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音来码垛机械手新驱动

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This commit is contained in:
loujf
2022-10-29 13:16:20 +08:00
parent a6ccdac531
commit c9112ec03d
11 changed files with 627 additions and 829 deletions
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9
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java
View File

@@ -1,9 +0,0 @@
package org.nl.acs.agv.server;
/**
* @Author: lyd
* @Description:
* @Date: 2022-08-15
*/
public interface ZheDaAgvService {
}

52
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
View File

@@ -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();

551
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
View File

@@ -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;
}
}

2
acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
View File

@@ -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"),

23
acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
View File

@@ -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";
}
}

184
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java
View File

@@ -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<ItemDto> 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<ItemDto> 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;
}

39
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDefination.java
View File

@@ -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<ItemDto> 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;
}

488
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java
View File

@@ -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<String> 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<String> 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<String> 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<String> 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<String> 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<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, 1);
itemMap.put(to_task, instruction_num);
ReadUtil.write(itemMap, server);
}
public void executing(Server server, Map<String, Object> 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<String, Object> itemMap = new HashMap<String, Object>();
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<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_param, value);
// itemMap.put(to_param, Integer.parseInt(value));
ReadUtil.write(itemMap, server);
}
public void executing(Server server, Map<String, Object> 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<String, Object> itemMap = new HashMap<String, Object>();
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<String, Object> itemMap = new HashMap<String, Object>();
// if (type == 2) {
// itemMap.put(to_material_code, command);
// }
// ReadUtil.write(itemMap, server);
//
// }
}

38
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -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());

67
acs/hd/nladmin-system/src/main/java/org/nl/logicflow/service/impl/StageServiceImpl.java
View File

@@ -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) {

3
acs/hd/nladmin-system/src/main/resources/logback-spring.xml
View File

@@ -174,5 +174,8 @@ https://juejin.cn/post/6844903775631572999
<logger name="org.openscada.opc.lib.da.Server" level="ERROR" additivity="false">
<appender-ref ref="lokiAppender" />
</logger>
<logger name="org.jinterop" level="ERROR" additivity="false">
<appender-ref ref="CONSOLE"/>
</logger>
</springProfile>
</configuration>