add 码垛驱动

acs/hd/nladmin-system/pom.xml

@@ -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>

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

@@ -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) {
+       } else {
-            this.setIsonline(false);
+           if(error != 0) {
-            this.setIserror(true);
+               this.setIsonline(false);
-            message = "有报警";
+               this.setIserror(true);
-            //无报警
+               message = "有报警";
-        } else {
+           } else {
-            this.setIsonline(true);
+               this.setIsonline(true);
-            this.setIserror(false);
+               this.setIserror(false);
-            message = "";
+               message = "";
+           }
             Instruction instruction = null;
             List toInstructions;
             switch (mode) {

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

@@ -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);
+           if(error != 0) {
-            this.setIserror(false);
+               this.setIsonline(false);
-            message = "";
+               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;

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

@@ -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 (mode == 0) {
-        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) {
             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);
+           if(error != 0) {
-            this.setIserror(false);
+               this.setIsonline(false);
-            message = "";
+               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;

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

@@ -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()) {
+        if (mode == 0) {
-
-            //未在线无心跳
-        } else 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);
+            if(error != 0) {
-            this.setIserror(false);
+                this.setIsonline(false);
-            message = "";
+                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;

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

@@ -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 (mode == 0) {
-        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) {
             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);
+            if(error != 0) {
-            this.setIserror(false);
+                this.setIsonline(false);
-            message = "";
+                this.setIserror(true);
+                message = "有报警";
+            } else {
+                this.setIsonline(true);
+                this.setIserror(false);
+                message = "";
+            }
             Instruction instruction = null;
             List toInstructions;
             switch (mode) {

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

@@ -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);
     }

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

@@ -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()) {
+        if (mode == 0) {
-            this.setIsonline(false);
-            this.setIserror(true);
-            message = "信号量同步异常";
-            //未联机
-        } else 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);
+            if(error != 0) {
-            this.setIserror(false);
+                this.setIsonline(false);
-            message = "";
+                this.setIserror(true);
+                message = "有报警";
+            } else {
+                this.setIsonline(true);
+                this.setIserror(false);
+                message = "";
+            }
             Instruction instruction = null;
             List toInstructions;
             switch (mode) {

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

@@ -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 (to_command != last_to_command) {
-//            if (mode == 2 && move != 0 && task > 0) {
+                logServer.deviceExecuteLog(this.device_code,"","","信号to_command：" + last_to_command + "->" + to_command);
-//                //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);
-//                    }
-//                }
-//            }
 
         } catch (Exception var17) {
-            return;
+            logServer.deviceExecuteLog(this.device_code,"","","异常:"+var17.getMessage());
         }
 
-        //急停
+        if (mode == 0) {
-        if (this.isStop()) {
-
-            //未在线无心跳
-        } else 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);
+            if(error != 0) {
-            this.setIserror(false);
+                this.setIsonline(false);
-            message = "";
+                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;
     }
 
 

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

@@ -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()) {
+        if (mode == 0) {
-            this.setIsonline(false);
-            this.setIserror(true);
-            message = "信号量同步异常";
-            //未联机
-        } else 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);
+            if(error != 0) {
-            message = "";
+                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) {

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

@@ -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);
+            socket = new Socket(ip, port);
-            dos = new DataOutputStream(s.getOutputStream());
+            dos = new DataOutputStream(socket.getOutputStream());
-            dis = new DataInputStream(s.getInputStream());
+            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) {
-
+                        log.error("AGV交互出错", 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();
                     }
                 } 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) {
-
+            log.error("[NDC在线连接] 执行错误，请重新启动线程！", e);
-
-        } finally {
-
 
         }
 
@@ -890,7 +868,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     public void stop() {
         super.after();
         try {
-            s.close();
+            socket.close();
         } catch (Exception e) {
             e.printStackTrace();
         }