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更新双工rgv

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This commit is contained in:
USER-20220102CG\noblelift
2022-08-15 16:59:57 +08:00
parent 922b24bf66
commit a4ce1862c6
2 changed files with 323 additions and 15 deletions
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277
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java
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@@ -2,6 +2,7 @@ package org.nl.acs.device_driver.lnsh.lnsh_rgv;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
@@ -17,6 +18,8 @@ import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.service.LogServer;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.opc.WcsConfig;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
@@ -29,10 +32,7 @@ import org.nl.wql.core.bean.WQLObject;
import org.openscada.opc.lib.da.Server;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
/**
* 嘉耐双工位RGV
@@ -52,13 +52,23 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
@Autowired
LogServer logServer = SpringContextHolder.getBean("logServerImpl");
@Autowired
DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
//当前指令1
Instruction inst1 = null;
//当前指令2
Instruction inst2 = null;
int mode = 0;
int error = 0;
int last_mode = 0;
int last_error = 0;
Boolean isonline = true;
Boolean requireSucess = false;
Boolean requireSucess1 = false;
Boolean requireSucess2 = false;
int hasGoods = 0;
String message = null;
Boolean iserror = false;
@@ -113,6 +123,11 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
String specifications = "";
String last_specifications = "";
private Date instruction_require_time = new Date();
private Date instruction_finished_time = new Date();
private Date instruction_apply_time = new Date();
private int instruction_require_time_out = 3000;
@Override
public Device getDevice() {
return this.device;
@@ -120,7 +135,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
@Override
public void execute() {
public void execute() throws Exception {
String message = null;
try {
device_code = this.getDeviceCode();
@@ -145,7 +160,6 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
qty = this.itemProtocol.getQty();
if (mode != last_mode) {
this.setRequireSucess(false);
logServer.deviceLog(this.device_code,"mode" ,String.valueOf(mode));
logServer.deviceLogToacs(this.device_code,"","","信号mode：" + last_mode + "->" + mode);
}
@@ -158,10 +172,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
logServer.deviceLogToacs(this.device_code,"","","信号status：" + last_status + "->" + status);
}
if (move_1 != last_move_1) {
if(move_1 == 0){
this.setRequireSucess1(false);
}
logServer.deviceLog(this.device_code,"move_1" ,String.valueOf(move_1));
logServer.deviceLogToacs(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.deviceLog(this.device_code,"move_2" ,String.valueOf(move_2));
logServer.deviceLogToacs(this.device_code,"","","信号move_2：" + last_move_2 + "->" + move_2);
}
@@ -222,6 +242,58 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
logServer.deviceLogToacs(this.device_code,"","","信号specifications：" + last_specifications + "->" + specifications);
}
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);
}
}
}
if ( action_1 == 4 && move_1 == 0 && task1 > 0) {
//inst_message
inst1 = instructionService.findByCodeFromCache(String.valueOf(task1));
if (inst1 != null) {
if (StrUtil.equals(inst1.getInstruction_status(), "1")) {
finish_instruction(inst1);
}
}
}
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);
}
}
}
if ( action_2 == 4 && move_2 == 0 && task2 > 0) {
//inst_message
inst2 = instructionService.findByCodeFromCache(String.valueOf(task2));
if (inst2 != null) {
if (StrUtil.equals(inst2.getInstruction_status(), "1")) {
finish_instruction(inst2);
}
}
}
//给后工位下发空盘放货信号
if(mode ==3 && action_1 == 2 && action_2 == 2 && move_1 == 1 && move_2 == 1 && 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 == 1 && move_2 == 0 && task1>0 ){
writing("to_command1","2");
}
} catch (Exception var17) {
return;
}
@@ -252,8 +324,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
log.debug("设备运转模式:等待工作");
return;
case 2:
//后工位申请任务
if (mode == 2 && move_2 == 0 && action_2 == 0 && !requireSucess2) {
instruction_require2();
}
break;
case 3:
//前工位申请任务
if (mode == 3 && move_2 == 1 && action_2 == 1 && move_1 == 0 && !requireSucess1) {
instruction_require();
}
}
switch (flag) {
@@ -291,6 +371,168 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
//申请前工位任务
public synchronized boolean instruction_require() throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
this.instruction_apply_time = date;
String linkobj = (String)this.getDevice().getExtraValue().get("get_device_code1");
String demosub = linkobj.substring(1,linkobj.length()-1);
String demoArray[] = demosub.split(",");
List<String> device_code_list = Arrays.asList(demoArray);
TaskDto task = null;
for(int i=0;i<device_code_list.size();i++){
task = taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"","")).get(0);
if(ObjectUtil.isNotEmpty(task)) break;
}
if (!ObjectUtil.isEmpty(task)) {
String taskid = task.getTask_id();
String taskcode = task.getTask_code();
String vehiclecode = task.getVehicle_code();
String priority = task.getPriority();
String start_point_code = task.getStart_point_code();
String start_device_code = task.getStart_device_code();
String route_plan_code = task.getRoute_plan_code();
String next_point_code = task.getNext_point_code();
String next_device_code = task.getNext_device_code();
Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(task.getRemark());
instdto.setMaterial(task.getMaterial());
instdto.setQuantity(task.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.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");
task.setTask_status("1");
//创建指令后修改任务状态
task.setTask_status("1");
taskserver.update(task);
requireSucess1 = true;
String start_addr = startdevice.getAddress();
String next_addr = nextdevice.getAddress();
writing("to_command1","1");
writing("to_onset1",start_addr);
writing("to_target1",next_addr);
writing("to_task1",instdto.getInstruction_code());
} else {
}
}
return true;
}
//申请后工位任务
public synchronized boolean instruction_require2() throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
this.instruction_apply_time = date;
String linkobj = (String)this.getDevice().getExtraValue().get("get_device_code2");
String demosub = linkobj.substring(1,linkobj.length()-1);
String demoArray[] = demosub.split(",");
List<String> device_code_list = Arrays.asList(demoArray);
TaskDto task = null;
for(int i=0;i<device_code_list.size();i++){
task = taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"","")).get(0);
if(ObjectUtil.isNotEmpty(task)) break;
}
if (!ObjectUtil.isEmpty(task)) {
String taskid = task.getTask_id();
String taskcode = task.getTask_code();
String vehiclecode = task.getVehicle_code();
String priority = task.getPriority();
String start_point_code = task.getStart_point_code();
String start_device_code = task.getStart_device_code();
String route_plan_code = task.getRoute_plan_code();
String next_point_code = task.getNext_point_code();
String next_device_code = task.getNext_device_code();
Device startdevice = deviceAppservice.findDeviceByCode(start_device_code);
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
Instruction instdto = new Instruction();
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(task.getRemark());
instdto.setMaterial(task.getMaterial());
instdto.setQuantity(task.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.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");
task.setTask_status("1");
//创建指令后修改任务状态
task.setTask_status("1");
taskserver.update(task);
requireSucess2 = true;
String start_addr = startdevice.getAddress();
String next_addr = nextdevice.getAddress();
writing("to_command2","1");
writing("to_onset2",start_addr);
writing("to_target2",next_addr);
writing("to_task2",instdto.getInstruction_code());
} else {
}
}
return true;
}
public boolean exe_error() {
if (this.error == 0) {
return true;
@@ -300,6 +542,18 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
}
public void writing(String param, String value) {
String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + param;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_param, value);
ReadUtil.write(itemMap, server);
}
public boolean exe_business() {
return true;
}
@@ -317,6 +571,13 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi
}
public synchronized boolean finish_instruction(Instruction inst) throws Exception {
instructionService.finish(inst);
return true;
}
public void executing(Server server, Map<String, Object> itemMap) {
ReadUtil.write(itemMap, server);
}