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agv交互更新

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This commit is contained in:
loujf
2022-09-15 14:16:44 +08:00
parent b8635df9e4
commit 88ebe9a426
6 changed files with 87 additions and 32 deletions
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86
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
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@@ -448,18 +448,20 @@ public class MagicAgvServiceImpl implements MagicAgvService {
lnshStationDeviceDriver = (LnshStationDeviceDriver) addressdevice.getDeviceDriver(); lnshStationDeviceDriver = (LnshStationDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 //请求取货
if ("Load".equals(action)) { if ("Load".equals(action)) {
if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() > 0) { if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() > 0
&& (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("1"); inst.setExecute_status("1");
lnshStationDeviceDriver.setFlag(1); // lnshStationDeviceDriver.setFlag(1);
// lnshStationDeviceDriver.writing(5); lnshStationDeviceDriver.writing(5);
is_feedback = true; is_feedback = true;
} }
//请求放货 //请求放货
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0) { if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0
&& (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("3"); inst.setExecute_status("3");
lnshStationDeviceDriver.setFlag(3); // lnshStationDeviceDriver.setFlag(3);
// lnshStationDeviceDriver.writing(6); lnshStationDeviceDriver.writing(6);
is_feedback = true; is_feedback = true;
} }
} else if ("NOP".equals(action)) { } else if ("NOP".equals(action)) {
@@ -518,16 +520,20 @@ public class MagicAgvServiceImpl implements MagicAgvService {
lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver(); lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 //请求取货
if ("Load".equals(action)) { if ("Load".equals(action)) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0) { if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() > 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("1"); inst.setExecute_status("1");
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(1); // lnshPalletizingManipulatorSiteDeviceDriver.setFlag(1);
lnshPalletizingManipulatorSiteDeviceDriver.writing(12);
is_feedback = true; is_feedback = true;
} }
//请求放货 //请求放货
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) { if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("3"); inst.setExecute_status("3");
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(3); // lnshPalletizingManipulatorSiteDeviceDriver.setFlag(3);
lnshPalletizingManipulatorSiteDeviceDriver.writing(13);
is_feedback = true; is_feedback = true;
} }
} }
@@ -611,15 +617,29 @@ public class MagicAgvServiceImpl implements MagicAgvService {
if (lnshLaminatingMachineDeviceDriver.getMode() != 0 && lnshLaminatingMachineDeviceDriver.getMove() == 0) { if (lnshLaminatingMachineDeviceDriver.getMode() != 0 && lnshLaminatingMachineDeviceDriver.getMove() == 0) {
inst.setExecute_device_code(processingVehicle); inst.setExecute_device_code(processingVehicle);
inst.setExecute_status("2"); inst.setExecute_status("2");
lnshLaminatingMachineDeviceDriver.setFlag(1); lnshLaminatingMachineDeviceDriver.writing(3,Integer.parseInt(inst.getInstruction_code()));
// lnshLaminatingMachineDeviceDriver.setFlag(1);
is_feedback = true; is_feedback = true;
} }
//放货完成 //放货完成
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
if (lnshLaminatingMachineDeviceDriver.getMode() != 0 && lnshLaminatingMachineDeviceDriver.getMove() > 0) { if (lnshLaminatingMachineDeviceDriver.getMode() != 0) {
inst.setExecute_device_code(address); inst.setExecute_device_code(address);
inst.setExecute_status("4"); inst.setExecute_status("4");
lnshLaminatingMachineDeviceDriver.setFlag(2); lnshLaminatingMachineDeviceDriver.writing(1);
}
//如果组盘绑定条码成功，就允许agv离开
if (lnshLaminatingMachineDeviceDriver.getMode() == 6 && lnshLaminatingMachineDeviceDriver.getResult()) {
is_feedback = true;
}
} else if ("NOP".equals(action)) {
if (lnshLaminatingMachineDeviceDriver.getMode() != 0) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
lnshLaminatingMachineDeviceDriver.writing(1);
}
//如果组盘绑定条码成功，就允许agv离开
if (lnshLaminatingMachineDeviceDriver.getMode() == 6 && lnshLaminatingMachineDeviceDriver.getResult()) {
is_feedback = true; is_feedback = true;
} }
} }
@@ -784,38 +804,46 @@ public class MagicAgvServiceImpl implements MagicAgvService {
// flag = true; // flag = true;
log.info("agvstatus:" + lnshStationDeviceDriver.getFlag() + ""); log.info("agvstatus:" + lnshStationDeviceDriver.getFlag() + "");
//取货完成离开 //取货完成离开
if (lnshStationDeviceDriver.getFlag() == 1) { // if (lnshStationDeviceDriver.getFlag() == 1) {
if (lnshStationDeviceDriver.getMove() == 0) { if (lnshStationDeviceDriver.getMove() == 0 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
flag = true; flag = true;
lnshStationDeviceDriver.setFlag(2); // lnshStationDeviceDriver.setFlag(2);
lnshStationDeviceDriver.writing(2);
} }
} // }
//放货完成离开 //放货完成离开
if (lnshStationDeviceDriver.getFlag() == 3) { // if (lnshStationDeviceDriver.getFlag() == 3) {
if (lnshStationDeviceDriver.getMove() == 1) { if (lnshStationDeviceDriver.getMove() == 1 && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2)) {
flag = true; flag = true;
lnshStationDeviceDriver.setFlag(4); lnshStationDeviceDriver.writing(3);
// lnshStationDeviceDriver.setFlag(4);
// Instruction inst = instructionService.findByNextCode(address);
// lnshStationDeviceDriver.setInst(inst);
} }
} // }
} }
if (addressdevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) {
lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver(); lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) addressdevice.getDeviceDriver();
// flag = true; // flag = true;
log.info("agvstatus:" + lnshPalletizingManipulatorSiteDeviceDriver.getFlag() + ""); log.info("agvstatus:" + lnshPalletizingManipulatorSiteDeviceDriver.getFlag() + "");
//取货完成离开 //取货完成离开
if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 1) { // if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 1) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) { if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
flag = true; flag = true;
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(2); // lnshPalletizingManipulatorSiteDeviceDriver.setFlag(2);
lnshPalletizingManipulatorSiteDeviceDriver.writing(10);
} }
} // }
//放货完成离开 //放货完成离开
if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 3) { // if (lnshPalletizingManipulatorSiteDeviceDriver.getFlag() == 3) {
if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 1) { if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 1
&& (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2)) {
flag = true; flag = true;
lnshPalletizingManipulatorSiteDeviceDriver.setFlag(4); // lnshPalletizingManipulatorSiteDeviceDriver.setFlag(4);
lnshPalletizingManipulatorSiteDeviceDriver.writing(11);
} }
} // }
} }
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {

5
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java
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@@ -105,6 +105,8 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域 //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
int flag; int flag;
Boolean result = false;
String device_code; String device_code;
@Override @Override
@@ -197,7 +199,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
break; break;
case 6: case 6:
//入货架扫码 //入货架扫码
if (!requireSucess && this.move != 0 && barcode != 0) { if (!requireSucess && barcode != 0) {
intoKiln(); intoKiln();
} }
break; break;
@@ -321,6 +323,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
if (result.getStatus() == 200 && StrUtil.equals(jsonObject.get("status").toString(),"200")) { if (result.getStatus() == 200 && StrUtil.equals(jsonObject.get("status").toString(),"200")) {
this.writing(mode); this.writing(mode);
this.setRequireSucess(true); this.setRequireSucess(true);
this.setResult(true);
} }
} }

3
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java
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@@ -279,7 +279,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
//放货完成 //放货完成
case 4: case 4:
writing(3); writing(3);
this.writing(2,Integer.parseInt(inst.getInstruction_code())); this.writing(3,Integer.parseInt(inst.getInstruction_code()));
return; return;
} }
} }
@@ -295,7 +295,6 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
last_barcode = barcode; last_barcode = barcode;
last_specifications = specifications; last_specifications = specifications;
last_batch = batch; last_batch = batch;
last_flag = flag;
} }

8
acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java
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@@ -2,6 +2,7 @@
package org.nl.acs.instruction.service; package org.nl.acs.instruction.service;
import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.task.service.dto.TaskDto;
import org.springframework.data.domain.Pageable; import org.springframework.data.domain.Pageable;
import javax.servlet.http.HttpServletResponse; import javax.servlet.http.HttpServletResponse;
@@ -239,6 +240,13 @@ public interface InstructionService {
* @return * @return
*/ */
Integer querySameOriginInst(String code); Integer querySameOriginInst(String code);
/**
* 根据目的地设备编号查询当前是否有设备
*
* @param device_code
* @return
*/
Instruction findByNextCode(String device_code);

13
acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -1049,6 +1049,19 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
return num; return num;
} }
@Override
public Instruction findByNextCode(String device_code) {
Iterator var3 = instructions.iterator();
while (var3.hasNext()) {
Instruction inst = (Instruction) var3.next();
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
return inst;
}
}
return null;
}
@Override @Override
public boolean removeByCodeFromCache(String code) { public boolean removeByCodeFromCache(String code) {

4
acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java
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@@ -1,6 +1,7 @@
package org.nl.modules.quartz.task; package org.nl.modules.quartz.task;
import cn.hutool.core.map.MapUtil; import cn.hutool.core.map.MapUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil; import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse; import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONArray;
@@ -35,6 +36,9 @@ public class QueryMagicAgvTaskStatus {
Instruction inst = instList.get(i); Instruction inst = instList.get(i);
String instcode = inst.getInstruction_code(); String instcode = inst.getInstruction_code();
HttpResponse response = magicAgvService.queryAgvInstStatus(instcode); HttpResponse response = magicAgvService.queryAgvInstStatus(instcode);
if (response.getStatus() != 200) {
continue;
}
JSONObject jo = JSONObject.parseObject(response.body()); JSONObject jo = JSONObject.parseObject(response.body());
if (MapUtil.isEmpty(jo)) continue; if (MapUtil.isEmpty(jo)) continue;
//反馈结果状态 //反馈结果状态