更新双工rgv

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java

@@ -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.*;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 
 /**
  * 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);
     }

acs/qd/src/views/acs/device/driver/lnsh/lnsh_rgv.vue

@@ -56,9 +56,9 @@
           </el-col>
         </el-row>
         <el-col>
-          <el-form-item label="取货点" prop="device_code">
+          <el-form-item label="前工位取货点" prop="device_code" label-width="200">
             <el-select
-              v-model="form.get_device_code"
+              v-model="form.get_device_code1"
               multiple
               placeholder="请选择"
             >
@@ -69,9 +69,24 @@
               />
             </el-select>
           </el-form-item>
-          <el-form-item label="装货点" prop="device_code">
+<!--          <el-form-item label="装货点" prop="device_code">-->
+<!--            <el-select-->
+<!--              v-model="form.load_device_code"-->
+<!--              filterable-->
+<!--              multiple-->
+<!--              placeholder="请选择"-->
+<!--            >-->
+<!--              <el-option-->
+<!--                v-for="item in deviceList"-->
+<!--                :key="item.device_code"-->
+<!--                :label="item.device_name"-->
+<!--                :value="item.device_code"-->
+<!--              />-->
+<!--            </el-select>-->
+<!--          </el-form-item>-->
+          <el-form-item label="前工位放货点" prop="device_code" label-width="200">
             <el-select
-              v-model="form.load_device_code"
+              v-model="form.put_device_code1"
               filterable
               multiple
               placeholder="请选择"
@@ -84,9 +99,39 @@
               />
             </el-select>
           </el-form-item>
-          <el-form-item label="放货点" prop="device_code">
+        </el-col>
+        <el-col>
+          <el-form-item label="后工位取货点" prop="device_code" label-width="200">
             <el-select
-              v-model="form.put_device_code"
+              v-model="form.get_device_code2"
+              multiple
+              placeholder="请选择"
+            >
+              <el-option
+                v-for="item in deviceList"
+                :label="item.device_name"
+                :value="item.device_code"
+              />
+            </el-select>
+          </el-form-item>
+          <!--          <el-form-item label="装货点" prop="device_code">-->
+          <!--            <el-select-->
+          <!--              v-model="form.load_device_code"-->
+          <!--              filterable-->
+          <!--              multiple-->
+          <!--              placeholder="请选择"-->
+          <!--            >-->
+          <!--              <el-option-->
+          <!--                v-for="item in deviceList"-->
+          <!--                :key="item.device_code"-->
+          <!--                :label="item.device_name"-->
+          <!--                :value="item.device_code"-->
+          <!--              />-->
+          <!--            </el-select>-->
+          <!--          </el-form-item>-->
+          <el-form-item label="后工位放货点" prop="device_code" label-width="200">
+            <el-select
+              v-model="form.put_device_code2"
               filterable
               multiple
               placeholder="请选择"
@@ -326,9 +371,11 @@ export default {
       plc_code: '',
       opc_id: '',
       opc_code: '',
-      get_device_code: '',
+      get_device_code1: '',
+      get_device_code2: '',
       load_device_code: '',
       put_device_code: '',
+      put_device_code2: '',
       configLoading: false,
       dataOpcservers: [],
       dataOpcPlcs: [],