diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java index d6ecc17..451be6d 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java @@ -143,6 +143,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi int to_target2 =0; int to_task2 =0; + int to_container_type = 0; + int last_to_container_type = 0; + int last_to_command2 =0; int last_to_oneset2 =0; int last_to_target2 =0; @@ -200,7 +203,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi to_command2 = this.itemProtocol.getTo_command2(); to_oneset2 = this.itemProtocol.getTo_onset2(); to_target2 = this.itemProtocol.getTo_target2(); - + to_container_type = this.itemProtocol.getTo_container_type(); if (mode != last_mode) { if(mode==2){ inst = null; @@ -213,6 +216,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + "->" + mode); } + if (to_container_type != to_container_type) { + logServer.deviceItemValue(this.device_code, "to_container_type", String.valueOf(to_container_type)); + logServer.deviceExecuteLog(this.device_code, "", "", "信号container_type：" + last_to_container_type + "->" + to_container_type); + } if (error != last_error) { logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + "->" + error); @@ -234,143 +241,70 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi this.setRequireSucess2(false); logServer.deviceExecuteLog(this.device_code, "", "", "后工位有货变无货，复位后工位请求标记requireSucess2:" + requireSucess2); } - logServer.deviceItemValue(this.device_code, "move_2", String.valueOf(move_2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号move_2：" + last_move_2 + "->" + move_2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号move_2：" + last_move_2 + "->" + move_2); } if (action_1 != last_action_1) { - logServer.deviceItemValue(this.device_code, "action_1", String.valueOf(action_1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号action_1：" + last_action_1 + "->" + action_1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号action_1：" + last_action_1 + "->" + action_1); } if (action_2 != last_action_2) { - logServer.deviceItemValue(this.device_code, "action_2", String.valueOf(action_2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号action_2：" + last_action_2 + "->" + action_2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号action_2：" + last_action_2 + "->" + action_2); } if (walk_y != last_walk_y) { - logServer.deviceItemValue(this.device_code, "walk_y", String.valueOf(walk_y)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号walk_y：" + last_walk_y + "->" + walk_y); } if (task1 != last_task1) { - logServer.deviceItemValue(this.device_code, "task1", String.valueOf(task1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号task1：" + last_task1 + "->" + task1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号task1：" + last_task1 + "->" + task1); } if (task2 != last_task2) { - logServer.deviceItemValue(this.device_code, "task2", String.valueOf(task2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号task2：" + last_task2 + "->" + task2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号task2：" + last_task2 + "->" + task2); } -// if (open_time != last_open_time) { -// logServer.deviceItemValue(this.device_code,"open_time" ,String.valueOf(open_time)); -// logServer.deviceExecuteLog(this.device_code,"","","信号open_time：" + last_open_time + "->" + open_time); -// } -// if (standby_time != last_standby_time) { -// logServer.deviceItemValue(this.device_code,"standby_time" ,String.valueOf(standby_time)); -// logServer.deviceExecuteLog(this.device_code,"","","信号standby_time：" + last_standby_time + "->" + standby_time); -// } -// if (production_time != last_production_time) { -// logServer.deviceItemValue(this.device_code,"production_time" ,String.valueOf(production_time)); -// logServer.deviceExecuteLog(this.device_code,"","","信号production_time：" + last_production_time + "->" + production_time); -// } -// if (error_time != last_error_time) { -// logServer.deviceItemValue(this.device_code,"error_time" ,String.valueOf(error_time)); -// logServer.deviceExecuteLog(this.device_code,"","","信号error_time：" + last_error_time + "->" + error_time); -// } if (task_qty != last_task_qty) { - logServer.deviceItemValue(this.device_code, "task_qty", String.valueOf(task_qty)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号task_qty：" + last_task_qty + "->" + task_qty); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号task_qty：" + last_task_qty + "->" + task_qty); } if (finishTask_qty != last_finishTask_qty) { - logServer.deviceItemValue(this.device_code, "finishTask_qty", String.valueOf(finishTask_qty)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号finishTask_qty：" + last_finishTask_qty + "->" + finishTask_qty); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号finishTask_qty：" + last_finishTask_qty + "->" + finishTask_qty); } if (batch != last_batch) { - logServer.deviceItemValue(this.device_code, "batch", String.valueOf(batch)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号batch：" + last_batch + "->" + batch); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号batch：" + last_batch + "->" + batch); } if (qty != last_qty) { - logServer.deviceItemValue(this.device_code, "qty", String.valueOf(qty)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号qty：" + last_qty + "->" + qty); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号qty：" + last_qty + "->" + qty); } if (!StrUtil.equals(specifications, last_specifications)) { - logServer.deviceItemValue(this.device_code, "specifications", specifications); - logServer.deviceExecuteLog(this.device_code, "", "", "信号specifications：" + last_specifications + "->" + specifications); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号specifications：" + last_specifications + "->" + specifications); } if (to_task1 != last_to_task1) { - logServer.deviceItemValue(this.device_code, "to_task1",String.valueOf(to_task1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task1：" + last_to_task1 + "->" + to_task1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task1：" + last_to_task1 + "->" + to_task1); } if (to_target1 != last_to_target1) { - logServer.deviceItemValue(this.device_code, "to_task1",String.valueOf(to_target1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target1：" + last_to_target1 + "->" + to_target1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target1：" + last_to_target1 + "->" + to_target1); } if (to_oneset1 != last_to_oneset1) { - logServer.deviceItemValue(this.device_code, "to_task1",String.valueOf(to_oneset1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_oneset1：" + last_to_oneset1 + "->" + to_oneset1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_oneset1：" + last_to_oneset1 + "->" + to_oneset1); } if (to_command1 != last_to_command1) { - logServer.deviceItemValue(this.device_code, "to_task1",String.valueOf(to_command1)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command1：" + last_to_command1 + "->" + to_command1); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command1：" + last_to_command1 + "->" + to_command1); } if (to_task2 != last_to_task2) { - logServer.deviceItemValue(this.device_code, "to_task1",String.valueOf(to_task2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task2：" + last_to_task2 + "->" + to_task2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_task2：" + last_to_task2 + "->" + to_task2); } if (to_target2 != last_to_target2) { - logServer.deviceItemValue(this.device_code, "to_task2",String.valueOf(to_task2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target2：" + last_to_target2 + "->" + to_target2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_target2：" + last_to_target2 + "->" + to_target2); } if (to_oneset2 != last_to_oneset2) { - logServer.deviceItemValue(this.device_code, "to_task2",String.valueOf(to_oneset2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_oneset2：" + last_to_oneset2 + "->" + to_oneset2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_oneset2：" + last_to_oneset2 + "->" + to_oneset2); } if (to_command2 != last_to_command2) { - logServer.deviceItemValue(this.device_code, "to_command2",String.valueOf(to_command2)); - logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command2：" + last_to_command2 + "->" + to_command2); +// logServer.deviceExecuteLog(this.device_code, "", "", "信号to_command2：" + last_to_command2 + "->" + to_command2); } -// if (move_1 == 0 && task1 == 0) { -// this.setRequireSucess1(false); -// logServer.deviceExecuteLog(this.device_code, "", "", "前工位无货且无任务，复位前工位请求标记requireSucess1:" + requireSucess1); -// } -// if (move_2 == 0 && task2 == 0) { -// this.setRequireSucess2(false); -// logServer.deviceExecuteLog(this.device_code, "", "", "后工位无货且无任务，复位后工位请求标记requireSucess2:" + requireSucess1); -// } + if(task1 > 0 || task2 > 0){ update_instruction_status(); } - - -// //执行双任务下的业务逻辑 -// //给后工位下发空盘放货信号 -// if (mode == 3 && action_1 == 2 && action_2 == 2 && move_1 != 0 && move_2 != 0 && task1 > 0 && task2 > 0) { -// if(to_command2 !=2 ){ -// writing("to_command2", "2"); -// } -// } -// //给前工位下发放货信号 -// if (mode == 3 && action_2 == 4 && move_1 != 0 && move_2 == 0 && task1 > 0) { -// if(to_command2 !=2 ) { -// writing("to_command1", "2"); -// } -// } -// -// //执行单任务下的业务逻辑 -// //给后工位下发空盘放货信号 -// //判断条件 前工位无任务、无货 后工位有任务取货完成 -// if (mode == 3 && action_2 == 2 && move_2 != 0 && move_1 == 0 && task2 > 0 && task1 == 0) { -// if(to_command2 !=2 ) { -// writing("to_command2", "2"); -// } -// } -// //给前工位取满托下发放货信号 -// if (mode == 3 && action_1 == 2 && move_1 != 0 && move_2 == 0 && task1 > 0 && task2 == 0) { -// if(to_command2 !=2 ) { -// writing("to_command1", "2"); -// } -// } - //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 if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 != 0 && move_1 == 0 && task2 > 0 && to_task1>0 && to_task2>0 ) { if(to_command1 !=1 ){ @@ -411,12 +345,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi return; } - if (!this.itemProtocol.getIsonline()) { - this.setIsonline(false); - this.setIserror(true); - message = "信号量同步异常"; - //未联机 - } else if (mode == 0) { + if (mode == 0) { this.setIsonline(false); this.setIserror(true); message = "未联机"; @@ -564,7 +493,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi instdto.setPriority(priority); instdto.setInstruction_status("0"); instdto.setExecute_device_code(start_point_code); - + instdto.setVehicle_type(task.getVehicle_type()); try { instructionService.create(instdto); } catch (Exception e) { @@ -596,6 +525,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr2); writing("to_target1", next_addr2); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() , instdto.getInstruction_code())) { writing("to_onset1", start_addr); @@ -605,6 +536,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr2); writing("to_target2", next_addr2); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -628,12 +561,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset1", start_addr); writing("to_target1", next_addr); writing("to_task1", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString() , instdto.getInstruction_code())) { writing("to_command1", "1"); writing("to_onset1", start_addr); writing("to_target1", next_addr); writing("to_task1", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -650,12 +587,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() , instdto.getInstruction_code())) { writing("to_command2", "1"); writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -730,6 +671,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi instdto.setPriority(priority); instdto.setInstruction_status("0"); instdto.setExecute_device_code(start_point_code); + instdto.setVehicle_type(task2.getVehicle_type()); try { instructionService.create(instdto); @@ -761,6 +703,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr2); writing("to_target1", next_addr2); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() , instdto.getInstruction_code())) { writing("to_onset1", start_addr); @@ -770,6 +714,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr2); writing("to_target2", next_addr2); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -793,12 +739,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset1", start_addr); writing("to_target1", next_addr); writing("to_task1", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString() , instdto.getInstruction_code())) { writing("to_command1", "1"); writing("to_onset1", start_addr); writing("to_target1", next_addr); writing("to_task1", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -815,12 +765,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() , instdto.getInstruction_code())) { writing("to_command2", "1"); writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -917,6 +871,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() , instdto.getInstruction_code())) { @@ -925,6 +880,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", start_addr); writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + writing("to_container_type", instdto.getVehicle_type()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); try { Thread.sleep(500); @@ -1176,6 +1133,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", "0"); writing("to_target2", "0"); writing("to_task2", "0"); + writing("to_container_type", "0"); + } this.requireSucess1 = false; //单独的后工位任务 @@ -1193,6 +1152,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset2", "0"); writing("to_target2", "0"); writing("to_task2", "0"); + writing("to_container_type", "0"); } this.requireSucess1 = false; @@ -1209,6 +1169,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_onset1", "0"); writing("to_target1", "0"); writing("to_task1", "0"); + writing("to_container_type", "0"); } this.requireSucess1 = false; } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java index 2a43d6b..2e99305 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java @@ -212,7 +212,7 @@ public class InstructionDto implements Serializable { /** * 载具类型 */ - private String vehicle_type; + private String vehicle_type = "0"; /** * agv车号 diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java index 8329db9..5518297 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java @@ -31,7 +31,7 @@ public class TaskDto implements Serializable { /** * 载具类型 */ - private String vehicle_type; + private String vehicle_type ="0"; /** * 任务类型