From 71b5617841bd261905ab2743f917e57095a3db43 Mon Sep 17 00:00:00 2001 From: "USER-20220102CG\\noblelift" <546428999@qq.com> Date: Tue, 18 Jul 2023 09:49:41 +0800 Subject: [PATCH] =?UTF-8?q?fix=20=E5=8F=8C=E5=B7=A5=E4=BD=8DRGV?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/org/nl/acs/device/wql/task_inst.xls | Bin 156160 -> 157184 bytes ...alletizingManipulatorSiteDeviceDriver.java | 9 +- .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java | 644 +++++++++++++++--- .../wms/service/impl/WmsToAcsServiceImpl.java | 9 + .../service/InstructionService.java | 3 + .../service/dto/InstructionDto.java | 20 + .../service/impl/InstructionServiceImpl.java | 14 + .../org/nl/acs/task/service/dto/TaskDto.java | 20 + .../auto/run/NDCSocketConnectionAutoRun.java | 15 +- acs/qd/src/views/acs/instruction/index.vue | 2 + acs/qd/src/views/acs/task/index.vue | 2 + 11 files changed, 635 insertions(+), 103 deletions(-) diff --git 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-178,10 +219,18 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi logServer.deviceExecuteLog(this.device_code, "", "", "信号status：" + last_status + "->" + status); } if (move_1 != last_move_1) { + if(move_1 ==0){ + this.setRequireSucess1(false); + logServer.deviceExecuteLog(this.device_code, "", "", "前工位有货变无货，复位前工位请求标记requireSucess1:" + requireSucess1); + } logServer.deviceItemValue(this.device_code, "move_1", String.valueOf(move_1)); logServer.deviceExecuteLog(this.device_code, "", "", "信号move_1：" + last_move_1 + "->" + move_1); } if (move_2 != last_move_2) { + if(move_2 ==0){ + 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); } @@ -241,96 +290,120 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi logServer.deviceItemValue(this.device_code, "specifications", specifications); logServer.deviceExecuteLog(this.device_code, "", "", "信号specifications：" + last_specifications + "->" + specifications); } - 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 (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); } - 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 (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); + } + 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); + } + 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); + } + + 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); + } + 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); + } + 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); + } + 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); + } +// 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(); } - if (task1 > 0) { - //inst_message - inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); - if (inst1 != null) { - if (StrUtil.equals(inst1.getInstruction_status(), "0")) { - inst1.setInstruction_status("1"); - instructionService.update(inst1); - } + +// //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) { + if(to_command1 !=1 ){ + writing("to_command1", "1"); } } - if (action_1 == 4 && move_1 == 0 && task1 > 0) { - //inst_message - inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); - if (inst1 != null) { - try { - finish_instruction(inst1); - } catch (Exception e) { - log.error("RGV 前工位完成指令异常", e); - logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); - } - writing("to_command1", "0"); - writing("to_onset1", "0"); - writing("to_target1", "0"); - writing("to_task1", "0"); - - } - this.requireSucess1 = false; - } - - if (task2 > 0) { - //inst_message - inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); - if (inst2 != null) { - if (StrUtil.equals(inst2.getInstruction_status(), "0")) { - inst2.setInstruction_status("1"); - instructionService.update(inst2); - } + //双任务下发 前后工位取货完成 给后工位放货命令 + if (mode == 3 && action_2 == 2 && action_1 == 2 && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0) { + if(to_command2 !=2 ) { + writing("to_command2", "2"); } } - if (action_2 == 4 && move_2 == 0 && task2 > 0) { - //inst_message - inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); - if (inst2 != null) { - try { - finish_instruction(inst2); - } catch (Exception e) { - log.error("RGV 前工位完成指令异常", e); - logServer.deviceExecuteLog(this.device_code, "", "", "后工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); - } - writing("to_command2", "0"); - writing("to_onset2", "0"); - writing("to_target2", "0"); - writing("to_task2", "0"); + //双任务下发 后工位放货完成 给前工位下发放货 + if (mode == 3 && action_2 == 4 && action_1 == 2 && move_2 != 0 && move_1 != 0 && task2 > 0 && task1 > 0) { + if(to_command1 !=2 ) { + writing("to_command1", "2"); } - this.requireSucess2 = false; } - //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) { - 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) { - writing("to_command1", "2"); + //后工位单任务下发 空托或者半托缓存任务 + if (mode == 3 && action_2 == 2 && action_1 == 0 && move_2 > 0 && move_1 == 0 && task2 > 0 && task1 == 0) { + if(to_command2 !=2 ) { + writing("to_command2", "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) { - 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) { - writing("to_command1", "2"); + //前工位单任务下发 强制包装的任务 + if (mode == 3 && action_1 == 2 && action_2 == 0 && move_1 > 0 && move_2 == 0 && task1 > 0 && task2 == 0) { + if(to_command1 !=2 ) { + writing("to_command1", "2"); + } } + } catch (Exception var17) { return; } @@ -362,19 +435,19 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi return; case 2: //后工位申请任务 - if (move_2 == 0 && action_2 == 0 && !requireSucess2 && task2 == 0) { - instruction_require2(); - } - //前工位申请任务 - if (move_2 == 0 && action_2 == 0 && task2 == 0 && move_1 == 0 && task1 == 0 && action_1 == 0 && !requireSucess1 && !requireSucess2) { +// if (move_2 == 0 && action_2 == 0 && !requireSucess2 && task2 == 0) { +// instruction_require2(); +// } + // 申请任务 + if (move_1 == 0 && move_2 == 0 && action_1 == 0 && action_2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) { instruction_require(); } break; case 3: - //前工位申请任务 - if (move_1 == 0 && action_1 == 0 && task1 == 0 && ( action_2 == 1 || action_2 == 2 )&& !requireSucess1) { - instruction_require(); - } + //前工位申请任务 新增上后工位任务号>0的判断 +// if (move_1 == 0 && action_1 == 0 && task2> 0 && task1 == 0 && ( action_2 == 1 || action_2 == 2 )&& !requireSucess1 && requireSucess2) { +// instruction_require(); +// } break; } @@ -410,6 +483,15 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi last_specifications = specifications; last_batch = batch; last_qty = qty; + last_to_command1 = to_command1; + last_to_oneset1 = to_oneset1; + last_to_target1 = to_target1; + last_to_task1 = to_task1; + last_to_command2 = to_command2; + last_to_oneset2 = to_oneset2; + last_to_target2 = to_target2; + last_to_task2 = to_task2; + } @@ -426,12 +508,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String demoArray[] = demosub.split(","); List device_code_list = Arrays.asList(demoArray); TaskDto task = null; - if (mode == 3) { - Instruction inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); - device_code_list = new ArrayList<>(); - device_code_list.add(inst2.getNext_device_code()); - logServer.deviceExecuteLog(device_code, "", "", "前工位申请起点为" + inst2.getNext_device_code() + "的任务"); - } + for (int i = 0; i < device_code_list.size(); i++) { if (ObjectUtil.isNotEmpty(taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"", "")))) { task = taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"", "")).get(0); @@ -445,11 +522,21 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String priority = task.getPriority(); String start_point_code = task.getStart_point_code(); String start_device_code = task.getStart_device_code(); + String start_device_code2 = task.getStart_device_code2(); String route_plan_code = task.getRoute_plan_code(); String next_point_code = task.getNext_point_code(); String next_device_code = task.getNext_device_code(); + String next_device_code2 = task.getNext_device_code2(); Device startdevice = deviceAppservice.findDeviceByCode(start_device_code); Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); + Device startdevice2 = null; + Device nextdevice2 = null; + if(ObjectUtil.isNotEmpty(start_device_code2)){ + startdevice2 = deviceAppservice.findDeviceByCode(start_device_code2); + } + if(ObjectUtil.isNotEmpty(next_device_code2)){ + nextdevice2 = deviceAppservice.findDeviceByCode(next_device_code2); + } Instruction instdto = new Instruction(); instdto.setInstruction_id(IdUtil.simpleUUID()); @@ -467,6 +554,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi instdto.setNext_device_code(next_device_code); instdto.setStart_point_code(start_point_code); instdto.setNext_point_code(next_point_code); + instdto.setStart_device_code2(start_device_code2); + instdto.setNext_device_code2(next_device_code2); + instdto.setStart_point_code2(start_device_code2); + instdto.setNext_point_code2(next_device_code2); instdto.setPriority(priority); instdto.setInstruction_status("0"); instdto.setExecute_device_code(start_point_code); @@ -483,17 +574,266 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi //创建指令后修改任务状态 task.setTask_status("1"); taskserver.update(task); - requireSucess1 = true; - String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); - String next_addr = nextdevice.getExtraValue().get("OPCServer").toString(); + //下发4个点任务 + if(ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2) ){ + //前工位送满托任务 + String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); + String next_addr = nextdevice.getExtraValue().get("OPCServer").toString(); + //后工位送空托盘任务 + String start_addr2 = startdevice2.getExtraValue().get("OPCServer").toString(); + String next_addr2 = nextdevice2.getExtraValue().get("OPCServer").toString(); - writing("to_command1", "1"); - writing("to_onset1", start_addr); - writing("to_target1", next_addr); - writing("to_task1", instdto.getInstruction_code()); - logServer.deviceExecuteLog(this.device_code, "", "", "申请前工位满料任务成功,requireSucess1" + requireSucess1 + ",指令号:" + 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_command2", "1"); + writing("to_onset2", start_addr2); + writing("to_target1", next_addr2); + writing("to_task2", instdto.getInstruction_code()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() + , instdto.getInstruction_code())) { + writing("to_onset1", start_addr); + writing("to_target1", next_addr); + writing("to_task1", instdto.getInstruction_code()); + writing("to_command2", "1"); + writing("to_onset2", start_addr2); + writing("to_target2", next_addr2); + writing("to_task2", instdto.getInstruction_code()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + requireSucess1 = true; + logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); + } else { + String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); + String next_addr = nextdevice.getExtraValue().get("OPCServer").toString(); + //如果终点是BZSLW 则用前工位 + if(StrUtil.equals("BZSLW",next_device_code)){ + writing("to_command1", "1"); + writing("to_onset1", start_addr); + writing("to_target1", next_addr); + writing("to_task1", instdto.getInstruction_code()); + 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()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + } else { + writing("to_command2", "1"); + writing("to_onset2", start_addr); + writing("to_target2", next_addr); + writing("to_task2", instdto.getInstruction_code()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString() + , instdto.getInstruction_code())) { + writing("to_command2", "1"); + writing("to_onset2", start_addr); + writing("to_target2", start_addr); + writing("to_task2", instdto.getInstruction_code()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + } + requireSucess1 = true; + logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); + } + } else { + //申请后工位任务 + String linkobj2 = (String) this.getDevice().getExtraValue().get("get_device_code2"); + String demosub2 = linkobj2.substring(1, linkobj2.length() - 1); + String demoArray2[] = demosub2.split(","); + List device_code_list2 = Arrays.asList(demoArray2); + TaskDto task2 = null; + for (int i = 0; i < device_code_list2.size(); i++) { + if (ObjectUtil.isNotEmpty(taskserver.queryTaskByDeviceCode(device_code_list2.get(i).replace("\"", "")))) { + task2 = taskserver.queryTaskByDeviceCode(device_code_list2.get(i).replace("\"", "")).get(0); + } + if (ObjectUtil.isNotEmpty(task2)) break; + } + if (!ObjectUtil.isEmpty(task2)) { + String taskid = task2.getTask_id(); + String taskcode = task2.getTask_code(); + String vehiclecode = task2.getVehicle_code(); + String priority = task2.getPriority(); + String start_point_code = task2.getStart_point_code(); + String start_device_code = task2.getStart_device_code(); + String start_device_code2 = task2.getStart_device_code2(); + String route_plan_code = task2.getRoute_plan_code(); + String next_point_code = task2.getNext_point_code(); + String next_device_code = task2.getNext_device_code(); + String next_device_code2 = task2.getNext_device_code2(); + Device startdevice = deviceAppservice.findDeviceByCode(start_device_code); + Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); + Device startdevice2 = null; + Device nextdevice2 = null; + if(ObjectUtil.isNotEmpty(start_device_code2)){ + startdevice2 = deviceAppservice.findDeviceByCode(start_device_code2); + } + if(ObjectUtil.isNotEmpty(next_device_code2)){ + nextdevice2 = deviceAppservice.findDeviceByCode(next_device_code2); + } + + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(task2.getRemark()); + instdto.setMaterial(task2.getMaterial()); + instdto.setQuantity(task2.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + 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_point_code); + instdto.setStart_device_code2(start_device_code2); + instdto.setNext_device_code2(next_device_code2); + instdto.setStart_point_code2(start_device_code2); + instdto.setNext_point_code2(next_device_code2); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + + try { + instructionService.create(instdto); + } catch (Exception e) { + e.printStackTrace(); + } + + //创建指令后修改任务状态 + WQLObject taskwo = WQLObject.getWQLObject("acs_task"); + task2.setTask_status("1"); + //创建指令后修改任务状态 + task2.setTask_status("1"); + taskserver.update(task2); + + //下发4个点任务 + if(ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2) ){ + //前工位送满托任务 + String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); + String next_addr = nextdevice.getExtraValue().get("OPCServer").toString(); + //后工位送空托盘任务 + String start_addr2 = startdevice2.getExtraValue().get("OPCServer").toString(); + String next_addr2 = nextdevice2.getExtraValue().get("OPCServer").toString(); + +// writing("to_command1", "1"); + writing("to_onset1", start_addr); + writing("to_target1", next_addr); + writing("to_task1", instdto.getInstruction_code()); + writing("to_command2", "1"); + writing("to_onset2", start_addr2); + writing("to_target1", next_addr2); + writing("to_task2", instdto.getInstruction_code()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task2").toString() + , instdto.getInstruction_code())) { + writing("to_onset1", start_addr); + writing("to_target1", next_addr); + writing("to_task1", instdto.getInstruction_code()); + writing("to_command2", "1"); + writing("to_onset2", start_addr2); + writing("to_target2", next_addr2); + writing("to_task2", instdto.getInstruction_code()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + requireSucess1 = true; + logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); + } else { + String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); + String next_addr = nextdevice.getExtraValue().get("OPCServer").toString(); + //如果终点是BZSLW 则用前工位 + if(StrUtil.equals("BZSLW",next_device_code)){ + writing("to_command1", "1"); + writing("to_onset1", start_addr); + writing("to_target1", next_addr); + writing("to_task1", instdto.getInstruction_code()); + 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()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + } else { + writing("to_command2", "1"); + writing("to_onset2", start_addr); + writing("to_target2", next_addr); + writing("to_task2", instdto.getInstruction_code()); + while (!StrUtil.equals(this.getOpcValueAccessor().getValue(this.getOpcServer() + "." + this.getOpcPlc() + "." + this.getDevice_code() + ".task1").toString() + , instdto.getInstruction_code())) { + writing("to_command2", "1"); + writing("to_onset2", start_addr); + writing("to_target2", start_addr); + writing("to_task2", instdto.getInstruction_code()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess1 = false; + return false; + } + } + } + requireSucess1 = true; + logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); + } + + requireSucess1 = true; + } } } return true; @@ -563,7 +903,6 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi //创建指令后修改任务状态 task.setTask_status("1"); taskserver.update(task); - requireSucess2 = true; String start_addr = startdevice.getExtraValue().get("OPCServer").toString(); @@ -574,6 +913,26 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi writing("to_target2", next_addr); writing("to_task2", instdto.getInstruction_code()); + 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()); + logServer.deviceExecuteLog(device_code, "", "", instdto.getInstruction_code() + "再次下发信号"); + try { + Thread.sleep(500); + } catch (InterruptedException e) { + e.printStackTrace(); + } + if(ObjectUtil.isEmpty(instructionService.findByTaskcodeAndStatus(instdto.getTask_code()))){ + requireSucess2 = false; + return false; + } + } + + requireSucess2 = true; logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位空盘任务成功,requireSucess2" + requireSucess2 + ",指令号:" + instdto.getInstruction_code()); } @@ -781,4 +1140,95 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi public void setDeviceStatus(JSONObject data) { } + + + /** + * 更新指令状态 + */ + public synchronized void update_instruction_status() throws Exception { + Date date = new Date(); + if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out); + + } else { + this.instruction_update_time = date; + + if(task1 >0 && task2>0 && action_1 == 4 && action_2 == 4 && move_1 ==0 && move_2==0){ + //inst_message + inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + if (inst1 != null) { + try { + finish_instruction(inst1); + } catch (Exception e) { + log.error("RGV 前工位完成指令异常", e); + logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); + } + writing("to_command1", "0"); + writing("to_onset1", "0"); + writing("to_target1", "0"); + writing("to_task1", "0"); + writing("to_command2", "0"); + writing("to_onset2", "0"); + writing("to_target2", "0"); + writing("to_task2", "0"); + } + this.requireSucess1 = false; + //单独的后工位任务 + } else if (action_2 == 4 && move_2 == 0 && task2 > 0 && action_1 == 0 && move_2 == 0 && task1 == 0 ) { + //inst_message + inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); + if (inst2 != null) { + try { + finish_instruction(inst2); + } catch (Exception e) { + log.error("RGV 前工位完成指令异常", e); + logServer.deviceExecuteLog(this.device_code, "", "", "后工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); + } + writing("to_command2", "0"); + writing("to_onset2", "0"); + writing("to_target2", "0"); + writing("to_task2", "0"); + + } + this.requireSucess1 = false; + } else if (action_1 == 4 && move_1 == 0 && task1 > 0 && action_2 == 0 && move_2 == 0 && task2 == 0 ) { + inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + if (inst1 != null) { + try { + finish_instruction(inst1); + } catch (Exception e) { + log.error("RGV 前工位完成指令异常", e); + logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); + } + writing("to_command1", "0"); + writing("to_onset1", "0"); + writing("to_target1", "0"); + writing("to_task1", "0"); + } + this.requireSucess1 = false; + } + + + + if (task1 > 0) { + inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); + if (inst1 != null) { + if (StrUtil.equals(inst1.getInstruction_status(), "0")) { + inst1.setInstruction_status("1"); + instructionService.update(inst1); + } + } + } + if (task2 > 0) { + inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); + if (inst2 != null) { + if (StrUtil.equals(inst2.getInstruction_status(), "0")) { + inst2.setInstruction_status("1"); + instructionService.update(inst2); + } + } + } + } + } + } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index d30e61d..8cada63 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -80,6 +80,11 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { task_code = task.getString("task_code"); String start_point_code = task.getString("start_device_code"); String next_point_code = task.getString("next_device_code"); + // 双工RGV任务 后工位任务 + String start_point_code2 = task.getString("start_device_code2"); + String next_point_code2 = task.getString("next_device_code2"); + String start_device_code2 = task.getString("start_device_code2"); + String next_device_code2 = task.getString("next_device_code2"); String start_device_code = ""; String next_device_code = ""; String start_parent_code = ""; @@ -153,6 +158,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { jo.put("next_parent_code", next_parent_code); jo.put("start_device_code", start_device_code); jo.put("next_device_code", next_device_code); + jo.put("start_point_code2", start_point_code2); + jo.put("next_point_code2", next_point_code2); + jo.put("start_device_code2", start_device_code2); + jo.put("next_device_code2", next_device_code2); jo.put("priority", priority); jo.put("vehicle_code", vehicle_code); jo.put("vehicle_type", vehicle_type); diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java index 06f3e1a..f7dd1ee 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -71,6 +71,9 @@ public interface InstructionService { */ Instruction findById(String instruction_id); + Instruction findByTaskcodeAndStatus(String code); + + /** * 根据编码查询 * 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 45aef48..2a43d6b 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 @@ -104,6 +104,26 @@ public class InstructionDto implements Serializable { */ private String next_device_code; + /** + * 起始点位编码2 + */ + private String start_point_code2; + + /** + * 起始设备编码2 + */ + private String start_device_code2; + + /** + * 目标点位编码 + */ + private String next_point_code2; + + /** + * 目标设备编码2 + */ + private String next_device_code2; + /** * 排 */ diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 796a770..91e4511 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -203,6 +203,20 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu return obj; } + @Override + public Instruction findByTaskcodeAndStatus(String code) { + Iterator var3 = instructions.iterator(); + while (var3.hasNext()) { + Instruction instruction = (Instruction) var3.next(); + if (StrUtil.equals(instruction.getTask_code(), code) + && StrUtil.equals(instruction.getInstruction_status(), "0")) { + return instruction; + } + } + return null; + } + + @Override public Instruction findByCode(String code) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); 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 96e79e0..8329db9 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 @@ -78,6 +78,16 @@ public class TaskDto implements Serializable { */ private String start_device_code; + /** + * 起始点位编码 + */ + private String start_point_code2; + + /** + * 起始设备编码 + */ + private String start_device_code2; + /** * 目标点位编码 */ @@ -88,6 +98,16 @@ public class TaskDto implements Serializable { */ private String next_device_code; + /** + * 目标点位编码2 + */ + private String next_point_code2; + + /** + * 目标设备编码2 + */ + private String next_device_code2; + /** * 排 */ diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java index 6269334..fa0631d 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java @@ -32,6 +32,7 @@ import org.springframework.stereotype.Component; import java.io.DataInputStream; import java.io.DataOutputStream; import java.io.IOException; +import java.net.InetSocketAddress; import java.net.Socket; import java.util.Date; import java.util.Map; @@ -73,7 +74,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { return "NDC在线连接"; } - public void autoRun() { + public void autoRun() throws IOException { try { AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); @@ -85,8 +86,11 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogServiceImpl.class); ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT)); + InetSocketAddress socketAddress = new InetSocketAddress(ip, port); byte[] b = new byte[1028]; socket = new Socket(ip, port); + socket.connect(socketAddress,2*1000); + socket.setKeepAlive(true);//长链接 dos = new DataOutputStream(socket.getOutputStream()); dis = new DataInputStream(socket.getInputStream()); @@ -94,9 +98,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { int count = dis.read(b); if (count == -1) { + log.error("agv连接出现异常:服务端被关闭"); + if (ObjectUtil.isNotEmpty(socket)) { + socket.close(); + } break; } + int[] arr = new int[count]; StringBuffer bs = new StringBuffer(); @@ -858,7 +867,9 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { } catch (Exception e) { log.error("[NDC在线连接] 执行错误，请重新启动线程！", e); - + if (ObjectUtil.isNotEmpty(socket)) { + socket.close(); + } } } diff --git a/acs/qd/src/views/acs/instruction/index.vue b/acs/qd/src/views/acs/instruction/index.vue index e1be702..afae27d 100644 --- a/acs/qd/src/views/acs/instruction/index.vue +++ b/acs/qd/src/views/acs/instruction/index.vue @@ -129,6 +129,8 @@ + +