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USER-20220102CG\noblelift
2023-01-06 17:05:15 +08:00
parent b5dc92f7da
commit 947cc3b45b
3 changed files with 100 additions and 40 deletions
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130
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -929,13 +929,15 @@ public class AgvServiceImpl implements AgvService {
//请求取货
if ("Load".equals(action)) {
if(standardInspectSiteSmartDeviceDriver.getMode()>0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3 && standardInspectSiteSmartDeviceDriver.getError()==0){
&& ( standardInspectSiteSmartDeviceDriver.getAction() == 3 || standardInspectSiteSmartDeviceDriver.getAction() == 1 )
&& standardInspectSiteSmartDeviceDriver.getError()==0){
is_feedback = true;
}
//请求放货
} else if ("Unload".equals(action)) {
if(standardInspectSiteSmartDeviceDriver.getMode()>0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3 && standardInspectSiteSmartDeviceDriver.getError()==0){
&& (standardInspectSiteSmartDeviceDriver.getAction() == 3 || standardInspectSiteSmartDeviceDriver.getAction() == 2 )
&& standardInspectSiteSmartDeviceDriver.getError()==0){
is_feedback = true;
}
}
@@ -981,46 +983,51 @@ public class AgvServiceImpl implements AgvService {
String apply_task = addressdevice.getExtraValue().get("apply_task").toString();
//取货完成
if ("Load".equals(action)) {
standardInspectSiteSmartDeviceDriver.setFlag(2);
is_feedback = true;
//如果开启呼叫按钮，那么就需要判断进出动作信号
if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
if (standardInspectSiteSmartDeviceDriver.getMode() != 0
//&& standardInspectSiteSmartDeviceDriver.getMove() == 0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3
&& standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
inst.setExecute_device_code(processingVehicle);
inst.setExecute_status("2");
standardInspectSiteSmartDeviceDriver.writing(2);
is_feedback = true;
}
} else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// && standardInspectSiteSmartDeviceDriver.getMove() == 0
) {
inst.setExecute_device_code(processingVehicle);
inst.setExecute_status("2");
standardInspectSiteSmartDeviceDriver.writing(2);
is_feedback = true;
}
// if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
// if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// //&& standardInspectSiteSmartDeviceDriver.getMove() == 0
// && standardInspectSiteSmartDeviceDriver.getAction() == 3
// && standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
// inst.setExecute_device_code(processingVehicle);
// inst.setExecute_status("2");
// standardInspectSiteSmartDeviceDriver.writing(2);
// is_feedback = true;
// }
// } else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// // && standardInspectSiteSmartDeviceDriver.getMove() == 0
// ) {
// inst.setExecute_device_code(processingVehicle);
// inst.setExecute_status("2");
// standardInspectSiteSmartDeviceDriver.writing(2);
// is_feedback = true;
// }
//放货完成
} else if ("Unload".equals(action)) {
standardInspectSiteSmartDeviceDriver.setFlag(4);
is_feedback = true;
if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// && standardInspectSiteSmartDeviceDriver.getMove() > 0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3
&& standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
standardInspectSiteSmartDeviceDriver.writing(3);
is_feedback = true;
}
} else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
//&& standardInspectSiteSmartDeviceDriver.getMove() > 0
) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
standardInspectSiteSmartDeviceDriver.writing(3);
is_feedback = true;
}
// if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
// if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// // && standardInspectSiteSmartDeviceDriver.getMove() > 0
// && standardInspectSiteSmartDeviceDriver.getAction() == 3
// && standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
// inst.setExecute_device_code(address);
// inst.setExecute_status("4");
// standardInspectSiteSmartDeviceDriver.writing(3);
// is_feedback = true;
// }
// } else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// //&& standardInspectSiteSmartDeviceDriver.getMove() > 0
// ) {
// inst.setExecute_device_code(address);
// inst.setExecute_status("4");
// standardInspectSiteSmartDeviceDriver.writing(3);
// is_feedback = true;
// }
}
}
@@ -1369,6 +1376,7 @@ public class AgvServiceImpl implements AgvService {
Device addressdevice = appService.findDeviceByCode(address);
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
StandardInspectSiteSmartDeviceDriver standardInspectSiteSmartDeviceDriver;
StandardStorageDeviceDriver standardStorageDeviceDriver;
//mes = AgvClientXZ.mes(zlbh, device, type);
//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
@@ -1413,6 +1421,52 @@ public class AgvServiceImpl implements AgvService {
}
}
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteSmartDeviceDriver) {
standardInspectSiteSmartDeviceDriver = (StandardInspectSiteSmartDeviceDriver) addressdevice.getDeviceDriver();
String apply_task = addressdevice.getExtraValue().get("apply_task").toString();
//取货完成请求离开
if (standardInspectSiteSmartDeviceDriver.getFlag() == 2) {
//如果开启呼叫按钮，那么就需要判断进出动作信号
if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
if (standardInspectSiteSmartDeviceDriver.getMode() != 0
//&& standardInspectSiteSmartDeviceDriver.getMove() == 0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3
&& standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
standardInspectSiteSmartDeviceDriver.writing(2);
flag = true;
}
} else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// && standardInspectSiteSmartDeviceDriver.getMove() == 0
) {
standardInspectSiteSmartDeviceDriver.writing(2);
flag = true;
}
}
//放货完成请求离开
if (standardInspectSiteSmartDeviceDriver.getFlag() == 4) {
//如果开启呼叫按钮，那么就需要判断进出动作信号
if (ObjectUtil.isNotEmpty(apply_task) && apply_task.equals("true")) {
if (standardInspectSiteSmartDeviceDriver.getMode() != 0
//&& standardInspectSiteSmartDeviceDriver.getMove() == 0
&& standardInspectSiteSmartDeviceDriver.getAction() == 3
&& standardInspectSiteSmartDeviceDriver.getIo_action() == 3) {
standardInspectSiteSmartDeviceDriver.writing(2);
flag = true;
}
} else if (standardInspectSiteSmartDeviceDriver.getMode() != 0
// && standardInspectSiteSmartDeviceDriver.getMove() == 0
) {
standardInspectSiteSmartDeviceDriver.writing(2);
flag = true;
}
}
}
if (flag) {
log.info("AGV请求离开，反馈成功:{}", address);
System.out.println("AGV请求离开，反馈成功 " + address);

8
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site_smart200/ItemProtocol.java
View File

@@ -95,7 +95,7 @@ public class ItemProtocol {
list.add(new ItemDto(item_mode, "工作状态", "VW2", Boolean.valueOf(true)));
list.add(new ItemDto(item_move, "光电开关信号", "VW4"));
list.add(new ItemDto(item_action, "动作信号", "VW6"));
list.add(new ItemDto(item_ioaction, "进出信号", "VW8"));
// list.add(new ItemDto(item_ioaction, "进出信号", "VW8"));
list.add(new ItemDto(item_error, "报警信号", "VW12"));
list.add(new ItemDto(item_task, "任务号", "VD14"));
return list;
@@ -109,5 +109,11 @@ public class ItemProtocol {
return list;
}
@Override
public String toString() {
return "";
}
}

2
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site_smart200/StandardInspectSiteSmartDeviceDriver.java
View File

@@ -167,7 +167,7 @@ public class StandardInspectSiteSmartDeviceDriver extends AbstractOpcDeviceDrive
error = this.itemProtocol.getError();
move = this.itemProtocol.getMove();
action = this.itemProtocol.getAction();
io_action = this.itemProtocol.getIo_action();
//io_action = this.itemProtocol.getIo_action();
task = this.itemProtocol.getTask();
hasGoods = this.itemProtocol.getMove();