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USER-20220102CG\noblelift
2022-11-01 19:05:55 +08:00
parent 93b6ca1055
commit f4de4bf5e5
8 changed files with 186 additions and 58 deletions
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30
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -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);
ndxySpecialTwoDeviceDriver.writing("to_pick_ready",1);
if (ndxySpecialTwoDeviceDriver.getMode() == 1 && ndxySpecialTwoDeviceDriver.getMove() > 0 && ndxySpecialTwoDeviceDriver.getAction()==1) {
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;
}
}
@@ -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();

2
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special/ItemProtocol.java
View File

@@ -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;

2
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special/NdxySpecialDefination.java
View File

@@ -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;

52
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/ItemProtocol.java
View File

@@ -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_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_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_to_mode_switch = "to_mode_switch";
public static String item_to_pick_ready = "to_pick_ready";
public static String item_to_pick_finish = "to_pick_finish";
public static String item_weight = "weight";
private NdxySpecialTwoDeviceDriver driver;
@@ -46,14 +44,25 @@ public class ItemProtocol {
return this.getOpcIntegerValue(item_action);
}
public int getPick_start() {
return this.getOpcIntegerValue(item_pick_start);
public int getMode_switch() {
return this.getOpcIntegerValue(item_mode_switch);
}
public int getDevice_status() {
return this.getOpcIntegerValue(item_device_status);
public int getError() {
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_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"));
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"));
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_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"));
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"));
return list;
}

12
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDefination.java
View File

@@ -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() {

116
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/ndxy_special_two/NdxySpecialTwoDeviceDriver.java
View File

@@ -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");
// JSONObject json = JSONObject.fromObject(dto);
// wo.insert(json);
taskserver.create(dto);
WQLObject wo = WQLObject.getWQLObject("acs_task");
JSONObject json = JSONObject.fromObject(dto);
wo.insert(json);
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(String type, int command) {
public void writing(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);
}

8
hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

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

22
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvDeviceStatus.java
View File

@@ -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;
}
}
}
}