add RGV驱动判断起点和任务失败原因

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java

@@ -12,8 +12,13 @@ import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_Laminating_machine.LnshLaminatingMachineDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_package_site.LnshPackageSiteDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.LnshPalletizingManipulatorSiteDeviceDriver;
+import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.DeviceExecuteLogService;
@@ -296,38 +301,201 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                 update_instruction_status();
             }
 
-            //双任务下  后工位取货完成，然后给前工位下发取满盘任务取货命令
+            //前工位取货时判断取货位光电信号
-            if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 != 0 && move_1 == 0 && task2 > 0 && to_task1 > 0 && to_task2 > 0) {
+            if (mode == 3 && error == 0 && status != 3 && action_1 == 1 && move_1 == 0 && task1 > 0 && action_2 != 1) {
-                if (to_command1 != 1) {
+                Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
-                    writing("to_command1", "1");
+                String start_device_code = inst1.getStart_device_code();
+                Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
+                if (startDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
+                    LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) startDevice.getDeviceDriver();
+                    if (driver.getMode() != 0
+                            && driver.getMove() != 0
+                            && (driver.getIo_action() == 3 || driver.getIo_action() == 1)
+                            && (driver.getAction() == 3 || driver.getAction() == 1)) {
+                        this.writing("to_command1", "2");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() == 0) {
+                                msg += "站点无货，";
+                            }
+                            if (driver.getIo_action() != 3 && driver.getIo_action() != 1) {
+                                msg += "站点不允许进入，";
+                            }
+                            if (driver.getAction() != 3 && driver.getAction() != 1) {
+                                msg += "站点不允许取货，";
+                            }
+                        }
+                        msg += "不允许RGV前工位取货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", msg);
+                    }
+                } else if (startDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                    this.writing("to_command1", "2");
+                    logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV前工位取货。");
                 }
             }
 
-            //双任务下发 前后工位取货完成 给后工位放货命令
+            //前工位放货时判断放货位光电信号
-            if (mode == 3 && action_2 == 2 && action_1 == 2 && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0) {
+            if (mode == 3 && error == 0 && status != 3 && action_1 == 3 && move_1 != 0 && task1 > 0 && action_2 != 3) {
-                if (to_command2 != 2) {
+                Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
-                    writing("to_command2", "2");
+                String next_device_code = inst1.getNext_device_code();
+                Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
+                if (nextDevice.getDeviceDriver() instanceof LnshStationDeviceDriver) {
+                    LnshStationDeviceDriver driver = (LnshStationDeviceDriver) nextDevice.getDeviceDriver();
+                    if (driver.getMode() != 0
+                            && driver.getMove() == 0
+                            && (driver.getAction() == 2 || driver.getAction() == 3)
+                            && (driver.getIo_action() == 1 || driver.getIo_action() == 3)) {
+                        this.writing("to_command1", "3");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() != 0) {
+                                msg += "站点有货，";
+                            }
+                            if (driver.getIo_action() != 1 && driver.getIo_action() != 3) {
+                                msg += "站点不允许进入，";
+                            }
+                            if (driver.getAction() != 2 && driver.getAction() != 3) {
+                                msg += "站点不允许放货，";
+                            }
+                        }
+                        msg += "不允许RGV前工位放货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", msg);
+                    }
+                } else if (nextDevice.getDeviceDriver() instanceof LnshPackageSiteDeviceDriver) {
+                    LnshPackageSiteDeviceDriver driver = (LnshPackageSiteDeviceDriver) nextDevice.getDeviceDriver();
+                    if (driver.getMode() != 0
+                            && driver.getMove() == 0
+                            && (driver.getAction() == 2 || driver.getAction() == 3)
+                            && (driver.getIoaction() == 1 || driver.getIoaction() == 3)) {
+                        this.writing("to_command1", "3");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV前工位放货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() != 0) {
+                                msg += "站点有货，";
+                            }
+                            if (driver.getIoaction() != 1 && driver.getIoaction() != 3) {
+                                msg += "站点不允许进入，";
+                            }
+                            if (driver.getAction() != 2 && driver.getAction() != 3) {
+                                msg += "站点不允许放货，";
+                            }
+                        }
+                        msg += "不允许RGV前工位放货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", msg);
+                    }
                 }
             }
 
-            //双任务下发 后工位放货完成 给前工位下发放货
+            //后工位取货时判断取货位光电信号
-            if (mode == 3 && action_2 == 4 && action_1 == 2 && move_2 == 0 && move_1 != 0 && task2 > 0 && task1 > 0) {
+            if (mode == 3 && error == 0 && status != 3 && action_2 == 1 && move_2 == 0 && task2 > 0) {
-                if (to_command1 != 2) {
+                Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
-                    writing("to_command1", "2");
+                String start_device_code = inst1.getStart_device_code();
+                Device startDevice = deviceAppservice.findDeviceByCode(start_device_code);
+                if (startDevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
+                    LnshLaminatingMachineDeviceDriver driver = (LnshLaminatingMachineDeviceDriver) startDevice.getDeviceDriver();
+                    if (driver.getMode() != 0
+                            && driver.getMove() != 0) {
+                        this.writing("to_command2", "2");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() == 0) {
+                                msg += "站点无货，";
+                            }
+                        }
+                        msg += "不允许RGV后工位取货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", msg);
+                    }
+                } else if (startDevice.getDeviceDriver() instanceof LnshStationDeviceDriver) {
+                    LnshStationDeviceDriver driver = (LnshStationDeviceDriver) startDevice.getDeviceDriver();
+                    if (driver.getMode() != 0
+                            && driver.getMove() != 0
+                            && (driver.getIo_action() == 3 || driver.getIo_action() == 1)
+                            && (driver.getAction() == 3 || driver.getAction() == 1)) {
+                        this.writing("to_command2", "2");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", "允许RGV后工位取货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() == 0) {
+                                msg += "站点无货，";
+                            }
+                            if (driver.getIo_action() != 3 && driver.getIo_action() != 1) {
+                                msg += "站点不允许进入，";
+                            }
+                            if (driver.getAction() != 3 && driver.getAction() != 1) {
+                                msg += "站点不允许取货，";
+                            }
+                        }
+                        msg += "不允许RGV后工位取货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(startDevice.getDevice_code(), "", "", msg);
+                    }
                 }
             }
 
-            //后工位单任务下发 空托或者半托缓存任务
+            //后工位放货时判断放货位光电信号
-            if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 > 0 && move_1 == 0 && task2 > 0 && task1 == 0 && to_task1 == 0) {
+            if (mode == 3 && error == 0 && status != 3 && action_2 == 3 && move_2 != 0 && task2 > 0 && action_1 != 1) {
-                if (to_command2 != 2) {
+                Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2));
-                    writing("to_command2", "2");
+                String next_device_code = inst1.getNext_device_code();
-                }
+                Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code);
-            }
+                if (nextDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
-
+                    LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver();
-            //前工位单任务下发 强制包装的任务
+                    if (driver.getMode() != 0
-            if (mode == 3 && action_1 == 2 && action_2 == 0 && move_1 > 0 && move_2 == 0 && task1 > 0 && task2 == 0 && to_task2 == 0) {
+                            && driver.getMove() == 0
-                if (to_command1 != 2) {
+                            && (driver.getIo_action() == 1 || driver.getIo_action() == 3)
-                    writing("to_command1", "2");
+                            && (driver.getAction() == 2 || driver.getAction() == 3)) {
+                        this.writing("to_command2", "3");
+                        driver.setMessage("");
+                        logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
+                    } else {
+                        String msg = "";
+                        if (driver.getMode() == 0) {
+                            msg += "站点未联机，";
+                        } else {
+                            if (driver.getMove() != 0) {
+                                msg += "站点有货，";
+                            }
+                            if (driver.getIo_action() != 1 && driver.getIo_action() != 3) {
+                                msg += "站点不允许进入，";
+                            }
+                            if (driver.getAction() != 2 && driver.getAction() != 3) {
+                                msg += "站点不允许放货，";
+                            }
+                        }
+                        msg += "不允许RGV后工位放货。";
+                        driver.setMessage(msg);
+                        logServer.deviceExecuteLog(device_code, "", "", msg);
+                    }
+                } else if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
+                    this.writing("to_command2", "3");
+                    logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
                 }
             }
 
@@ -496,10 +664,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
                     sendHeadBackSignalType(instdto);
                     requireSucess1 = true;
                     logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
+                    if(ObjectUtil.isNotEmpty(start_device_code)){
+                        writing("to_command1", "1");
+                    }
                 } else {
                     sendHeadSignalType(instdto);
                     requireSucess1 = true;
                     logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code());
+                    if(ObjectUtil.isNotEmpty(start_device_code)){
+                        writing("to_command1", "1");
+                    }
                 }
             } else {
                 //申请后工位任务