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add 码垛驱动

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This commit is contained in:
USER-20220102CG\noblelift
2023-05-15 11:23:38 +08:00
parent 82033e7f85
commit afa7379c38
11 changed files with 142 additions and 172 deletions
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4
acs/hd/nladmin-system/pom.xml
View File

@@ -63,7 +63,6 @@
<version>2.4</version>
<classifier>jdk15</classifier>
</dependency>
<!--导入excel相关-->
<dependency>
<groupId>com.alibaba</groupId>
@@ -261,6 +260,9 @@
<includes>
<include>**/*.*</include>
</includes>
<excludes>
<exclude>**/*.java</exclude>
</excludes>
</resource>
<resource>
<directory>${basedir}/src/main/resources</directory>

26
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_Laminating_machine/LnshLaminatingMachineDeviceDriver.java
View File

@@ -75,6 +75,7 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
int barcode = 0;
int last_barcode = 0;
int to_command =0;
int last_to_command =0;
Boolean isonline = true;
int hasGoods = 0;
String message = null;
@@ -158,9 +159,13 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
logServer.deviceItemValue(this.device_code,"container_type",String.valueOf(container_type));
logServer.deviceExecuteLog(this.device_code,"","","信号container_type：" + last_container_type + "->" + container_type);
}
if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
if (mode == 0) {
@@ -168,15 +173,16 @@ public class LnshLaminatingMachineDeviceDriver extends AbstractOpcDeviceDriver i
this.setIserror(true);
message = "未联机";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
} else {
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {

28
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_package_pallet_manipulator/LnshPackagePalletManipulatorDeviceDriver.java
View File

@@ -129,7 +129,8 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
int last_getX_offset = 0;
int getY_offset = 0;
int last_getY_offset = 0;
int to_command =0;
int last_to_command =0;
//垛型参数
int product_code = 0;
int AlongSide = 0;
@@ -662,9 +663,12 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
logServer.deviceItemValue(this.device_code,"getY_offset" ,String.valueOf(getY_offset));
logServer.deviceExecuteLog(this.device_code,"","","信号getY_offset：" + last_getY_offset + "->" + getY_offset);
}
if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
if (mode == 0) {
@@ -672,15 +676,16 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
this.setIserror(true);
message = "未联机";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {
@@ -764,6 +769,7 @@ public class LnshPackagePalletManipulatorDeviceDriver extends AbstractOpcDeviceD
}
}
last_to_command = to_command;
last_mode = mode;
last_status = status;
last_error = error;

41
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_package_palletizing_manipulator_site/LnshPackagePalletizingManipulatorSiteDeviceDriver.java
View File

@@ -115,7 +115,7 @@ public class LnshPackagePalletizingManipulatorSiteDeviceDriver extends AbstractO
int getY_offset = 0;
int last_getY_offset = 0;
int to_command =0;
int last_to_command =0;
//垛型参数
int product_code = 0;
int AlongSide = 0;
@@ -718,36 +718,28 @@ public class LnshPackagePalletizingManipulatorSiteDeviceDriver extends AbstractO
logServer.deviceItemValue(this.device_code,"getY_offset" ,String.valueOf(getY_offset));
logServer.deviceExecuteLog(this.device_code,"","","信号getY_offset：" + last_getY_offset + "->" + getY_offset);
}
if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
//急停
if (this.isStop()) {
//未在线无心跳
} else 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";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {
@@ -836,7 +828,8 @@ public class LnshPackagePalletizingManipulatorSiteDeviceDriver extends AbstractO
// return;
}
}
last_product_code = product_code;
last_to_command = to_command;
last_mode = mode;
last_error = error;
last_move = move;

30
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java
View File

@@ -131,7 +131,8 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
int last_encoder_qty = 0;
int order_qty = 0;
int last_order_qty = 0;
int command = 0;
int last_to_command = 0;
String order_No = "";
String last_order_No = "";
@@ -252,27 +253,26 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
//急停
if (this.isStop()) {
//未在线无心跳
} else if (mode == 0) {
if (mode == 0) {
this.setIsonline(false);
this.setIserror(true);
message = "未联机";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {
@@ -351,7 +351,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
// return;
}
}
last_to_command = to_command;
last_mode = mode;
last_error = error;
last_move = move;

31
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java
View File

@@ -249,32 +249,25 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
//急停
if (this.isStop()) {
//未在线无心跳
} else 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";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {

4
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_split_manipulator/ItemProtocol.java
View File

@@ -453,6 +453,10 @@ public class ItemProtocol {
return this.getOpcIntegerValue(item_tool_coordinate);
}
public int getTo_command() {
return this.getOpcIntegerValue(item_to_feedback);
}
public int getOrder_qty() {
return this.getOpcIntegerValue(item_order_qty);
}

36
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_split_manipulator/LnshSplitManipulatorDeviceDriver.java
View File

@@ -180,7 +180,8 @@ public class LnshSplitManipulatorDeviceDriver extends AbstractOpcDeviceDriver im
int one_qty = 0;
int two_qty = 0;
int tool_coordinate = 0;
int to_command =0;
int last_to_command =0;
int last_product_code = 0;
int last_AlongSide = 0;
int last_BshortSide = 0;
@@ -326,7 +327,7 @@ public class LnshSplitManipulatorDeviceDriver extends AbstractOpcDeviceDriver im
one_qty = this.itemProtocol.getOne_qty();
two_qty = this.itemProtocol.getTwo_qty();
tool_coordinate = this.itemProtocol.getTool_coordinate();
to_command = this.itemProtocol.getTo_command();
if (mode != last_mode) {
this.setRequireSucess(false);
logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));
@@ -624,30 +625,29 @@ public class LnshSplitManipulatorDeviceDriver extends AbstractOpcDeviceDriver im
logServer.deviceItemValue(this.device_code,"tool_coordinate" ,String.valueOf(tool_coordinate));
logServer.deviceExecuteLog(this.device_code,"","","信号tool_coordinate：" + last_tool_coordinate + "->" + tool_coordinate);
}
if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
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";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {

51
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_station/LnshStationDeviceDriver.java
View File

@@ -114,7 +114,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
int batch = 0;
int last_batch = 0;
int to_command =0;
int last_to_command =0;
@Override
public Device getDevice() {
return this.device;
@@ -150,6 +150,9 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + "->" + mode);
}
if (move != last_move) {
if(move ==0){
this.writing(0);
}
logServer.deviceItemValue(this.device_code,"move" ,String.valueOf(move));
logServer.deviceExecuteLog(this.device_code,"","","信号move：" + last_move + "->" + move);
}
@@ -189,43 +192,30 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
logServer.deviceItemValue(this.device_code,"specifications", specifications);
logServer.deviceExecuteLog(this.device_code,"","","信号specifications：" + last_specifications + "->" + specifications);
}
// if (mode == 2 && move != 0 && task > 0) {
// //inst_message
// inst = instructionService.findByCodeFromCache(String.valueOf(task));
// if (inst != null) {
// if (StrUtil.equals(inst.getInstruction_status(), "1") && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
// finish_instruction();
// }
// if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
// inst.setInstruction_status("1");
// instructionService.update(inst);
// }
// }
// }
if (to_command != last_to_command) {
logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
//急停
if (this.isStop()) {
//未在线无心跳
} else if (mode == 0) {
if (mode == 0) {
this.setIsonline(false);
this.setIserror(true);
message = "未联机";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {
@@ -297,6 +287,7 @@ public class LnshStationDeviceDriver extends AbstractOpcDeviceDriver implements
last_barcode = barcode;
last_specifications = specifications;
last_batch = batch;
last_to_command = to_command;
}

27
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/rljn_package_palletSplit_manipulator/RljnPackagePalletSplitManipulatorDeviceDriver.java
View File

@@ -681,28 +681,25 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
}
} catch (Exception var17) {
return;
logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
}
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";
//有报警
} else if (error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
//无报警
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
if(error != 0) {
this.setIsonline(false);
this.setIserror(true);
message = "有报警";
} else {
this.setIsonline(true);
this.setIserror(false);
message = "";
}
Instruction instruction = null;
List toInstructions;
switch (mode) {

36
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -2,10 +2,6 @@ package org.nl.start.auto.run;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.agv.server.dto.AgvDto;
@@ -18,11 +14,8 @@ import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator.LnshPalletizin
import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.LnshPalletizingManipulatorSiteDeviceDriver;
import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver;
import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver;
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
@@ -32,10 +25,6 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.log.service.impl.DeviceExecuteLogServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.task.service.impl.TaskServiceImpl;
import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -51,7 +40,7 @@ import java.util.Map;
@Component
public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
Socket socket;
String ip = "127.0.0.1";
int port = 1234;
static DataOutputStream dos;
@@ -97,9 +86,9 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
byte[] b = new byte[1028];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
socket = new Socket(ip, port);
dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream());
while (bConnected) {
int count = dis.read(b);
@@ -860,15 +849,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
write(data);
}
} catch (Exception e) {
System.out.println("Agv链接异常");
log.info("Agv链接异常");
log.error("agv连接出现异常:{}", e);
if(ObjectUtil.isNotEmpty(s)){
s.close();
}
System.out.println(e.getMessage());
e.printStackTrace();
log.error("AGV交互出错", e);
}
} else {
System.out.println("agv上报不是0073类型动作，不处理");
@@ -876,10 +857,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
} catch (Exception e) {
} finally {
log.error("[NDC在线连接] 执行错误，请重新启动线程！", e);
}
@@ -890,7 +868,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
public void stop() {
super.after();
try {
s.close();
socket.close();
} catch (Exception e) {
e.printStackTrace();
}