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fix: 修复测试手持过程中存在的问题

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This commit is contained in:
yanps
2024-09-11 09:43:29 +08:00
parent c55aafd795
commit 452fd41d16
16 changed files with 203 additions and 166 deletions
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185
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -46,6 +46,7 @@ import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.CompletableFuture;
/**
* NDC单工位AGV
@@ -180,9 +181,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
Map<String, Object> extraValue = plcToAgvDeviceDriver.getExtraValue();
if (plcToAgvDeviceDriver.getAGVEnable() != 0) {
/*if (device_code.contains("_01")) {
if (device_code.contains("_01")) {
if (plcToAgvDeviceDriver.getAGVSetOutUpperAllowed() == 1) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
data = feedBackStatus(data, index, 1, inst, task, 2, false);
}
} else if (device_code.contains("_02")) {
Object plc_to_agv = extraValue.get("upper_lower_levels");
@@ -193,8 +194,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
data = feedBackStatus(data, index, 1, inst, task, 2, false);
}
}
} else */
if (ObjectUtil.isNotEmpty(extraValue.get("upper_lower_levels"))) {
} else if (ObjectUtil.isNotEmpty(extraValue.get("upper_lower_levels"))) {
Object plc_to_agv = extraValue.get("upper_lower_levels");
if ("1".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetOutReqUpper", "1");
@@ -257,49 +257,53 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
/*if (device_code.contains("_01")) {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetOutReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetOutReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
if (device_code.contains("_01")) {
CompletableFuture.runAsync(() -> {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetOutReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetOutReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
});
data = feedBackStatus(data, index, 2, inst, task, 2, false);
} else if (device_code.contains("_02")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
} else {*/
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetOutReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetOutReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
data = feedBackStatus(data, index, 2, inst, task, 2, false);
} else {
CompletableFuture.runAsync(() -> {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetOutReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetOutReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
});
data = feedBackStatus(data, index, 2, inst, task, 2, false);
}
data = feedBackStatus(data, index, 2, inst, task, 2, false);
/*}*/
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
data = feedBackStatus(data, index, 2, inst, task, 1, false);
@@ -341,7 +345,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
if (plcToAgvDeviceDriver.getAGVEnable() != 0) {
Map<String, Object> extraValue = plcToAgvDeviceDriver.getExtraValue();
/*if (device_code.contains("_01")) {
if (device_code.contains("_01")) {
Object plc_to_agv = extraValue.get("upper_lower_levels");
if (ObjectUtil.isNotNull(plc_to_agv) && "1".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetInReqUpper", "1");
@@ -352,10 +356,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
} else if (device_code.contains("_02")) {
if (plcToAgvDeviceDriver.getAGVSetInUpperAllowed() == 1) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
data = feedBackStatus(data, index, 3, inst, task, 2, false);
}
} else */
if (ObjectUtil.isNotEmpty(extraValue.get("upper_lower_levels"))) {
} else if (ObjectUtil.isNotEmpty(extraValue.get("upper_lower_levels"))) {
Object plc_to_agv = extraValue.get("upper_lower_levels");
if ("1".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetInReqUpper", "1");
@@ -424,49 +427,53 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
transportOrder = "";
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
/*if (device_code.contains("_01")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
} else if (device_code.contains("_02")) {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetInReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetInReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
if (device_code.contains("_01")) {
data = feedBackStatus(data, index, 4, inst, task, 2, false);
} else if (device_code.contains("_02")) {
CompletableFuture.runAsync(() -> {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetInReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetInReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
});
data = feedBackStatus(data, index, 4, inst, task, 2, false);
} else {
CompletableFuture.runAsync(() -> {
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetInReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetInReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
});
data = feedBackStatus(data, index, 4, inst, task, 2, false);
} else {*/
try {
List list = new ArrayList<>();
Map map = new HashMap();
map.put("code", "AGVInOP");
map.put("value", "0");
Map map1 = new HashMap();
map1.put("code", "AGVSetInReqUpper");
map1.put("value", "0");
Map map2 = new HashMap();
map2.put("code", "AGVSetInReqLower");
map2.put("value", "0");
list.add(map);
list.add(map1);
list.add(map2);
plcToAgvDeviceDriver.writing(list);
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
data = feedBackStatus(data, index, 4, inst, task, 2, false);
/* }*/
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
StandardOrdinarySiteDeviceDriver standar = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();

1
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/plc_to_agv/PlcToAgvDeviceDriver.java
View File

@@ -110,7 +110,6 @@ public class PlcToAgvDeviceDriver extends AbstractOpcDeviceDriver implements Dev
AGVSetOutReqUpper = this.itemProtocol.getAGVSetOutReqUpper();
AGVSetOutReqLower = this.itemProtocol.getAGVSetOutReqLower();
heartbeat = this.itemProtocol.getHeartbeat();
if (heartbeat == 1) {
writing("heartbeat", writing_heartbeat);
}