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fix 入窑扫码

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This commit is contained in:
张江玮
2023-08-07 14:20:07 +08:00
parent 7548052384
commit 2aa2c670f7
2 changed files with 76 additions and 99 deletions
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18
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java
View File

@@ -208,12 +208,12 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
outKiln(); outKiln();
} }
break; break;
case 6: // case 6:
//入货架扫码 // //入货架扫码
if (!requireSucess && barcode != 0) { // if (!requireSucess && barcode != 0) {
intoKiln(); // intoKiln();
} // }
break; // break;
case 7: case 7:
//申请输送线RGV对接位入窑任务 //申请输送线RGV对接位入窑任务
if (!requireSucess && this.move == 0) { if (!requireSucess && this.move == 0) {
@@ -337,13 +337,11 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
if (ObjectUtil.isNotEmpty(result)) { if (ObjectUtil.isNotEmpty(result)) {
JSONObject jsonObject = JSONObject.parseObject(result.body()); JSONObject jsonObject = JSONObject.parseObject(result.body());
if (result.getStatus() == 200 && StrUtil.equals(jsonObject.get("status").toString(),"200")) { if (result.getStatus() == 200 && StrUtil.equals(jsonObject.get("status").toString(),"200")) {
// this.writing(this.mode); return true;
this.setRequireSucess(true);
this.setResult(true);
} }
logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘请求lms反馈:"+result); logServer.deviceExecuteLog(this.device_code, "", "", "申请组盘请求lms反馈:"+result);
} }
return true; return false;
} }
} }

157
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -25,6 +25,7 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl; import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl;
import org.nl.acs.opc.Device; import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.ThreadUtl;
import org.nl.utils.SpringContextHolder; import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component; import org.springframework.stereotype.Component;
@@ -89,7 +90,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
InetSocketAddress socketAddress = new InetSocketAddress(ip, port); InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
byte[] b = new byte[1028]; byte[] b = new byte[1028];
socket = new Socket(); socket = new Socket();
socket.connect(socketAddress,2*1000); socket.connect(socketAddress, 2 * 1000);
socket.setKeepAlive(true);//长链接 socket.setKeepAlive(true);//长链接
dos = new DataOutputStream(socket.getOutputStream()); dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream()); dis = new DataInputStream(socket.getInputStream());
@@ -139,8 +140,8 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
log.info("接收agv上报信息：" + bs); log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
logServer.deviceExecuteLog("ndc", "","","接收agv上报信息：" + bs); logServer.deviceExecuteLog("ndc", "", "", "接收agv上报信息：" + bs);
logServer.deviceExecuteLog("ndc", "","","接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); logServer.deviceExecuteLog("ndc", "", "", "接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null; Device device = null;
String device_code = null; String device_code = null;
String old_device_code = null; String old_device_code = null;
@@ -159,7 +160,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
device = deviceAppService.findDeviceByCode(device_code); device = deviceAppService.findDeviceByCode(device_code);
} }
logServer.deviceExecuteLog("ndc", "","","接收agv上报设备：" + device_code); logServer.deviceExecuteLog("ndc", "", "", "接收agv上报设备：" + device_code);
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
LnshStationDeviceDriver lnshStationDeviceDriver; LnshStationDeviceDriver lnshStationDeviceDriver;
@@ -193,7 +194,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
// 到达取货点请求取货 // 到达取货点请求取货
else if (phase == 0x03) { else if (phase == 0x03) {
if (ObjectUtil.isEmpty(inst)) { if (ObjectUtil.isEmpty(inst)) {
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
log.info("未找到指令号{}对应的指令", ikey); log.info("未找到指令号{}对应的指令", ikey);
continue; continue;
} }
@@ -210,7 +211,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","", "AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
} }
//嘉耐缓存货架 //嘉耐缓存货架
@@ -222,7 +223,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","", "AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
inst.setExecute_status("1"); inst.setExecute_status("1");
instructionService.update(inst); instructionService.update(inst);
@@ -242,14 +243,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshStationDeviceDriver.getTo_command() == 5 ){ if (lnshStationDeviceDriver.getTo_command() == 5) {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于5,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于5,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
} }
//嘉耐码垛机械手工位 //嘉耐码垛机械手工位
@@ -265,15 +266,15 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 12 ){ if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 12) {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于12,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
} }
//嘉耐音来码垛机械手工位 //嘉耐音来码垛机械手工位
@@ -289,14 +290,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 12 ){ if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 12) {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货下发命令不等于12,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货下发命令不等于12,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
} }
//普通站点 //普通站点
@@ -314,7 +315,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求取货设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求取货设备{}无货,无法反馈");
} }
} }
} }
@@ -323,7 +324,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x05) { else if (phase == 0x05) {
if (ObjectUtil.isEmpty(inst)) { if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey); log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue; continue;
} }
if (device_code.equals("MDJXS601")) { if (device_code.equals("MDJXS601")) {
@@ -338,7 +339,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
} }
} }
//嘉耐缓存货架 //嘉耐缓存货架
@@ -350,7 +351,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
} }
inst.setExecute_status("5"); inst.setExecute_status("5");
instructionService.update(inst); instructionService.update(inst);
@@ -362,17 +363,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) { if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
lnshStationDeviceDriver.writing(2); lnshStationDeviceDriver.writing(2);
if(lnshStationDeviceDriver.getTo_command() == 2 ){ if (lnshStationDeviceDriver.getTo_command() == 2) {
inst.setExecute_status("5"); inst.setExecute_status("5");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于2,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于2,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
} }
} }
//嘉耐码垛机械手工位 //嘉耐码垛机械手工位
@@ -387,17 +388,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 10 ){ if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 10) {
inst.setExecute_status("5"); inst.setExecute_status("5");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于10,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
} }
} }
@@ -414,17 +415,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 10 ){ if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 10) {
inst.setExecute_status("5"); inst.setExecute_status("5");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备下发命令不等于10,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备下发命令不等于10,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV取货完成请求离开设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV取货完成请求离开设备{}有货,无法反馈");
} }
} }
@@ -433,10 +434,10 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x06) { else if (phase == 0x06) {
if (ObjectUtil.isEmpty(inst)) { if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey); log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue; continue;
} }
logServer.deviceExecuteLog("ndc","","","phase==0x06," + "指令号：" + ikey + ",address：RYSMW01"); logServer.deviceExecuteLog("ndc", "", "", "phase==0x06," + "指令号：" + ikey + ",address：RYSMW01");
//检测站点 //检测站点
if (ObjectUtil.isNotEmpty(device) && device.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) { if (ObjectUtil.isNotEmpty(device) && device.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) {
lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) device.getDeviceDriver(); lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) device.getDeviceDriver();
@@ -444,20 +445,12 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
inst.setExecute_status("9"); inst.setExecute_status("9");
instructionService.update(inst); instructionService.update(inst);
try { try {
if (!lnshLaminatingMachineDeviceDriver.getResult()) { while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_task()), inst.getInstruction_code())
|| !StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()), "1")) {
lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code()); lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
lnshLaminatingMachineDeviceDriver.writing(1); lnshLaminatingMachineDeviceDriver.writing(1);
while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_task()),inst.getInstruction_code()) ThreadUtl.sleep(500);
|| !StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()),"1") ) {
lnshLaminatingMachineDeviceDriver.writing("to_task", inst.getInstruction_code());
lnshLaminatingMachineDeviceDriver.writing(1);
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
} }
} catch (Exception e) { } catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
@@ -466,30 +459,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
//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
if (lnshLaminatingMachineDeviceDriver.getMode() == 6 && lnshLaminatingMachineDeviceDriver.getResult()) { if (lnshLaminatingMachineDeviceDriver.getMode() == 6) {
try { boolean intoKiln = lnshLaminatingMachineDeviceDriver.intoKiln();
while (!StrUtil.equals(String.valueOf(lnshLaminatingMachineDeviceDriver.getTo_command()),"6") ) { if (intoKiln) {
while (6 != lnshLaminatingMachineDeviceDriver.getTo_command()) {
lnshLaminatingMachineDeviceDriver.writing(6); lnshLaminatingMachineDeviceDriver.writing(6);
try { ThreadUtl.sleep(500);
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
} }
} catch (Exception e) { data = AgvService.sendAgvOneModeInst(phase, index, 0);
log.info("下发电气信号失败:" + e.getMessage()); flag = true;
e.printStackTrace();
} }
// if(lnshLaminatingMachineDeviceDriver.getTo_command() == 6 ){
// inst.setExecute_status("5");
// instructionService.update(inst);
// data = AgvService.sendAgvOneModeInst(phase, index, 0);
// flag = true;
// } else {
// logServer.deviceExecuteLog("ndc","","","组盘绑定条码成功发命令不等于6,无法反馈");
// }
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} }
} }
} }
@@ -497,7 +476,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x07) { else if (phase == 0x07) {
if (ObjectUtil.isEmpty(inst)) { if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey); log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue; continue;
} }
if (device_code.equals("MDJXS601")) { if (device_code.equals("MDJXS601")) {
@@ -512,7 +491,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
} }
} }
//嘉耐缓存货架 //嘉耐缓存货架
@@ -524,7 +503,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
} }
inst.setExecute_status("7"); inst.setExecute_status("7");
instructionService.update(inst); instructionService.update(inst);
@@ -539,24 +518,24 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
try { try {
lnshStationDeviceDriver.writing(6); lnshStationDeviceDriver.writing(6);
lnshStationDeviceDriver.writing("to_task",inst.getInstruction_code()); lnshStationDeviceDriver.writing("to_task", inst.getInstruction_code());
} catch (Exception e) { } catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshStationDeviceDriver.getTo_command() == 6 ){ if (lnshStationDeviceDriver.getTo_command() == 6) {
inst.setExecute_status("3"); inst.setExecute_status("3");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于6,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于6,无法反馈");
} }
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
} }
} }
//嘉耐码垛机械手工位 //嘉耐码垛机械手工位
@@ -570,16 +549,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 13 ){ if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 13) {
inst.setExecute_status("3"); inst.setExecute_status("3");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于13,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
} }
} }
//嘉耐音来码垛机械手工位 //嘉耐音来码垛机械手工位
@@ -593,16 +572,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 13 ){ if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 13) {
inst.setExecute_status("3"); inst.setExecute_status("3");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备下发命令不等于13,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备下发命令不等于13,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV请求放货设备{}有货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV请求放货设备{}有货,无法反馈");
} }
} }
} }
@@ -610,7 +589,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x09) { else if (phase == 0x09) {
if (ObjectUtil.isEmpty(inst)) { if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey); log.info("未找到指令号{}对应的指令", ikey);
logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); logServer.deviceExecuteLog("ndc", "", "", "未找到指令号对应的指令：" + ikey);
continue; continue;
} }
if (device_code.equals("MDJXS601")) { if (device_code.equals("MDJXS601")) {
@@ -625,7 +604,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
} }
} }
//嘉耐缓存货架 //嘉耐缓存货架
@@ -637,7 +616,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
} }
inst.setExecute_status("6"); inst.setExecute_status("6");
instructionService.update(inst); instructionService.update(inst);
@@ -656,16 +635,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshStationDeviceDriver.getTo_command() == 3 ){ if (lnshStationDeviceDriver.getTo_command() == 3) {
inst.setExecute_status("6"); inst.setExecute_status("6");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于3,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于3,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
} }
} }
@@ -680,17 +659,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 11 ){ if (lnshPalletizingManipulatorSiteDeviceDriver.getTo_command() == 11) {
inst.setExecute_status("6"); inst.setExecute_status("6");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于11,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
} }
} }
@@ -705,16 +684,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("下发电气信号失败:" + e.getMessage()); log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace(); e.printStackTrace();
} }
if(lnshPalletizingManipulatorDeviceDriver.getTo_command() == 11 ){ if (lnshPalletizingManipulatorDeviceDriver.getTo_command() == 11) {
inst.setExecute_status("6"); inst.setExecute_status("6");
instructionService.update(inst); instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0); data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true; flag = true;
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开下发命令不等于11,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开下发命令不等于11,无法反馈");
} }
} else { } else {
logServer.deviceExecuteLog("ndc","","","AGV放货完成请求离开设备{}无货,无法反馈"); logServer.deviceExecuteLog("ndc", "", "", "AGV放货完成请求离开设备{}无货,无法反馈");
} }
} }