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agv交互更新

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This commit is contained in:
loujf
2022-09-19 15:31:01 +08:00
parent 0dac23d40c
commit 0af7f51fb7
4 changed files with 59 additions and 55 deletions
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35
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
View File

@@ -451,7 +451,7 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() > 0
&& (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("1");
// lnshStationDeviceDriver.setFlag(1);
lnshStationDeviceDriver.setFlag(1);
lnshStationDeviceDriver.writing(5);
is_feedback = true;
}
@@ -460,9 +460,9 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0
&& (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("3");
// lnshStationDeviceDriver.setFlag(3);
lnshStationDeviceDriver.setFlag(3);
lnshStationDeviceDriver.writing(6);
lnshStationDeviceDriver.setInst(inst);
lnshStationDeviceDriver.writing(3,Integer.parseInt(inst.getInstruction_code()));
is_feedback = true;
}
} else if ("NOP".equals(action)) {
@@ -524,7 +524,7 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("1");
// lnshPalletizingManipulatorSiteDeviceDriver.setFlag(1);
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(1);
lnshPalletizingManipulatorSiteDeviceDriver.writing(12);
is_feedback = true;
}
@@ -533,7 +533,7 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("3");
// lnshPalletizingManipulatorSiteDeviceDriver.setFlag(3);
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(3);
lnshPalletizingManipulatorSiteDeviceDriver.writing(13);
is_feedback = true;
}
@@ -636,6 +636,7 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshLaminatingMachineDeviceDriver.getMode() != 0 && lnshLaminatingMachineDeviceDriver.getMode() != 6) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
lnshLaminatingMachineDeviceDriver.writing(3,Integer.parseInt(inst.getInstruction_code()));
lnshLaminatingMachineDeviceDriver.writing(1);
}
//如果组盘绑定条码成功，就允许agv离开
@@ -804,44 +805,44 @@ public class MagicAgvServiceImpl implements MagicAgvService {
// flag = true;
log.info("agvstatus:" + lnshStationDeviceDriver.getFlag() + "");
//取货完成离开
// if (lnshStationDeviceDriver.getFlag() == 1) {
if (lnshStationDeviceDriver.getFlag() == 1) {
if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
flag = true;
// lnshStationDeviceDriver.setFlag(2);
lnshStationDeviceDriver.setFlag(0);
lnshStationDeviceDriver.writing(2);
}
// }
}
//放货完成离开
// if (lnshStationDeviceDriver.getFlag() == 3) {
if (lnshStationDeviceDriver.getFlag() == 3) {
if (lnshStationDeviceDriver.getMove() == 1 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
flag = true;
lnshStationDeviceDriver.setFlag(0);
lnshStationDeviceDriver.writing(3);
// lnshStationDeviceDriver.setFlag(4);
}
// }
}
}
if (addressdevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver();
// flag = true;
log.info("agvstatus:" + lnshPalletizingManipulatorSiteDeviceDriver.getFlag() + "");
//取货完成离开
// if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 1) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 1) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
flag = true;
// lnshPalletizingManipulatorSiteDeviceDriver.setFlag(2);
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(0);
lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
}
// }
}
//放货完成离开
// if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 3) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 3) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 1
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
flag = true;
// lnshPalletizingManipulatorSiteDeviceDriver.setFlag(4);
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(0);
lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
}
// }
}
}
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {

30
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
View File

@@ -335,21 +335,21 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
switch (flag) {
//请求取货
case 1:
writing(12);
return;
//取货完成
case 2:
writing(10);
return;
//请求放货
case 3:
writing(13);
return;
//放货完成
case 4:
writing(11);
return;
// case 1:
// writing(12);
// return;
// //取货完成
// case 2:
// writing(10);
// return;
// //请求放货
// case 3:
// writing(13);
// return;
// //放货完成
// case 4:
// writing(11);
// return;
}
}

32
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java
View File

@@ -279,22 +279,22 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
switch (flag) {
//请求取货
case 1:
writing(5);
return;
//取货完成
case 2:
writing(2);
return;
//请求放货
case 3:
writing(6);
return;
//放货完成
case 4:
writing(3);
this.writing(3,Integer.parseInt(inst.getInstruction_code()));
return;
// case 1:
// writing(5);
// return;
// //取货完成
// case 2:
// writing(2);
// return;
// //请求放货
// case 3:
// writing(6);
// return;
// //放货完成
// case 4:
// writing(3);
// this.writing(3,Integer.parseInt(inst.getInstruction_code()));
// return;
}
}