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单工RGV

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USER-20220102CG\noblelift
2022-08-10 10:39:51 +08:00
parent 1cca98d1de
commit 1086b0f3bd
4 changed files with 84 additions and 199 deletions
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11
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -141,7 +141,7 @@ public class AgvServiceImpl implements AgvService {
properties.add(pro2);
destinationOrder.put("properties", properties);
//不等待
} else {
} else if ("4".equals(pro)){
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "EntryRequired");
@@ -152,6 +152,13 @@ public class AgvServiceImpl implements AgvService {
pro2.put("value", "False");
properties.add(pro2);
destinationOrder.put("properties", properties);
} else if ("5".equals(pro)){
JSONArray properties = new JSONArray();
JSONObject pro2 = new JSONObject();
pro2.put("key", "PauseOnStation");
pro2.put("value", "True");
properties.add(pro2);
destinationOrder.put("properties", properties);
}
} else if (propertiesType.equals("2")) {//Spin转动
@@ -274,7 +281,7 @@ public class AgvServiceImpl implements AgvService {
} else if (i == pathlist.size() - 1) {
ja.add(destination(device_code, "Unload", "1", "1"));
} else {
ja.add(destination(device_code, "OP_DUMP", "1", "4"));
ja.add(destination(device_code, "NOP", "1", "5"));
}
}

65
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_one_rgv/LnshOneRGVDeviceDriver.java
View File

@@ -99,6 +99,11 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
String specifications = "";
String last_specifications = "";
//当前指令
Instruction inst = null;
//上次指令
Instruction last_inst = null;
@Override
public Device getDevice() {
return this.device;
@@ -173,6 +178,28 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
logServer.deviceLogToacs(this.device_code,"","","信号specifications：" + last_specifications + "->" + specifications);
}
if ( action_1 == 1 && move_1 != 0 && task1 > 0) {
//inst_message
inst = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), "0")) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
}
}
if ( action_1 == 4 && task1 > 0) {
//inst_message
inst = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), "1")) {
finish_instruction();
}
}
}
} catch (Exception var17) {
return;
}
@@ -263,9 +290,6 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
}
public void executing(Server server, Map<String, Object> itemMap) {
ReadUtil.write(itemMap, server);
}
public void writing1(int command) {
String to_command1 = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
@@ -278,14 +302,28 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
ReadUtil.write(itemMap, server);
}
public void executing(Server server, Map<String, Object> itemMap) {
ReadUtil.write(itemMap, server);
}
public void writing(String type,String value) {
String to_command1 = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_command1;
public void writing(int type, int command) {
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(type, value);
ReadUtil.write(itemMap, server);
}
public synchronized boolean finish_instruction() throws Exception {
instructionService.finish(inst);
return true;
}
public synchronized boolean instruction_require() throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {
@@ -310,11 +348,10 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
String start_point_code = task.getStart_point_code();
String start_device_code = task.getStart_device_code();
String route_plan_code = task.getRoute_plan_code();
String next_device_code = "";
String next_point_code = task.getNext_point_code();
String next_device_code = task.getNext_device_code();
Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
String next_point_code;
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
@@ -331,7 +368,7 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
instdto.setStart_device_code(start_device_code);
instdto.setNext_device_code(next_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setNext_point_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
@@ -344,14 +381,22 @@ public class LnshOneRGVDeviceDriver extends AbstractOpcDeviceDriver implements D
//创建指令后修改任务状态
WQLObject taskwo = WQLObject.getWQLObject("acs_task");
task.setTask_status("1");
//创建指令后修改任务状态
task.setTask_status("1");
taskserver.update(task);
requireSucess = false;
String start_addr = startdevice.getAddress();
String next_addr = nextdevice.getAddress();
writing("to_command1","1");
writing("item_to_onset1",start_addr);
writing("item_to_target1",next_addr);
writing("item_to_task1",instdto.getInstruction_code());
} else {
}

122
acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -239,24 +239,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
}
@Override
@Transactional(rollbackFor = Exception.class)
public void create(Instruction dto) throws Exception {
dto = foramte(dto);
String task_code = dto.getTask_code();
TaskDto task = taskService.findByCodeFromCache(task_code);
String excutetype = null;
//起点输送、终点货架 -- 入库
if (StrUtil.equals(deviceAppService.findDeviceByCode(task.getStart_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "conveyor")
&& StrUtil.equals(deviceAppService.findDeviceByCode(task.getNext_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage")) {
excutetype = TaskTypeEnum.IN.getName();
//起点货架、终点输送 -- 出库
} else if (StrUtil.equals(deviceAppService.findDeviceByCode(task.getStart_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage")
&& StrUtil.equals(deviceAppService.findDeviceByCode(task.getNext_device_code()).getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "conveyor")) {
excutetype = TaskTypeEnum.OUT.getName();
//起点输送、终点输送 -- 移动
} else {
excutetype = TaskTypeEnum.MOVE.getName();
}
WQLObject instwo = WQLObject.getWQLObject("acs_instruction");
String currentUsername = SecurityUtils.getCurrentUsername();
@@ -311,115 +298,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
Device startdevice = appService.findDeviceByCode(dto.getStart_device_code());
Device nextdevice = appService.findDeviceByCode(dto.getNext_device_code());
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
StandardCoveyorControlWithPlcScannerDeviceDriver standardCoveyorControlWithPlcScannerDeviceDriver;
StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
StandardStorageDeviceDriver standardStorageDeviceDriver;
//将指令赋予对象 下发指令号给电气
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) startdevice.getDeviceDriver();
standardInspectSiteDeviceDriver.setBranchProtocol(2);
standardInspectSiteDeviceDriver.setInst(dto);
standardInspectSiteDeviceDriver.setMessage("下发指令：dto.getInstruction_code(),执行中");
standardInspectSiteDeviceDriver.writing(3, 1);
}
if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) startdevice.getDeviceDriver();
if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 1) {
throw new RuntimeException("输送线非入库模式，无法下发");
}
}
if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 2) {
throw new RuntimeException("输送线非出库模式，无法下发");
}
}
standardCoveyorControlWithScannerDeviceDriver.setInst(dto);
if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
standardCoveyorControlWithScannerDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
}
}
if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithPlcScannerDeviceDriver) {
standardCoveyorControlWithPlcScannerDeviceDriver = (StandardCoveyorControlWithPlcScannerDeviceDriver) startdevice.getDeviceDriver();
if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
if (standardCoveyorControlWithPlcScannerDeviceDriver.getOperation_type() != 1) {
throw new RuntimeException("输送线非入库模式，无法下发");
}
}
if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
if (standardCoveyorControlWithPlcScannerDeviceDriver.getOperation_type() != 2) {
throw new RuntimeException("输送线非出库模式，无法下发");
}
}
standardCoveyorControlWithPlcScannerDeviceDriver.setInst(dto);
if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
standardCoveyorControlWithPlcScannerDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
}
}
if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) startdevice.getDeviceDriver();
if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())
// || StrUtil.equals(excutetype, TaskTypeEnum.MOVE.getName())
) {
if (standardCoveyorControlDeviceDriver.getOperation_type() != 1) {
throw new RuntimeException("输送线非入库模式，无法下发");
}
}
if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
if (standardCoveyorControlDeviceDriver.getOperation_type() != 2) {
throw new RuntimeException("输送线非出库模式，无法下发");
}
}
standardCoveyorControlDeviceDriver.setInst(dto);
if (!StrUtil.equals(nextdevice.getDeviceDriverDefination().getFitDeviceTypes().get(0).name(), "storage") && isInteger(nextdevice.getAddress())) {
standardCoveyorControlDeviceDriver.writing(1, Integer.parseInt(nextdevice.getAddress()), Integer.parseInt(dto.getInstruction_code()));
}
}
if (!ObjectUtils.isEmpty(nextdevice.getExtraValue().get("link_three_lamp"))) {
String lamd_device = nextdevice.getExtraValue().get("link_three_lamp").toString();
Device lamddevice = appService.findDeviceByCode(lamd_device);
if (lamddevice.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) lamddevice.getDeviceDriver();
lampThreecolorDeviceDriver.writing(2);
}
}
if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) nextdevice.getDeviceDriver();
if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 1) {
throw new RuntimeException("输送线非入库模式，无法下发");
}
}
if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())) {
if (standardCoveyorControlWithScannerDeviceDriver.getOperation_type() != 2) {
throw new RuntimeException("输送线非出库模式，无法下发");
}
}
}
if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) nextdevice.getDeviceDriver();
if (StrUtil.equals(excutetype, TaskTypeEnum.IN.getName())) {
if (standardCoveyorControlDeviceDriver.getOperation_type() != 1) {
throw new RuntimeException("指令终点输送线非入库模式，无法下发");
}
}
if (StrUtil.equals(excutetype, TaskTypeEnum.OUT.getName())
// || StrUtil.equals(excutetype, TaskTypeEnum.MOVE.getName())
) {
if (standardCoveyorControlDeviceDriver.getOperation_type() != 2) {
throw new RuntimeException("指令终点输送线非出库模式，无法下发");
}
}
}
try {
// != 0 为agv任务
if (!StrUtil.equals(type, "0")) {

85
acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@@ -57,6 +57,7 @@ public class AutoCreateInst {
String vehicleType = acsTask.getVehicle_type();
//是否复合任务 =0非复合任务
String compound_task = acsTask.getCompound_task();
String compound_task_data = null;
String next_point_code = acsTask.getNext_point_code();
String next_device_code = acsTask.getNext_device_code();
if (StrUtil.isEmpty(start_device_code)) {
@@ -83,21 +84,6 @@ public class AutoCreateInst {
}
}
//特殊任务 起点终点处理
// if (StrUtil.equals("2", acsTask.getTask_type())) {
// next_device_code = acsTask.getNext_device_code();
// if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
// next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
// } else {
// next_point_code = next_device_code;
// }
// if(taskserver.querySameTaskByType("2")>0){
// acsTask.setRemark("该任务类型任务暂不允许生成指令");
// log.debug("该任务类型任务暂不允许生成指令");
// taskserver.updateByCodeFromCache(acsTask);
// continue;
// }
// }
/**
* 开始平均分解校验
@@ -110,14 +96,26 @@ public class AutoCreateInst {
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
if(StrUtil.equals(acsTask.getTask_type(),"2")){
for (int j = 0; j < pathlist.size(); j++) {
if (j == 0) {
compound_task_data = pathlist.get(j).trim();
} else {
compound_task_data = compound_task_data + "->" + pathlist.get(j).trim();
}
}
next_device_code = pathlist.get(pathlist.size()-1);
} else {
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
}
next_device_code = pathlist.get(index);
} else {
next_device_code = this_device_code;
}
@@ -175,8 +173,6 @@ public class AutoCreateInst {
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}设备未待机,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
@@ -186,43 +182,6 @@ public class AutoCreateInst {
}
}
//目的点校验
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMode() != 2) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}设备未待机,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
if (standardInspectSiteDeviceDriver.getMove() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}设备不满足放货条件,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备不满足放货条件,任务号：" + taskcode);
continue;
}
}
if (nextdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) nextdevice.getDeviceDriver();
if (standardOrdinarySiteDeviceDriver.getHasGoods() != 0) {
log.info("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}有货,无法生成任务,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "有货，无法生成任务,任务号：" + taskcode);
continue;
}
}
//校验 是否同任务是否存在相同终点、未完成的指令
int sameqty = instructionService.querySameDestinationInst(next_point_code);
if (sameqty > 0) {
@@ -230,8 +189,6 @@ public class AutoCreateInst {
acsTask.setRemark("存在相同终点的指令,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"存在相同的指令,任务号:{}",taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("存在相同终点的指令,任务号：" + taskcode);
continue;
}
}
@@ -244,8 +201,6 @@ public class AutoCreateInst {
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "设备未待机");
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}设备未待机,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.setResource(nextdevice.getDevice_code(), nextdevice.getDevice_code());
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "设备未待机,任务号：" + taskcode);
continue;
}
int max_emptypalletnum = Integer.parseInt(nextdevice.getExtraValue().get("max_emptypalletnum").toString());
@@ -255,7 +210,6 @@ public class AutoCreateInst {
acsTask.setRemark("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
taskserver.updateByCodeFromCache(acsTask);
log.info(LogMarkerTypeEnum.getMarker(LogMarkerTypeEnum.AUTO_CREATE_INST),"目标设备:{}空盘位已满等待入库,任务号:{}",nextdevice.getDevice_code(),taskcode);
//this.execute_log.log("目标设备:" + nextdevice.getDevice_code() + "空盘位已满等待入库,任务号：" + taskcode);
continue;
}
// 查看是否有相同终点的指令
@@ -316,6 +270,7 @@ public class AutoCreateInst {
instdto.setNext_device_code(next_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setNext_point_code(next_point_code);
instdto.setCompound_inst_data(compound_task_data);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);