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

32
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java
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@@ -279,22 +279,22 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
switch (flag) { switch (flag) {
//请求取货 //请求取货
case 1: // case 1:
writing(5); // writing(5);
return; // return;
//取货完成 // //取货完成
case 2: // case 2:
writing(2); // writing(2);
return; // return;
//请求放货 // //请求放货
case 3: // case 3:
writing(6); // writing(6);
return; // return;
//放货完成 // //放货完成
case 4: // case 4:
writing(3); // writing(3);
this.writing(3,Integer.parseInt(inst.getInstruction_code())); // this.writing(3,Integer.parseInt(inst.getInstruction_code()));
return; // return;
} }
} }

17
wms/hd/nladmin-system/src/main/java/org/nl/wms/ext/acs/service/impl/AcsToWmsServiceImpl.java
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@@ -92,7 +92,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
} }
//如果是出窑输送线 要从组盘表里面去找物料 //如果是出窑输送线 要从组盘表里面去找物料
if (StrUtil.equals(device_code, "CYSSX101")) { if (StrUtil.equals(device_code, "CYSSX101")) {
String vehicle_code = (String) jsonObject.get("vehicle_code"); String vehicle_code = jsonObject.get("vehicle_code").toString();
if (StrUtil.isEmpty(vehicle_code)) { if (StrUtil.isEmpty(vehicle_code)) {
throw new BadRequestException("载具不能为空！"); throw new BadRequestException("载具不能为空！");
} }
@@ -284,9 +284,12 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
if (StrUtil.isEmpty(device_code)) { if (StrUtil.isEmpty(device_code)) {
throw new BadRequestException("设备点位不能为空！"); throw new BadRequestException("设备点位不能为空！");
} }
String vehicle_code = "";
JSONObject produceInfoByCode = new JSONObject(); JSONObject produceInfoByCode = new JSONObject();
String is_full = (String) jsonObject.get("is_full"); String is_full = (String) jsonObject.get("is_full");
String vehicle_code = (String) jsonObject.get("vehicle_code"); if (ObjectUtil.isNotEmpty(jsonObject.get("vehicle_code"))) {
vehicle_code = jsonObject.get("vehicle_code").toString();
}
String qty = String.valueOf(jsonObject.get("qty")); String qty = String.valueOf(jsonObject.get("qty"));
//String material_code = (String) jsonObject.get("material_code"); //String material_code = (String) jsonObject.get("material_code");
produceInfoByCode = this.getProduceInfoByCode(device_code); produceInfoByCode = this.getProduceInfoByCode(device_code);
@@ -416,7 +419,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
groupTable.delete("vehicle_code='" + vehicle_code + "' and task_id <>'" + task_id + "'"); groupTable.delete("vehicle_code='" + vehicle_code + "' and task_id <>'" + task_id + "'");
JSONObject groupObj = groupTable.query("task_id='" + task_id + "'").uniqueResult(0); JSONObject groupObj = groupTable.query("task_id='" + task_id + "'").uniqueResult(0);
if (ObjectUtil.isEmpty(groupObj)) { if (ObjectUtil.isEmpty(groupObj)) {
throw new BadRequestException("未找到指令为'" + task_id + "'的组盘信息！"); throw new BadRequestException("未找到指令号为'" + task_id + "'的组盘信息！");
} }
groupObj.put("vehicle_code", vehicle_code); groupObj.put("vehicle_code", vehicle_code);
groupObj.put("update_optid", SecurityUtils.getCurrentUserId()); groupObj.put("update_optid", SecurityUtils.getCurrentUserId());
@@ -484,7 +487,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
@Override @Override
@Transactional(rollbackFor = Exception.class) @Transactional(rollbackFor = Exception.class)
public Map<String, Object> ispackage(Map jsonObject) { public Map<String, Object> ispackage(Map jsonObject) {
String vehicle_code = (String) jsonObject.get("vehicle_code"); String vehicle_code = jsonObject.get("vehicle_code").toString();
if (StrUtil.isEmpty(vehicle_code)) { if (StrUtil.isEmpty(vehicle_code)) {
throw new BadRequestException("托盘条码不能为空！"); throw new BadRequestException("托盘条码不能为空！");
} }
@@ -499,13 +502,13 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
String is_autopackage = groupObj.getString("is_autopackage"); String is_autopackage = groupObj.getString("is_autopackage");
//code的值 1：自动码垛；2：人工码垛； //code的值 1：自动码垛；2：人工码垛；
String code = ""; String code = "";
if (StrUtil.equals("1", is_autopackage)) { if (StrUtil.equals("0", is_autopackage)) {
code = "1"; code = "1";
} else { } else {
code = "2"; code = "2";
} }
//更新窑的信息 //更新窑的信息
KilnUtil.outKiln(vehicle_code); // KilnUtil.outKiln(vehicle_code);
JSONObject result = new JSONObject(); JSONObject result = new JSONObject();
result.put("status", HttpStatus.OK.value()); result.put("status", HttpStatus.OK.value());
result.put("message", "任务状态反馈成功!"); result.put("message", "任务状态反馈成功!");
@@ -637,7 +640,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
public void updateVehicleType(Map jsonObject) { public void updateVehicleType(Map jsonObject) {
String vehicle_type = (String) jsonObject.get("vehicle_type"); String vehicle_type = (String) jsonObject.get("vehicle_type");
String device_code = (String) jsonObject.get("device_code"); String device_code = (String) jsonObject.get("device_code");
String vehicle_code = (String) jsonObject.get("vehicle_code"); String vehicle_code = jsonObject.get("vehicle_code").toString();
if (StrUtil.isEmpty(vehicle_type)) { if (StrUtil.isEmpty(vehicle_type)) {
throw new BadRequestException("托盘类型不能为空！"); throw new BadRequestException("托盘类型不能为空！");
} }