(item_move, "光电开关信号", "DB600.B2"));
-        list.add(new ItemDto(item_action, "取放信号", "DB700.B3"));
+        list.add(new ItemDto(item_action, "取放信号", "DB600.B3"));
-        list.add(new ItemDto(item_pick_start, "卸载开始", "DB700.B4"));
+        list.add(new ItemDto(item_ioaction, "进出信号", "DB600.B4"));
-        list.add(new ItemDto(item_device_status, "码垛机状态", "DB700.B5"));
+        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"));
         return list;
     }
 
     public static List<ItemDto> getWriteableItemDtos() {
         ArrayList list = new ArrayList();
-        list.add(new ItemDto(item_to_ready, "就绪", "DB701.W2", Boolean.valueOf(true)));
+        list.add(new ItemDto(item_to_command, "作业命令", "DB601.W2", Boolean.valueOf(true)));
-        list.add(new ItemDto(item_to_agv_status, "AGV状态", "DB701.W4"));
+        list.add(new ItemDto(item_to_mode_switch, "切换模式", "DB601.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

@@ -52,9 +52,19 @@ public class NdxySpecialTwoDefination implements OpcDeviceDriverDefination {
 
     @Override
     public List<ItemDto> getReadableItemDtos() {
-        return ItemProtocol.getReadableItemDtos();
+        return getReadableItemDtos2();
     }
 
+    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_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

@@ -138,13 +138,17 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
 
 
     @Override
-    public void execute() throws Exception {
+    public void execute() {
         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());
@@ -157,11 +161,69 @@ 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;
@@ -190,10 +252,24 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
             List toInstructions;
             switch (mode) {
                 case 1:
-                    if (!requireSucess && this.move != 0 && mode ==1 && action ==1) {
+                    log.debug("设备运转模式:等待工作");
+                    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;
@@ -230,7 +306,7 @@ public class NdxySpecialTwoDeviceDriver extends AbstractOpcDeviceDriver implemen
      *
      * @return
      */
-    public synchronized boolean standby() throws Exception {
+    public synchronized boolean standby() {
         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);
@@ -293,10 +369,9 @@ 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);
@@ -318,21 +393,36 @@ 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()
-                + "." + type;
+                + "." + ItemProtocol.item_to_command;
 
         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

@@ -415,10 +415,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
 
         }
 
-        if (startdevice.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
+//        if (startdevice.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
-            ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) startdevice.getDeviceDriver();
+//            ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) startdevice.getDeviceDriver();
-            ndxySpecialTwoDeviceDriver.writing("to_ready",1);
+//            ndxySpecialTwoDeviceDriver.writing("to_ready",1);
-        }
+//        }
 
 
         try {

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java

@@ -67,16 +67,22 @@ public class QueryMagicAgvDeviceStatus {
 //                            ndxySpecialTwoDeviceDriver.writing("to_agv_status",0);
 //                        }
 //                    }
-                    if (deviceBycode.getDeviceDriver() instanceof LampThreecolorDeviceDriver){
+                    if (deviceBycode.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
                         lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) deviceBycode.getDeviceDriver();
-                        if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING")){
+//                        if(jo.optString("state").equals("IDLE") || jo.optString("state").equals("EXECUTING")){
+//                            lampThreecolorDeviceDriver.writing(0);
+//                            flag = false;
+//                        } else if (jo.optString("state").equals("ERROR")){
+//                            if (!flag){
+//                                lampThreecolorDeviceDriver.writing(3);
+//                                flag = true;
+//                            }
+//                        }
+                        String errorcode = jo.getString("warningCode");
+                        if (Integer.parseInt(errorcode) > 0) {
+                            lampThreecolorDeviceDriver.writing(3);
+                        } else {
                             lampThreecolorDeviceDriver.writing(0);
-                            flag = false;
-                        } else if (jo.optString("state").equals("ERROR")){
-                            if (!flag){
-                                lampThreecolorDeviceDriver.writing(3);
-                                flag = true;
-                            }
                         }
                     }
                 }