From c9112ec03df5d88e2ef540e7be53b06c8983dd4d Mon Sep 17 00:00:00 2001 From: loujf Date: Sat, 29 Oct 2022 13:16:20 +0800 Subject: [PATCH] =?UTF-8?q?=E9=9F=B3=E6=9D=A5=E7=A0=81=E5=9E=9B=E6=9C=BA?= =?UTF-8?q?=E6=A2=B0=E6=89=8B=E6=96=B0=E9=A9=B1=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../nl/acs/agv/server/ZheDaAgvService.java | 9 - .../agv/server/impl/MagicAgvServiceImpl.java | 52 +- .../agv/server/impl/ZheDaAgvServiceImpl.java | 551 ------------------ .../device/device_driver/DriverTypeEnum.java | 2 +- .../service/impl/DeviceServiceImpl.java | 23 +- .../ItemProtocol.java | 184 ++++-- .../LnshPalletizingManipulatorDefination.java | 39 +- ...nshPalletizingManipulatorDeviceDriver.java | 488 +++++++++++----- .../wms/service/impl/WmsToAcsServiceImpl.java | 38 +- .../service/impl/StageServiceImpl.java | 67 ++- .../src/main/resources/logback-spring.xml | 3 + 11 files changed, 627 insertions(+), 829 deletions(-) delete mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java delete mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java deleted file mode 100644 index 70285d2..0000000 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java +++ /dev/null @@ -1,9 +0,0 @@ -package org.nl.acs.agv.server; - -/** - * @Author: lyd - * @Description: - * @Date: 2022-08-15 - */ -public interface ZheDaAgvService { -} diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java index 7731cb0..3abb678 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java @@ -13,6 +13,7 @@ import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.config.AcsConfig; import org.nl.acs.config.server.AcsConfigService; import org.nl.acs.device_driver.lnsh.lnsh_Laminating_machine.LnshLaminatingMachineDeviceDriver; +import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator.LnshPalletizingManipulatorDeviceDriver; 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.special_ordinary_site.SpecialOrdinarySiteDeviceDriver; @@ -423,6 +424,7 @@ public class MagicAgvServiceImpl implements MagicAgvService { LnshStationDeviceDriver lnshStationDeviceDriver; LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver; LnshPalletizingManipulatorSiteDeviceDriver lnshPalletizingManipulatorSiteDeviceDriver; + LnshPalletizingManipulatorDeviceDriver lnshPalletizingManipulatorDeviceDriver; //请求进入 if ("onEntry".equals(type)) { @@ -539,6 +541,29 @@ public class MagicAgvServiceImpl implements MagicAgvService { } } } + //嘉耐音来码垛机械手工位 + if (addressdevice.getDeviceDriver() instanceof LnshPalletizingManipulatorDeviceDriver) { + lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) addressdevice.getDeviceDriver(); + //请求取货 + if ("Load".equals(action)) { + if (lnshPalletizingManipulatorDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorDeviceDriver.getMove() > 0 + && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 1)) { + inst.setExecute_status("1"); + lnshPalletizingManipulatorDeviceDriver.setFlag(1); + lnshPalletizingManipulatorDeviceDriver.writing(12); + is_feedback = true; + } + //请求放货 + } else if ("Unload".equals(action)) { + if (lnshPalletizingManipulatorDeviceDriver.getMode() != 0 && lnshPalletizingManipulatorDeviceDriver.getMove() == 0 + && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 1)) { + inst.setExecute_status("3"); + lnshPalletizingManipulatorDeviceDriver.setFlag(3); + lnshPalletizingManipulatorDeviceDriver.writing(13); + is_feedback = true; + } + } + } if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); //请求取货 @@ -597,7 +622,7 @@ public class MagicAgvServiceImpl implements MagicAgvService { if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() == 0) { inst.setExecute_device_code(processingVehicle); inst.setExecute_status("2"); -// lnshStationDeviceDriver.writing(2); + lnshStationDeviceDriver.writing(7); is_feedback = true; } //放货完成 @@ -605,6 +630,7 @@ public class MagicAgvServiceImpl implements MagicAgvService { if (lnshStationDeviceDriver.getMode() != 0 && lnshStationDeviceDriver.getMove() > 0) { inst.setExecute_device_code(address); inst.setExecute_status("4"); + lnshStationDeviceDriver.writing(8); is_feedback = true; } } @@ -774,6 +800,7 @@ public class MagicAgvServiceImpl implements MagicAgvService { StandardStorageDeviceDriver standardStorageDeviceDriver; LnshStationDeviceDriver lnshStationDeviceDriver; LnshPalletizingManipulatorSiteDeviceDriver lnshPalletizingManipulatorSiteDeviceDriver; + LnshPalletizingManipulatorDeviceDriver lnshPalletizingManipulatorDeviceDriver; LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver; //mes = AgvClientXZ.mes(zlbh, device, type); @@ -855,6 +882,29 @@ public class MagicAgvServiceImpl implements MagicAgvService { } } } + if (addressdevice.getDeviceDriver() instanceof LnshPalletizingManipulatorDeviceDriver) { + lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) addressdevice.getDeviceDriver(); +// flag = true; + log.info("agvstatus:" + lnshPalletizingManipulatorDeviceDriver.getFlag() + ""); + //取货完成离开 + if (lnshPalletizingManipulatorDeviceDriver.getFlag() == 1) { + if (lnshPalletizingManipulatorDeviceDriver.getMove() == 0 + && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 2)) { + flag = true; + lnshPalletizingManipulatorDeviceDriver.setFlag(0); + lnshPalletizingManipulatorDeviceDriver.writing(10); + } + } + //放货完成离开 + if (lnshPalletizingManipulatorDeviceDriver.getFlag() == 3) { + if (lnshPalletizingManipulatorDeviceDriver.getMove() == 1 + && (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorDeviceDriver.getIo_action() == 2)) { + flag = true; + lnshPalletizingManipulatorDeviceDriver.setFlag(0); + lnshPalletizingManipulatorDeviceDriver.writing(11); + } + } + } if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java deleted file mode 100644 index 89e6c34..0000000 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java +++ /dev/null @@ -1,551 +0,0 @@ -package org.nl.acs.agv.server.impl; - -import cn.hutool.core.util.StrUtil; -import cn.hutool.http.HttpRequest; -import cn.hutool.http.HttpResponse; -import com.alibaba.fastjson.JSONArray; -import com.alibaba.fastjson.JSONObject; -import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.agv.server.ZheDaAgvService; -import org.nl.acs.config.AcsConfig; -import org.nl.acs.config.server.AcsConfigService; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.acs.opc.DeviceAppServiceImpl; -import org.nl.utils.SpringContextHolder; -import org.springframework.stereotype.Service; - -import java.text.DateFormat; -import java.text.SimpleDateFormat; -import java.util.Calendar; -import java.util.Date; -import java.util.TimeZone; - -@Slf4j -@Service -@RequiredArgsConstructor -public class ZheDaAgvServiceImpl implements ZheDaAgvService { - private final AcsConfigService acsConfigService; - @Override - //ZDAGV - public HttpResponse sendAgvInstToZDAgv(Instruction inst) throws Exception { - JSONObject jo = new JSONObject(); - String start_point_code = inst.getStart_point_code(); - String next_point_code = inst.getNext_point_code(); - //1、叠盘架追加任务；2、养生区需要追加任务，在缓存点等待3、二楼普通任务4、一楼普通任务 - String task_type = inst.getInstruction_type(); - jo.put("deadline", getNextDay(1)); - //判断是否追加任务 - if (task_type.equals("2") || task_type.equals("1")) { - jo.put("complete", "false"); - } else { - jo.put("complete", "true"); - } - jo.put("task_code", inst.getInstruction_code()); - //根据任务，下发指令类型 - JSONArray destinations = new JSONArray(); - if (task_type.equals("1")) { - destinations.add(destination(start_point_code, "Wait", "5", "1")); - } else { - destinations.add(destination(start_point_code, "Load", "1", "1")); - if (task_type.equals("2")) { - destinations.add(destination(next_point_code, "Wait", "5", "1")); - } else { - destinations.add(destination(next_point_code, "Unload", "5", "1")); - } - } - jo.put("destinations", destinations); - - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { - String url = ""; - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvurl2 = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL2); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - //不同楼层下发不同的agv系统 - if (task_type.equals("8")) { - url = agvurl2; - } else { - url = agvurl; - } - url = url + ":" + agvport + "v1/transportOrders/" + inst.getInstruction_code(); - log.info("下发agv任务请求:{}", url); - - HttpResponse result = HttpRequest.post(agvurl) - .body(String.valueOf(jo))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("下发agv任务请求反馈:{}", result); - return result; - } else { - return null; - } - } - - @Override - //ZDAGV - public HttpResponse queryZDAgvInstStatus(String type) { - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { - String agvurl = ""; - if (type.equals("1")) { - agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - } - if (type.equals("2")) { - agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL2); - } - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - - agvurl = agvurl + ":" + agvport + "/transportOrders"; - - HttpResponse result = HttpRequest.get(agvurl) - .timeout(20000)//超时，毫秒 - .execute(); - System.out.println("查询agv指令数据:" + result.body()); - - return result; - } else { - return null; - } - } - - @Override - //ZDAGV - public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) { - log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action); - //释放AGV资源，继续后续动作 - boolean is_feedback = false; - String str = ""; - String backaddress = address; - if (address.indexOf(".") > 0) { - str = address.substring(address.indexOf(".") + 1, address.length()); - address = address.substring(0, address.indexOf(".")); - } else if (address.indexOf("-") > 0) { - address = address.substring(0, address.indexOf("-")); - } - InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); - Instruction inst = instructionService.findByCodeFromCache(jobno); - - - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); - Device addressdevice = appService.findDeviceByCode(address); - - CargoLiftConveyorDeviceDriver cargoLiftConveyorDeviceDriver; - EmptyVehicleStackingPositionDeviceDriver emptyVehicleStackingPositionDeviceDriver; - HailiangSmartplcTestDeviceDriver hailiangSmartplcTestDeviceDriver; - HaoKaiAutoConveyorDeviceDriver haoKaiAutoConveyorDeviceDriver; - PaintConveyorDeviceDriver paintConveyorDeviceDriver; - - //取货的进入前等待和离开等待 - if (action.equals("Load")) { - if ("EntryRequired".equals(type)) { - //共挤线三工位 - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - if ((hailiangSmartplcTestDeviceDriver.getAction() == 1 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - //叠盘位 - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - int number = emptyVehicleStackingPositionDeviceDriver.getNumber(); - if (number < Integer.valueOf(str)) { - log.info("叠盘位：" + jobno + "当前层高为：" + number + ",不存在第" + str + "的托盘！"); - return null; - } - inst.setExecute_status("1"); - is_feedback = true; - } - //货梯对接线 - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((cargoLiftConveyorDeviceDriver.getAction() == 1 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - //豪凯自动线对接位 - if (addressdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) { - haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((haoKaiAutoConveyorDeviceDriver.getAction() == 1 || haoKaiAutoConveyorDeviceDriver.getAction() == 3) && haoKaiAutoConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - //油漆线 - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((paintConveyorDeviceDriver.getAction() == 1 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - } - if ("PauseOnStation".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - hailiangSmartplcTestDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - emptyVehicleStackingPositionDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - cargoLiftConveyorDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) { - haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - haoKaiAutoConveyorDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - paintConveyorDeviceDriver.writing(2); - is_feedback = true; - } - - } - } - //等待点等待 - if (action.equals("Wait")) { - if ("Wait".equals(type)) { - JSONObject jo = new JSONObject(); - jo.put("task_code", inst.getInstruction_code()); - JSONArray destinations = new JSONArray(); - String inst_type = inst.getInstruction_type(); - //如果任务类型为1，在点位进行等待，则查询当前叠盘位的数量，取当前数量的层数进行追加任务 - if ("1".equals(inst_type)) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - int current_num = emptyVehicleStackingPositionDeviceDriver.getNumber(); - if (current_num > 12) { - log.info("当前叠盘架:" + jobno + "已放满！"); - return null; - } - String start_point_code = inst.getStart_point_code(); - String next_point_code = inst.getNext_point_code(); - start_point_code = start_point_code + "." + (current_num + 1); - destinations.add(destination(start_point_code, "Load", "1", "1")); - destinations.add(destination(next_point_code, "Unload", "1", "1")); - - } - - //如果任务类型为2，在点位进行等待，则调用LMS的货位申请接口 - if ("2".equals(inst_type)) { - String next_point_code = ""; - //调用LMS接口 - - - destinations.add(destination(next_point_code, "Unload", "5", "1")); - } - jo.put("destinations", destinations); - - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - - String url = agvurl + ":" + agvport + "addDestinations"; - log.info("下发agv任务请求:{}", url); - - HttpResponse result = HttpRequest.post(url) - .body(String.valueOf(jo))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("下发agv任务请求反馈:{}", result); - - //对任务进行封口 - JSONObject complete = new JSONObject(); - complete.put("task_code", inst.getInstruction_code()); - - String url2 = agvurl + ":" + agvport + "markComplete"; - log.info("下发agv任务请求:{}", url2); - - HttpResponse result2 = HttpRequest.post(url2) - .body(String.valueOf(complete))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("下发agv任务请求反馈:{}", result2); - } - } - //放货的进入前等待和离开等待 - if (action.equals("Unload")) { - if ("EntryRequired".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - if ((hailiangSmartplcTestDeviceDriver.getAction() == 2 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - int number = emptyVehicleStackingPositionDeviceDriver.getNumber(); - if (number >= Integer.valueOf(str)) { - log.info("叠盘位：" + jobno + "第" + str + "上有货！"); - return null; - } - inst.setExecute_status("3"); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((cargoLiftConveyorDeviceDriver.getAction() == 2 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - - if (addressdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) { - haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((haoKaiAutoConveyorDeviceDriver.getAction() == 2 || haoKaiAutoConveyorDeviceDriver.getAction() == 3) && haoKaiAutoConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((paintConveyorDeviceDriver.getAction() == 2 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - } - if ("PauseOnStation".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - hailiangSmartplcTestDeviceDriver.writing(3); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - emptyVehicleStackingPositionDeviceDriver.writing(3); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - cargoLiftConveyorDeviceDriver.writing(3); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) { - haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - haoKaiAutoConveyorDeviceDriver.writing(3); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - paintConveyorDeviceDriver.writing(3); - is_feedback = true; - } - } - } - JSONObject requestjo = new JSONObject(); - if (is_feedback) { - requestjo.put("task_code",jobno); - requestjo.put("operation",action); - if (type.equals("entryRequired") || type.equals("EntryRequired")){ - requestjo.put("entryRequired","true"); - }else { - requestjo.put("pauseOnStation","true"); - } - log.info("反馈AGV请求数据:{}", requestjo); - System.out.println("back agv:" + requestjo); - - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - - if (inst.getInstruction_type().equals("4")){ - agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL2); - } - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact"; - - HttpResponse result = HttpRequest.post(agvurl) - .body(String.valueOf(requestjo)) - .timeout(20000)//超时，毫秒 - .execute(); - } - - return requestjo.toString(); - - } - - @Override - //ZDAGV - public HttpResponse markComplete(String code) throws Exception { - - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - - agvurl = agvurl + ":" + agvport + "/v1/" + code + "/markComplete"; - log.info("关闭agv运单序列请求:{}", agvurl); - - HttpResponse result = HttpRequest.post(agvurl) - //.body(String.valueOf(orderjo))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("关闭agv运单序列请求反馈:{}", result); - - return result; - } else { - return null; - } - - } - - - /** - * 返回一个点位操作子任务 - * - * @param locationName 点位 - * @param operation 点位操作 - * @param propertiesType 子任务类型 - * @param pro 子任务参数 - * 调用demo:destination("sh15p", "Spin", "2", "3.14") - * demo:destination("cz14", "JackUnload", "3", "") - * @return - */ - //ZDAGV - public static JSONObject destination(String locationName, String operation, String propertiesType, String pro) { - //新增业务订单 - JSONObject destinationOrder = new JSONObject(); - //目标工作站 - destinationOrder.put("locationName", locationName); - //机器人在工作站要执行的操作 - destinationOrder.put("operation", operation); - if (propertiesType.equals("1")) {//取货前等待、取货后等待 - - //pro 1 进入离开等待 - if ("1".equals(pro)) { - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "EntryRequired"); - pro1.put("value", "True"); - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "PauseOnStation"); - pro2.put("value", "True"); - properties.add(pro2); - destinationOrder.put("properties", properties); - //进入等待 离开不等待 - } else if ("2".equals(pro)) { - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "EntryRequired"); - pro1.put("value", "True"); - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "PauseOnStation"); - pro2.put("value", "False"); - properties.add(pro2); - destinationOrder.put("properties", properties); - //进入不等待 离开等待 - } else if ("3".equals(pro)) { - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "EntryRequired"); - pro1.put("value", "False"); - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "PauseOnStation"); - pro2.put("value", "True"); - properties.add(pro2); - destinationOrder.put("properties", properties); - //不等待 - } else { - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "EntryRequired"); - pro1.put("value", "False"); - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "PauseOnStation"); - pro2.put("value", "False"); - properties.add(pro2); - destinationOrder.put("properties", properties); - } - - } else if (propertiesType.equals("2")) {//Spin转动 - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系 - pro1.put("value", pro);//弧度值，如3.14 - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "spin_direction");//固定值 - pro2.put("value", "0");//弧度值，如0 - properties.add(pro2); - destinationOrder.put("properties", properties); - } else if (propertiesType.equals("3")) {//JackUnload,Jackload不操作 - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "recognize");//固定值 - pro1.put("value", "false");//固定值 - properties.add(pro1); - destinationOrder.put("properties", properties); - } else if (propertiesType.equals("4")) { - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "robot_spin_angle");//坐标系类型，robot_spin_angle为机器人坐标系 - pro1.put("value", pro);//弧度值，如3.14 - properties.add(pro1); - JSONObject pro2 = new JSONObject(); - pro2.put("key", "spin_direction");//固定值 - pro2.put("value", "0");//弧度值，如0 - properties.add(pro2); - destinationOrder.put("properties", properties); - } else if (propertiesType.equals("5")) {//在该点进行等待 - JSONArray properties = new JSONArray(); - JSONObject pro1 = new JSONObject(); - pro1.put("key", "Wait"); - pro1.put("value", "True"); - properties.add(pro1); - destinationOrder.put("properties", properties); - } - return destinationOrder; - } - - - - /** - * 获得之后num个天的时间 - * - * @param num - * @return - */ - public static String getNextDay(int num) { - Calendar calendar = Calendar.getInstance(); - calendar.add(Calendar.DAY_OF_MONTH, num); - Date date = calendar.getTime(); - TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai"); - DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'"); - df.setTimeZone(tz); - String nowAsISO = df.format(date); - return nowAsISO; - } -} diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index 18d4869..f2c241f 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -37,7 +37,7 @@ public enum DriverTypeEnum { STANDARD_RGV(35, "standard_rgv", "标准版-RGV", "rgv"), - LNSH_PALLETIZING_MANIPULATOR(39, "lnsh_palletizing_manipulator", "嘉耐-码垛机械手", "station"), + LNSH_PALLETIZING_MANIPULATOR(39, "lnsh_palletizing_manipulator", "嘉耐-音来码垛机械手", "station"), LNSH_KILN_LANE(42, "lnsh_kiln_lane", "嘉耐-窑车道", "station"), diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java index a5635e6..cfe77b8 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java @@ -1445,10 +1445,25 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial } } else { //西门子200 - if (datatype.indexOf(".") == -1) { - datatype = "Byte"; - } else { - datatype = "Boolean"; +// if (datatype.indexOf(".") == -1) { +// datatype = "Byte"; +// } else { +// datatype = "Boolean"; +// } + //VW0 嘉耐smart200 + String headtype = datatype.substring(1, 2); + if (headtype.startsWith("B")) { + if (headtype.contains(".")) { + datatype = "Boolean"; + } else { + datatype = "Byte"; + } + } else if (headtype.startsWith("W")) { + datatype = "Word"; + } else if (headtype.startsWith("D")) { + datatype = "DWord"; + } else if (headtype.startsWith("S")) { + datatype = "String"; } } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java index 25cb11c..973f12a 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java @@ -1,10 +1,10 @@ package org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator; -import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import lombok.Data; import lombok.extern.slf4j.Slf4j; import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.LnshPalletizingManipulatorSiteDeviceDriver; import java.util.ArrayList; import java.util.List; @@ -15,18 +15,30 @@ public class ItemProtocol { public static String item_heartbeat = "heartbeat"; public static String item_mode = "mode"; - public static String item_status = "status"; + public static String item_move = "move"; public static String item_action = "action"; + public static String item_ioaction = "ioaction"; public static String item_error = "error"; - public static String item_put_station = "put_station"; + public static String item_task = "task"; + public static String item_weight = "weight"; public static String item_material = "material"; - public static String item_encoder_qty = "encoder_qty"; - public static String item_batch = "batch"; + public static String item_barcode = "barcode"; public static String item_specifications = "specifications"; + public static String item_batch = "batch"; + public static String item_AlongSide = "AlongSide"; + public static String item_BshortSide = "BshortSide"; + public static String item_Htrapezoidal = "Htrapezoidal"; + public static String item_Wthickness = "Wthickness"; + public static String item_status = "status"; + public static String item_unqualified_qty = "unqualified_qty"; + public static String item_encoder_qty = "encoder_qty"; public static String item_order_No = "order_No"; public static String item_order_qty = "order_qty"; - public static String item_to_feedback = "to_feedback"; + public static String item_to_command = "to_command"; + public static String item_to_target = "to_target"; + public static String item_to_task = "to_task"; + public static String item_to_barcode = "to_barcode"; public static String item_to_error = "to_error"; public static String item_to_allow_pallet_qty = "to_allow_pallet_qty"; public static String item_to_material_type = "to_material_type"; @@ -35,6 +47,9 @@ public class ItemProtocol { public static String item_to_product_code = "to_product_code"; public static String item_to_order_qty = "to_order_qty"; + + Boolean isonline; + private LnshPalletizingManipulatorDeviceDriver driver; public ItemProtocol(LnshPalletizingManipulatorDeviceDriver driver) { @@ -49,48 +64,96 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_mode); } - public int getStatus() { - return this.getOpcIntegerValue(item_status); + public int getMove() { + return this.getOpcIntegerValue(item_move); } public int getAction() { return this.getOpcIntegerValue(item_action); } + public int getIoAction() { + return this.getOpcIntegerValue(item_ioaction); + } + public int getError() { return this.getOpcIntegerValue(item_error); } - public int getPut_station() { - return this.getOpcIntegerValue(item_put_station); + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + public int getWeight() { + return this.getOpcIntegerValue(item_weight); } public String getMaterial() { return this.getOpcStringValue(item_material); } - public int getEncoder_qty() { - return this.getOpcIntegerValue(item_encoder_qty); - } - - public int getBatch() { - return this.getOpcIntegerValue(item_batch); - } - - public int getOrder_qty() { - return this.getOpcIntegerValue(item_order_qty); + public int getBarcode() { + return this.getOpcIntegerValue(item_barcode); } public String getSpecifications() { return this.getOpcStringValue(item_specifications); } + public int getBatch() { + return this.getOpcIntegerValue(item_batch); + } + + public int getAlongSide() { + return this.getOpcIntegerValue(item_AlongSide); + } + + public int getBshortSide() { + return this.getOpcIntegerValue(item_BshortSide); + } + + public int getHtrapezoidal() { + return this.getOpcIntegerValue(item_Htrapezoidal); + } + + public int getWthickness() { + return this.getOpcIntegerValue(item_Wthickness); + } + + public int getStatus() { + return this.getOpcIntegerValue(item_status); + } + + public int getEncoder_qty() { + return this.getOpcIntegerValue(item_encoder_qty); + } + + public int getUnqualified_qty() { + return this.getOpcIntegerValue(item_unqualified_qty); + } + + public int getOrder_qty() { + return this.getOpcIntegerValue(item_order_qty); + } + public String getOrder_No() { return this.getOpcStringValue(item_order_No); } - public int getTo_feedback() { - return this.getOpcIntegerValue(item_to_feedback); + public int getToCommand() { + return this.getOpcIntegerValue(item_to_command); + } + + public int getToTarget() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getToTask() { + return this.getOpcIntegerValue(item_to_task); + } + + public int getTo_barcode() { + return this.getOpcIntegerValue(item_to_barcode); } public int getTo_error() { @@ -105,8 +168,8 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_material_type); } - public int getTo_material_code() { - return this.getOpcIntegerValue(item_to_material_code); + public String getTo_material_code() { + return this.getOpcStringValue(item_to_material_code); } public String getTo_order_No() { @@ -121,7 +184,11 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_to_order_qty); } - Boolean isonline; + //是否有货 + public int hasGoods(int move) { + return move; + } + public int getOpcIntegerValue(String protocol) { Integer value = this.driver.getIntegeregerValue(protocol); @@ -133,19 +200,7 @@ public class ItemProtocol { return value; } return 0; - } - - public Float getOpcFloatValue(String protocol) { - Float value = this.driver.getFloatValue(protocol); - if (ObjectUtil.isEmpty(value)) { - - } else { - return value; - } - return 0.0f; - } - public String getOpcStringValue(String protocol) { String value = this.driver.getStringValue(protocol); if (StrUtil.isEmpty(value)) { @@ -153,36 +208,49 @@ public class ItemProtocol { } else { return value; } - return "0"; + return ""; } public static List getReadableItemDtos() { ArrayList list = new ArrayList(); - list.add(new ItemDto(item_heartbeat, "心跳", "DB11010.B0")); - list.add(new ItemDto(item_mode, "工作状态", "DB11010.B1", Boolean.valueOf(true))); - list.add(new ItemDto(item_status, "设备状态", "DB11010.B2")); - list.add(new ItemDto(item_action, "动作", "DB11010.B3")); - list.add(new ItemDto(item_error, "故障代码", "DB11010.B4")); - list.add(new ItemDto(item_put_station, "当前码盘工位", "DB110.B5")); - list.add(new ItemDto(item_material, "码盘工位当前物料", "DB110.S6")); - list.add(new ItemDto(item_specifications, "规格", "DB110.S262")); - list.add(new ItemDto(item_encoder_qty, "码盘位当前码盘数量", "DB110.D518")); - list.add(new ItemDto(item_batch, "批次", "DB110.D522")); - list.add(new ItemDto(item_order_qty, "当前工单数量", "DB110.D526")); - list.add(new ItemDto(item_order_No, "工单号", "DB110.S530")); + list.add(new ItemDto(item_heartbeat, "心跳", "VB0")); + list.add(new ItemDto(item_mode, "工作状态", "VB1", Boolean.valueOf(true))); + list.add(new ItemDto(item_move, "光电开关信号", "VB2")); + list.add(new ItemDto(item_action, "取放信号", "VB3")); + list.add(new ItemDto(item_ioaction, "进出信号", "VB4")); + list.add(new ItemDto(item_error, "报警信号", "VB5")); + list.add(new ItemDto(item_task, "任务号", "VD6")); + list.add(new ItemDto(item_weight, "重量", "VD10")); + list.add(new ItemDto(item_batch, "批次", "VD14")); + list.add(new ItemDto(item_specifications, "规格", "VS18")); + list.add(new ItemDto(item_material, "物料", "VS68")); + list.add(new ItemDto(item_barcode, "条码", "VW118")); + list.add(new ItemDto(item_AlongSide, "A长边", "VW120")); + list.add(new ItemDto(item_BshortSide, "B短边", "VW122")); + list.add(new ItemDto(item_Htrapezoidal, "H梯形高", "VW124")); + list.add(new ItemDto(item_Wthickness, "W厚度", "VW126")); + list.add(new ItemDto(item_status, "设备状态", "VB128")); + list.add(new ItemDto(item_unqualified_qty, "不合格数量", "VD130")); + list.add(new ItemDto(item_encoder_qty, "码盘位当前码盘数量", "VD134")); + list.add(new ItemDto(item_order_qty, "当前工单数量", "VD138")); + list.add(new ItemDto(item_order_No, "工单号", "VS142")); return list; } public static List getWriteableItemDtos() { ArrayList list = new ArrayList(); - list.add(new ItemDto(item_to_feedback, "机器人动作反馈", "DB111.B0")); - list.add(new ItemDto(item_to_error, "故障代码", "DB111.B1")); - list.add(new ItemDto(item_to_allow_pallet_qty, "允许码垛数量", "DB111.W2")); - list.add(new ItemDto(item_to_material_type, "托盘类型", "DB111.D4")); - list.add(new ItemDto(item_to_material_code, "下发物料编号", "DB111.D8")); - list.add(new ItemDto(item_to_order_qty, "下发工单数量", "DB111.D12")); - list.add(new ItemDto(item_to_product_code, "产品编号", "DB111.D16")); - list.add(new ItemDto(item_to_order_No, "工单号", "DB111.S20")); + list.add(new ItemDto(item_to_command, "作业命令", "VW1000", Boolean.valueOf(true))); + list.add(new ItemDto(item_to_target, "目标站", "VW1002")); + list.add(new ItemDto(item_to_task, "任务号", "VD1004")); + list.add(new ItemDto(item_to_barcode, "条码", "VW1008")); + list.add(new ItemDto(item_to_error, "故障代码", "VB1010")); + list.add(new ItemDto(item_to_allow_pallet_qty, "允许码垛数量", "VW1012")); + list.add(new ItemDto(item_to_material_type, "托盘类型", "VD1014")); +// list.add(new ItemDto(item_to_material_code, "下发物料编号", "VD272")); + list.add(new ItemDto(item_to_order_qty, "下发工单数量", "VD1018")); + list.add(new ItemDto(item_to_product_code, "产品编号", "VD1022")); + list.add(new ItemDto(item_to_order_No, "工单号", "VS1026")); + list.add(new ItemDto(item_to_material_code, "下发物料编号", "VS1076")); return list; } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDefination.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDefination.java index be7e536..49d3290 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDefination.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDefination.java @@ -12,7 +12,7 @@ import java.util.LinkedList; import java.util.List; /** - * 嘉耐码垛机械手 + * 嘉耐音来码垛机械手 * */ @Service @@ -24,12 +24,12 @@ public class LnshPalletizingManipulatorDefination implements OpcDeviceDriverDefi @Override public String getDriverName() { - return "嘉耐-码垛机械手"; + return "嘉耐-音来码垛机械手"; } @Override public String getDriverDescription() { - return "嘉耐-码垛机械手"; + return "嘉耐-音来码垛机械手"; } @Override @@ -57,18 +57,27 @@ public class LnshPalletizingManipulatorDefination implements OpcDeviceDriverDefi public static List getReadableItemDtos2() { ArrayList list = new ArrayList(); - list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "DB110.B0")); - list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB110.B1", Boolean.valueOf(true))); - list.add(new ItemDto(ItemProtocol.item_status, "设备状态", "DB110.B2")); - list.add(new ItemDto(ItemProtocol.item_action, "动作", "DB110.B3")); - list.add(new ItemDto(ItemProtocol.item_error, "故障代码", "DB110.B4")); - list.add(new ItemDto(ItemProtocol.item_put_station, "当前码盘工位", "DB110.B5")); - list.add(new ItemDto(ItemProtocol.item_material, "码盘工位当前物料", "DB110.S6")); - list.add(new ItemDto(ItemProtocol.item_specifications, "规格", "DB110.S262")); - list.add(new ItemDto(ItemProtocol.item_encoder_qty, "码盘位当前码盘数量", "DB110.D518")); - list.add(new ItemDto(ItemProtocol.item_batch, "批次", "DB110.D522")); - list.add(new ItemDto(ItemProtocol.item_order_qty, "当前工单数量", "DB110.D526")); - list.add(new ItemDto(ItemProtocol.item_order_No, "工单号", "DB110.S530")); + list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "VB0")); + list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "VB1", Boolean.valueOf(true))); + list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "VB2")); + list.add(new ItemDto(ItemProtocol.item_action, "取放信号", "VB3")); + list.add(new ItemDto(ItemProtocol.item_ioaction, "进出信号", "VB4")); + list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "VB5")); + list.add(new ItemDto(ItemProtocol.item_task, "任务号", "VD6")); + list.add(new ItemDto(ItemProtocol.item_weight, "重量", "VD10")); + list.add(new ItemDto(ItemProtocol.item_batch, "批次", "VD14")); + list.add(new ItemDto(ItemProtocol.item_specifications, "规格", "VS18")); + list.add(new ItemDto(ItemProtocol.item_material, "物料", "VS68")); + list.add(new ItemDto(ItemProtocol.item_barcode, "条码", "VW118")); + list.add(new ItemDto(ItemProtocol.item_AlongSide, "A长边", "VW120")); + list.add(new ItemDto(ItemProtocol.item_BshortSide, "B短边", "VW122")); + list.add(new ItemDto(ItemProtocol.item_Htrapezoidal, "H梯形高", "VW124")); + list.add(new ItemDto(ItemProtocol.item_Wthickness, "W厚度", "VW126")); + list.add(new ItemDto(ItemProtocol.item_status, "设备状态", "VB128")); + list.add(new ItemDto(ItemProtocol.item_unqualified_qty, "不合格数量", "VD130")); + list.add(new ItemDto(ItemProtocol.item_encoder_qty, "码盘位当前码盘数量", "VD134")); + list.add(new ItemDto(ItemProtocol.item_order_qty, "当前工单数量", "VD138")); + list.add(new ItemDto(ItemProtocol.item_order_No, "工单号", "VS142")); return list; } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java index e214e78..fca6594 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java @@ -19,8 +19,6 @@ import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.order.service.ProduceshiftorderService; import org.nl.acs.order.service.dto.ProduceshiftorderDto; import org.nl.acs.route.service.RouteLineService; @@ -29,10 +27,13 @@ import org.nl.utils.SpringContextHolder; import org.openscada.opc.lib.da.Server; import org.springframework.beans.factory.annotation.Autowired; -import java.util.*; +import java.util.Date; +import java.util.HashMap; +import java.util.List; +import java.util.Map; /** - * 嘉耐码垛机械手 + * 嘉耐-音来码垛机械手 */ @Slf4j @Data @@ -53,59 +54,85 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); @Autowired ProduceshiftorderService produceshiftorderService = SpringContextHolder.getBean("produceshiftorderServiceImpl"); - @Autowired - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + + String device_code; int mode = 0; int error = 0; - int action = 0; - int last_action = 0; + int move = 0; + int action; + int io_action; + int task = 0; int last_mode = 0; int last_error = 0; + int last_move = 0; + int last_task = 0; + int last_action = 0; + int last_ioaction = 0; Boolean isonline = true; int hasGoods = 0; - String message = null; Boolean iserror = false; + protected int instruction_num = 0; + protected int instruction_num_truth = 0; Integer heartbeat_tag; private Date instruction_require_time = new Date(); private Date instruction_finished_time = new Date(); - private int instruction_require_time_out; + private int instruction_require_time_out = 3000; boolean requireSucess = false; private int instruction_finished_time_out; + int heartbeat; + int last_heartbeat; + private Date checkHeartbeattime = new Date(); + private Date last_checkHeartbeattime = new Date(); + + int branchProtocol = 0; + //当前指令 + Instruction inst = null; + //上次指令 + Instruction last_inst = null; - float a = 0f; - float b = 0f; - - + //触摸屏手动触发任务 + private Boolean is_has_task = false; //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; - String device_code; - int status = 0; - int last_status = 0; - int put_station = 0; - int last_put_station = 0; - //批次 + String message; + int weight = 0; + int last_weight = 0; + String material; + String last_material; + int barcode = 0; + int last_barcode = 0; + String specifications = ""; + String last_specifications = ""; + int AlongSide = 0; + int last_AlongSide = 0; + int BshortSide = 0; + int last_BshortSide = 0; + int Htrapezoidal = 0; + int last_Htrapezoidal = 0; + int Wthickness = 0; + int last_Wthickness = 0; int batch = 0; int last_batch = 0; + int status = 0; + int last_status = 0; + + int unqualified_qty = 0; + int last_unqualified_qty = 0; + int encoder_qty = 0; + int last_encoder_qty = 0; int order_qty = 0; int last_order_qty = 0; String order_No = ""; String last_order_No = ""; - //规格 - String specifications = ""; - String last_specifications = ""; - String material; - String last_material; - int encoder_qty = 0; - int last_encoder_qty = 0; @Override public Device getDevice() { @@ -114,58 +141,101 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri @Override - public void execute() { + public void execute() throws Exception { String message = null; try { device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); - status = this.itemProtocol.getStatus(); - action = this.itemProtocol.getAction(); error = this.itemProtocol.getError(); - put_station = this.itemProtocol.getPut_station(); + move = this.itemProtocol.getMove(); + task = this.itemProtocol.getTask(); + hasGoods = this.itemProtocol.getMove(); + io_action = this.itemProtocol.getIoAction(); + action = this.itemProtocol.getAction(); + weight = this.itemProtocol.getWeight(); material = this.itemProtocol.getMaterial(); - encoder_qty = this.itemProtocol.getEncoder_qty(); + barcode = this.itemProtocol.getBarcode(); batch = this.itemProtocol.getBatch(); specifications = this.itemProtocol.getSpecifications(); + AlongSide = this.itemProtocol.getAlongSide(); + BshortSide = this.itemProtocol.getBshortSide(); + Htrapezoidal = this.itemProtocol.getHtrapezoidal(); + Wthickness = this.itemProtocol.getWthickness(); order_qty = this.itemProtocol.getOrder_qty(); order_No = this.itemProtocol.getOrder_No(); - + encoder_qty = this.itemProtocol.getEncoder_qty(); + status = this.itemProtocol.getStatus(); + unqualified_qty = this.itemProtocol.getUnqualified_qty(); + if (mode != last_mode) { this.setRequireSucess(false); logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode)); logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + "->" + mode); } - if (status != last_status) { - logServer.deviceItemValue(this.device_code,"status" ,String.valueOf(status)); - logServer.deviceExecuteLog(this.device_code,"","","信号status：" + last_status + "->" + status); - } - if (action != last_action) { - logServer.deviceItemValue(this.device_code,"action" ,String.valueOf(action)); - logServer.deviceExecuteLog(this.device_code,"","","信号action：" + last_action + "->" + action); + if (move != last_move) { + logServer.deviceItemValue(this.device_code,"move" ,String.valueOf(move)); + logServer.deviceExecuteLog(this.device_code,"","","信号move：" + last_move + "->" + move); } if (error != last_error) { logServer.deviceItemValue(this.device_code,"error" ,String.valueOf(error)); logServer.deviceExecuteLog(this.device_code,"","","信号error：" + last_error + "->" + error); } - if (put_station != last_put_station) { - logServer.deviceItemValue(this.device_code,"put_station" ,String.valueOf(put_station)); - logServer.deviceExecuteLog(this.device_code,"","","信号put_station：" + last_put_station + "->" + put_station); + if (task != last_task) { + logServer.deviceItemValue(this.device_code,"task",String.valueOf(task)); + logServer.deviceExecuteLog(this.device_code,"","","信号task：" + last_task + "->" + task); } - if (encoder_qty != last_encoder_qty) { - logServer.deviceItemValue(this.device_code,"encoder_qty" ,String.valueOf(encoder_qty)); - logServer.deviceExecuteLog(this.device_code,"","","信号encoder_qty：" + last_encoder_qty + "->" + encoder_qty); + if (action != last_action) { + logServer.deviceItemValue(this.device_code,"action",String.valueOf(action)); + logServer.deviceExecuteLog(this.device_code,"","","信号action：" + last_action + "->" + action); + } + if (io_action != last_ioaction) { + logServer.deviceItemValue(this.device_code,"io_action",String.valueOf(io_action)); + logServer.deviceExecuteLog(this.device_code,"","","信号io_action: " + last_ioaction + "->" + io_action); + } + if (weight != last_weight) { + logServer.deviceItemValue(this.device_code,"weight",String.valueOf(weight)); + logServer.deviceExecuteLog(this.device_code,"","","信号weight: " + last_weight + "->" + weight); } if (batch != last_batch) { - logServer.deviceItemValue(this.device_code,"batch" ,String.valueOf(batch)); - logServer.deviceExecuteLog(this.device_code,"","","信号batch：" + last_batch + "->" + batch); + logServer.deviceItemValue(this.device_code,"batch",String.valueOf(batch)); + logServer.deviceExecuteLog(this.device_code,"","","信号batch: " + last_batch + "->" + batch); + } + if (!StrUtil.equals(material,last_material)) { + logServer.deviceItemValue(this.device_code,"material", material); + logServer.deviceExecuteLog(this.device_code,"","","信号material：" + last_material + "->" + material); + } + if (barcode != last_barcode) { + logServer.deviceItemValue(this.device_code,"barcode", String.valueOf(barcode)); + logServer.deviceExecuteLog(this.device_code,"","","信号barcode：" + last_barcode + "->" + barcode); } if (!StrUtil.equals(specifications,last_specifications)) { logServer.deviceItemValue(this.device_code,"specifications", specifications); logServer.deviceExecuteLog(this.device_code,"","","信号specifications：" + last_specifications + "->" + specifications); } - if (!StrUtil.equals(material,last_material)) { - logServer.deviceItemValue(this.device_code,"material", material); - logServer.deviceExecuteLog(this.device_code,"","","信号material：" + last_material + "->" + material); + if (AlongSide != last_AlongSide) { + logServer.deviceItemValue(this.device_code,"AlongSide",String.valueOf(AlongSide)); + logServer.deviceExecuteLog(this.device_code,"","","信号AlongSide: " + last_AlongSide + "->" + AlongSide); + } + if (BshortSide != last_BshortSide) { + logServer.deviceItemValue(this.device_code,"BshortSide",String.valueOf(BshortSide)); + logServer.deviceExecuteLog(this.device_code,"","","信号BshortSide: " + last_BshortSide + "->" + BshortSide); + } + if (Htrapezoidal != last_Htrapezoidal) { + logServer.deviceItemValue(this.device_code,"Htrapezoidal",String.valueOf(Htrapezoidal)); + logServer.deviceExecuteLog(this.device_code,"","","信号Htrapezoidal: " + last_Htrapezoidal + "->" + Htrapezoidal); + } + if (Wthickness != last_Wthickness) { + logServer.deviceItemValue(this.device_code,"Wthickness",String.valueOf(Wthickness)); + logServer.deviceExecuteLog(this.device_code,"","","信号Wthickness: " + last_Wthickness + "->" + Wthickness); + } + if (status != last_status) { + logServer.deviceItemValue(this.device_code,"status" ,String.valueOf(status)); + logServer.deviceExecuteLog(this.device_code,"","","信号status：" + last_status + "->" + status); + } + if (encoder_qty != last_encoder_qty) { + logServer.deviceItemValue(this.device_code,"encoder_qty" ,String.valueOf(encoder_qty)); + logServer.deviceExecuteLog(this.device_code,"","","信号encoder_qty：" + last_encoder_qty + "->" + encoder_qty); } if (!StrUtil.equals(order_No,last_order_No)) { logServer.deviceItemValue(this.device_code,"order_No", order_No); @@ -175,12 +245,20 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri logServer.deviceItemValue(this.device_code,"order_qty" ,String.valueOf(order_qty)); logServer.deviceExecuteLog(this.device_code,"","","信号order_qty：" + last_order_qty + "->" + order_qty); } + if (unqualified_qty != last_unqualified_qty) { + logServer.deviceItemValue(this.device_code,"unqualified_qty" ,String.valueOf(unqualified_qty)); + logServer.deviceExecuteLog(this.device_code,"","","信号unqualified_qty：" + last_unqualified_qty + "->" + unqualified_qty); + } } catch (Exception var17) { return; } - if (!this.itemProtocol.getIsonline()) { + //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"; @@ -204,10 +282,8 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri switch (mode) { case 1: log.debug("设备运转模式:等待工作"); - return; - case 2: break; - case 3: + case 2: break; case 4: //排产单确认 @@ -221,22 +297,28 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri enterProduction(json); } break; + case 5: + //申请空盘 + if (!requireSucess && this.move == 0) { + applyEmpty(); + } + break; case 6: - //码垛完成 - if (!requireSucess && put_station>0 ) { - palletizing(); + //申请入库 + if (!requireSucess && this.move != 0) { + putStorage(); } break; case 7: - //码垛强制完成 + //码垛完成 if (!requireSucess) { - mandatoryPalletizing(); + palletizing(); } break; case 8: - //申请空盘 + //码垛强制完成 if (!requireSucess) { - applyEmpty(); + mandatoryPalletizing(); } break; case 9: @@ -251,40 +333,58 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri enterProduction(json); } break; + } switch (flag) { - //取货完成 - case 1: - writing(2); - return; - //放货完成 - case 2: - writing(3); - return; - + //请求取货 +// case 1: +// writing(12); +// return; +// //取货完成 +// case 2: +// writing(10); +// return; +// //请求放货 +// case 3: +// writing(13); +// return; +// //放货完成 +// case 4: +// writing(11); +// return; } - } + last_mode = mode; - last_status = status; - last_action = action; last_error = error; - last_put_station = put_station; + last_move = move; + last_task = task; + last_action = action; + last_ioaction = io_action; + last_weight = weight; last_material = material; - last_encoder_qty = encoder_qty; - last_batch = batch; + last_barcode = barcode; last_specifications = specifications; + last_batch = batch; + last_AlongSide = AlongSide; + last_BshortSide = BshortSide; + last_Htrapezoidal = Htrapezoidal; + last_Wthickness = Wthickness; last_order_No = order_No; last_order_qty = order_qty; + last_encoder_qty = encoder_qty; + last_status = status; + last_unqualified_qty = unqualified_qty; } + /** - * 获取托盘信息 + * 申请空盘 * * @param */ - public synchronized boolean getVehicle() { + public synchronized boolean applyEmpty() { Date date = new Date(); if (date.getTime() - this.instruction_require_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); @@ -293,19 +393,16 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri this.instruction_require_time = date; JSONObject json = new JSONObject(); json.put("device_code",this.device_code); - JSONObject jo = acsToWmsService.getVehicle(json); - - if (jo.getInteger("status") == 200) { - JSONObject content = jo.getJSONObject("content"); - String qty = content.getString("qty"); - String material_code = content.getString("material_code"); - String material_name = content.getString("material_name"); - - this.writing(this.mode); - this.writing("to_materialQty",qty); - this.writing("to_material_code",material_code); - } - requireSucess = true; + json.put("type","4"); +// json.put("vehicle_code",barcode); + HttpResponse result = acsToWmsService.lnshApplyTaskToWms(json); + if (ObjectUtil.isNotEmpty(result)) { + JSONObject jsonObject = JSONObject.parseObject(result.body()); + if (result.getStatus() == 200 && StrUtil.equals(jsonObject.getString("status"),"200")) { + this.writing(this.mode); + this.setRequireSucess(true); + } + } return true; } } @@ -354,15 +451,16 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } else { this.instruction_require_time = date; JSONObject json = new JSONObject(); - String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code"); - String demosub = linkobj.substring(1,linkobj.length()-1); - String demoArray[] = demosub.split(","); - List demoList = Arrays.asList(demoArray); - json.put("device_code",demoList.get(put_station-1).replace("\"","")); +// String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code"); +// String demosub = linkobj.substring(1,linkobj.length()-1); +// String demoArray[] = demosub.split(","); +// List demoList = Arrays.asList(demoArray); + json.put("device_code",this.device_code); json.put("material_code",material); json.put("qty",encoder_qty); json.put("batch",batch); json.put("producetask_code",order_No); + json.put("unqualified_qty",unqualified_qty); json.put("is_full","1"); HttpResponse result = acsToWmsService.applyTaskManipulatorToWms(json); if (ObjectUtil.isNotEmpty(result)) { @@ -389,17 +487,17 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } else { this.instruction_require_time = date; JSONObject json = new JSONObject(); - String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code"); - String demosub = linkobj.substring(1,linkobj.length()-1); - String demoArray[] = demosub.split(","); - List demoList = Arrays.asList(demoArray); - json.put("device_code",demoList.get(put_station-1).replace("\"","")); +// String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code"); +// String demosub = linkobj.substring(1,linkobj.length()-1); +// String demoArray[] = demosub.split(","); +// List demoList = Arrays.asList(demoArray); + json.put("device_code",this.device_code); json.put("material_code",material); json.put("qty",encoder_qty); + json.put("unqualified_qty",unqualified_qty); json.put("batch",batch); json.put("producetask_code",order_No); json.put("is_full","1"); - HttpResponse result = acsToWmsService.applyTaskManipulatorToWms(json); if (ObjectUtil.isNotEmpty(result)) { JSONObject jsonObject = JSONObject.parseObject(result.body()); @@ -413,11 +511,11 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } /** - * 申请空盘 + * 申请入库 * * @param */ - public synchronized boolean applyEmpty() { + public synchronized boolean putStorage() { Date date = new Date(); if (date.getTime() - this.instruction_require_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); @@ -425,13 +523,13 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } else { this.instruction_require_time = date; JSONObject json = new JSONObject(); - String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code"); - String demosub = linkobj.substring(1,linkobj.length()-1); - String demoArray[] = demosub.split(","); - List demoList = Arrays.asList(demoArray); - json.put("device_code",demoList.get(put_station-1).replace("\"","")); - json.put("type","4"); - + json.put("device_code",this.device_code); + json.put("type","1"); + json.put("material_code",material); +// json.put("vehicle_code",barcode); + json.put("qty",encoder_qty); + json.put("unqualified_qty",unqualified_qty); + json.put("is_full","1"); HttpResponse result = acsToWmsService.lnshApplyTaskToWms(json); if (ObjectUtil.isNotEmpty(result)) { JSONObject jsonObject = JSONObject.parseObject(result.body()); @@ -444,6 +542,9 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } } + + + public boolean exe_error() { if (this.error == 0) { return true; @@ -457,6 +558,58 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri return true; } + protected void executing(Instruction instruction) { + this.executing(1, instruction, ""); + } + + public void executing(int command, Instruction instruction, String appendMessage) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_command; + String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_target; + String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_task; + if (appendMessage == null) { + appendMessage = ""; + } + if (instruction != null) { + instruction_num = Integer.parseInt(instruction.getInstruction_code()); + } + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command, 1); + itemMap.put(to_task, instruction_num); + ReadUtil.write(itemMap, server); + + } + + public void executing(Server server, Map itemMap) { + ReadUtil.write(itemMap, server); + } + + public void writing(int type, int command) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_command; + String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_target; + String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.ItemProtocol.item_to_task; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + if (type == 1) { + itemMap.put(to_command, command); + } else if (type == 2) { + itemMap.put(to_target, command); + + } else if (type == 3) { + itemMap.put(to_task, command); + } + ReadUtil.write(itemMap, server); + + } + public void writing(String param, String value) { String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() @@ -464,55 +617,62 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri String opcservcerid = this.getDevice().getOpc_server_id(); Server server = ReadUtil.getServer(opcservcerid); Map itemMap = new HashMap(); - itemMap.put(to_param, value); -// itemMap.put(to_param, Integer.parseInt(value)); - ReadUtil.write(itemMap, server); - } - public void executing(Server server, Map itemMap) { ReadUtil.write(itemMap, server); } public void writing(int command) { - + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_command; String opcservcerid = this.getDevice().getOpc_server_id(); Server server = ReadUtil.getServer(opcservcerid); Map itemMap = new HashMap(); + itemMap.put(to_command, command); ReadUtil.write(itemMap, server); + } + public synchronized void OpenOrClose(String type) { + + //进入区域 + if ("1".equals(type)) { + writing(5); + } else { + //离开区域 + writing(6); + } + } + + public String toString() { + return ""; } @Override public JSONObject getDeviceStatusName() { JSONObject jo = new JSONObject(); String mode = ""; - String status = ""; String action = ""; + String io_action = ""; + String move = ""; + String status = ""; if (this.getMode() == 0) { mode = "未联机"; } else if (this.getMode() == 1) { mode = "单机"; } else if (this.getMode() == 2) { mode = "联机"; - } else if (this.getMode() == 3) { - mode = "工作中"; } else if (this.getMode() == 4) { - mode = "获取托盘信息"; + mode = "人工排产确认"; } else if (this.getMode() == 5) { - mode = "码垛完成"; - } else if (this.getMode() == 6) { - mode = "码垛强制完成"; - } else if (this.getMode() == 7) { mode = "申请空盘"; - } - - if (this.getStatus() == 1) { - status = "待机"; - } else if (this.getStatus() == 2) { - status = "生产中"; - } else if (this.getStatus() == 3) { - status = "故障"; + } else if (this.getMode() == 6) { + mode = "申请入库"; + } else if (this.getMode() == 7) { + mode = "码垛完成"; + } else if (this.getMode() == 8) { + mode = "码垛强制完成"; + } else if (this.getMode() == 9) { + mode = "工单完成"; } if (this.getAction() == 0) { @@ -524,20 +684,54 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri } else if (this.getAction() == 3) { action = "允许取放"; } + if (this.getIo_action() == 0) { + io_action = "禁止进出"; + } else if (this.getIo_action() == 1) { + io_action = "允许进入"; + } else if (this.getIo_action() == 2) { + io_action = "允许离开"; + } else if (this.getIo_action() == 3) { + io_action = "允许进出"; + } + if (this.getStatus() == 1) { + status = "待机"; + } else if (this.getStatus() == 2) { + status = "生产中"; + } else if (this.getStatus() == 3) { + status = "故障"; + } + + if (this.getMove() == 0) { + move = "无货"; + } else if (this.getMove() == 1) { + move = "有货"; + } else if (this.getMove() == 2) { + move = "有托盘有货"; + } jo.put("device_name", this.getDevice().getDevice_name()); jo.put("mode", mode); - jo.put("status", status); + jo.put("move", move); jo.put("action", action); + jo.put("status", status); + jo.put("io_action", io_action); + jo.put("hasGoods", this.getHasGoods()); jo.put("isOnline", this.getIsonline()); jo.put("error", this.getError()); - jo.put("put_station", this.getPut_station()); - jo.put("material", this.getMaterial()); - jo.put("encoder_qty", this.getEncoder_qty()); - jo.put("specifications", this.getSpecifications()); - jo.put("batch", this.getBatch()); jo.put("isError", this.getIserror()); jo.put("message", this.getMessage()); + jo.put("task", this.getTask()); + jo.put("weight", this.getWeight()); + jo.put("material", this.getMaterial()); + jo.put("barcode", this.getBarcode()); + jo.put("specifications", this.getSpecifications()); + jo.put("AlongSide", this.getAlongSide()); + jo.put("BshortSide", this.getBshortSide()); + jo.put("Htrapezoidal", this.getHtrapezoidal()); + jo.put("Wthickness", this.getWthickness()); + jo.put("batch", this.getBatch()); + jo.put("order_No", this.getOrder_No()); + jo.put("order_qty", this.getOrder_qty()); return jo; } @@ -545,18 +739,4 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri public void setDeviceStatus(JSONObject data) { } - -// public void writing(int type, int command) { -// String to_material_code = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() -// + "." + ItemProtocol.item_to_material_code; -// String opcservcerid = this.getDevice().getOpc_server_id(); -// Server server = ReadUtil.getServer(opcservcerid); -// Map itemMap = new HashMap(); -// if (type == 2) { -// itemMap.put(to_material_code, command); -// } -// ReadUtil.write(itemMap, server); -// -// } - } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index 972573c..f56093c 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -608,17 +608,24 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) device.getDeviceDriver(); jo.put("device_code", device.getDevice_code()); jo.put("mode", lnshPalletizingManipulatorDeviceDriver.getMode()); - jo.put("status", lnshPalletizingManipulatorDeviceDriver.getStatus()); + jo.put("move", lnshPalletizingManipulatorDeviceDriver.getMove()); jo.put("action", lnshPalletizingManipulatorDeviceDriver.getAction()); + jo.put("io_action", lnshPalletizingManipulatorDeviceDriver.getIo_action()); + jo.put("hasGoods", lnshPalletizingManipulatorDeviceDriver.getHasGoods()); jo.put("isOnline", lnshPalletizingManipulatorDeviceDriver.getIsonline()); jo.put("error", lnshPalletizingManipulatorDeviceDriver.getError()); - jo.put("put_station", lnshPalletizingManipulatorDeviceDriver.getPut_station()); - jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); - jo.put("encoder_qty", lnshPalletizingManipulatorDeviceDriver.getEncoder_qty()); - jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); - jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); jo.put("isError", lnshPalletizingManipulatorDeviceDriver.getIserror()); jo.put("message", lnshPalletizingManipulatorDeviceDriver.getMessage()); + jo.put("task", lnshPalletizingManipulatorDeviceDriver.getTask()); + jo.put("weight", lnshPalletizingManipulatorDeviceDriver.getWeight()); + jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); + jo.put("barcode", lnshPalletizingManipulatorDeviceDriver.getBarcode()); + jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); + jo.put("AlongSide", lnshPalletizingManipulatorDeviceDriver.getAlongSide()); + jo.put("BshortSide", lnshPalletizingManipulatorDeviceDriver.getBshortSide()); + jo.put("Htrapezoidal", lnshPalletizingManipulatorDeviceDriver.getHtrapezoidal()); + jo.put("Wthickness", lnshPalletizingManipulatorDeviceDriver.getWthickness()); + jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); } else if (device.getDeviceDriver() instanceof LnshKilnLaneDeviceDriver) { lnshKilnLaneDeviceDriver = (LnshKilnLaneDeviceDriver) device.getDeviceDriver(); jo.put("device_code", device.getDevice_code()); @@ -856,17 +863,24 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { lnshPalletizingManipulatorDeviceDriver = (LnshPalletizingManipulatorDeviceDriver) device.getDeviceDriver(); jo.put("device_code", device.getDevice_code()); jo.put("mode", lnshPalletizingManipulatorDeviceDriver.getMode()); - jo.put("status", lnshPalletizingManipulatorDeviceDriver.getStatus()); + jo.put("move", lnshPalletizingManipulatorDeviceDriver.getMove()); jo.put("action", lnshPalletizingManipulatorDeviceDriver.getAction()); + jo.put("io_action", lnshPalletizingManipulatorDeviceDriver.getIo_action()); + jo.put("hasGoods", lnshPalletizingManipulatorDeviceDriver.getHasGoods()); jo.put("isOnline", lnshPalletizingManipulatorDeviceDriver.getIsonline()); jo.put("error", lnshPalletizingManipulatorDeviceDriver.getError()); - jo.put("put_station", lnshPalletizingManipulatorDeviceDriver.getPut_station()); - jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); - jo.put("encoder_qty", lnshPalletizingManipulatorDeviceDriver.getEncoder_qty()); - jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); - jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); jo.put("isError", lnshPalletizingManipulatorDeviceDriver.getIserror()); jo.put("message", lnshPalletizingManipulatorDeviceDriver.getMessage()); + jo.put("task", lnshPalletizingManipulatorDeviceDriver.getTask()); + jo.put("weight", lnshPalletizingManipulatorDeviceDriver.getWeight()); + jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); + jo.put("barcode", lnshPalletizingManipulatorDeviceDriver.getBarcode()); + jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); + jo.put("AlongSide", lnshPalletizingManipulatorDeviceDriver.getAlongSide()); + jo.put("BshortSide", lnshPalletizingManipulatorDeviceDriver.getBshortSide()); + jo.put("Htrapezoidal", lnshPalletizingManipulatorDeviceDriver.getHtrapezoidal()); + jo.put("Wthickness", lnshPalletizingManipulatorDeviceDriver.getWthickness()); + jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); } else if (device.getDeviceDriver() instanceof LnshKilnLaneDeviceDriver) { lnshKilnLaneDeviceDriver = (LnshKilnLaneDeviceDriver) device.getDeviceDriver(); jo.put("device_code", device.getDevice_code()); diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/logicflow/service/impl/StageServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/logicflow/service/impl/StageServiceImpl.java index 8852382..50e148a 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/logicflow/service/impl/StageServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/logicflow/service/impl/StageServiceImpl.java @@ -657,11 +657,15 @@ public class StageServiceImpl implements StageService { } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 2) { mode = "联机"; } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 4) { - mode = "叫料"; + mode = "工单确认"; } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 5) { mode = "申请空盘"; - } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 6) { - mode = "申请入库"; + } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 7) { + mode = "码垛完成"; + } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 8) { + mode = "码垛强制完成"; + } else if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 9) { + mode = "工单完成"; } if (lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 0) { @@ -718,24 +722,16 @@ public class StageServiceImpl implements StageService { mode = "单机"; } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 2) { mode = "联机"; - } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 3) { - mode = "工作中"; } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 4) { - mode = "获取托盘信息"; + mode = "工单确认"; } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 5) { - mode = "码垛完成"; - } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 6) { - mode = "码垛强制完成"; - } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 7) { mode = "申请空盘"; - } - - if (lnshPalletizingManipulatorDeviceDriver.getStatus() == 1) { - status = "待机"; - } else if (lnshPalletizingManipulatorDeviceDriver.getStatus() == 2) { - status = "生产中"; - } else if (lnshPalletizingManipulatorDeviceDriver.getStatus() == 3) { - status = "故障"; + } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 7) { + mode = "码垛完成"; + } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 8) { + mode = "码垛强制完成"; + } else if (lnshPalletizingManipulatorDeviceDriver.getMode() == 9) { + mode = "工单完成"; } if (lnshPalletizingManipulatorDeviceDriver.getAction() == 0) { @@ -747,20 +743,43 @@ public class StageServiceImpl implements StageService { } else if (lnshPalletizingManipulatorDeviceDriver.getAction() == 3) { action = "允许取放"; } + if (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 0) { + io_action = "禁止进出"; + } else if (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 1) { + io_action = "允许进入"; + } else if (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 2) { + io_action = "允许离开"; + } else if (lnshPalletizingManipulatorDeviceDriver.getIo_action() == 3) { + io_action = "允许进出"; + } + if (lnshPalletizingManipulatorDeviceDriver.getMove() == 0) { + move = "无货"; + } else if (lnshPalletizingManipulatorDeviceDriver.getMove() == 1) { + move = "有货"; + } else if (lnshPalletizingManipulatorDeviceDriver.getMove() == 2) { + move = "有托盘有货"; + } obj.put("device_name", lnshPalletizingManipulatorDeviceDriver.getDevice().getDevice_name()); jo.put("mode", mode); - jo.put("status", status); + jo.put("move", move); jo.put("action", action); + jo.put("io_action", io_action); + jo.put("hasGoods", lnshPalletizingManipulatorDeviceDriver.getHasGoods()); jo.put("isOnline", lnshPalletizingManipulatorDeviceDriver.getIsonline()); jo.put("error", lnshPalletizingManipulatorDeviceDriver.getError()); - jo.put("put_station", lnshPalletizingManipulatorDeviceDriver.getPut_station()); - jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); - jo.put("encoder_qty", lnshPalletizingManipulatorDeviceDriver.getEncoder_qty()); - jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); - jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); jo.put("isError", lnshPalletizingManipulatorDeviceDriver.getIserror()); jo.put("message", lnshPalletizingManipulatorDeviceDriver.getMessage()); + jo.put("task", lnshPalletizingManipulatorDeviceDriver.getTask()); + jo.put("weight", lnshPalletizingManipulatorDeviceDriver.getWeight()); + jo.put("material", lnshPalletizingManipulatorDeviceDriver.getMaterial()); + jo.put("barcode", lnshPalletizingManipulatorDeviceDriver.getBarcode()); + jo.put("specifications", lnshPalletizingManipulatorDeviceDriver.getSpecifications()); + jo.put("AlongSide", lnshPalletizingManipulatorDeviceDriver.getAlongSide()); + jo.put("BshortSide", lnshPalletizingManipulatorDeviceDriver.getBshortSide()); + jo.put("Htrapezoidal", lnshPalletizingManipulatorDeviceDriver.getHtrapezoidal()); + jo.put("Wthickness", lnshPalletizingManipulatorDeviceDriver.getWthickness()); + jo.put("batch", lnshPalletizingManipulatorDeviceDriver.getBatch()); } else if (device.getDeviceDriver() instanceof LnshKilnLaneDeviceDriver) { lnshKilnLaneDeviceDriver = (LnshKilnLaneDeviceDriver) device.getDeviceDriver(); if (lnshKilnLaneDeviceDriver.getMode() == 0) { diff --git a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml index 45d9135..3655081 100644 --- a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml +++ b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml @@ -174,5 +174,8 @@ https://juejin.cn/post/6844903775631572999 + + +