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张江玮
2023-11-14 13:38:20 +08:00
parent 5444072ad3
commit 42ccec8be8
2 changed files with 24 additions and 33 deletions
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45
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -573,7 +573,7 @@ public class AgvServiceImpl implements AgvService {
if (result.getStatus() == 200) { if (result.getStatus() == 200) {
arr.add(result.body()); arr.add(result.body());
} }
} catch (Exception e ){ } catch (Exception e) {
e.printStackTrace(); e.printStackTrace();
} }
} }
@@ -825,17 +825,19 @@ public class AgvServiceImpl implements AgvService {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 //请求取货
if ("Load".equals(action)) { if ("Load".equals(action)) {
standardInspectSiteDeviceDriver.setFlag(1);
standardInspectSiteDeviceDriver.writing(1); standardInspectSiteDeviceDriver.writing(1);
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0 if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0
&& (standardInspectSiteDeviceDriver.getAction() == 1 || standardInspectSiteDeviceDriver.getAction() == 3)) { && standardInspectSiteDeviceDriver.getAction() == 1) {
inst.setExecute_status("1"); inst.setExecute_status("1");
is_feedback = true; is_feedback = true;
} }
//请求放货 //请求放货
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
standardInspectSiteDeviceDriver.setFlag(3);
standardInspectSiteDeviceDriver.writing(3); standardInspectSiteDeviceDriver.writing(3);
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0 if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0
&& (standardInspectSiteDeviceDriver.getAction() == 2 || standardInspectSiteDeviceDriver.getAction() == 3)) { && standardInspectSiteDeviceDriver.getAction() == 1) {
inst.setExecute_status("3"); inst.setExecute_status("3");
is_feedback = true; is_feedback = true;
} }
@@ -846,7 +848,7 @@ public class AgvServiceImpl implements AgvService {
//请求取货 //请求取货
if ("Load".equals(action)) { if ("Load".equals(action)) {
if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() > 0) { if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() > 0) {
if(standardSpecialInspectSiteDeviceDriver.getAction()> 0){ if (standardSpecialInspectSiteDeviceDriver.getAction() > 0) {
inst.setExecute_status("1"); inst.setExecute_status("1");
is_feedback = true; is_feedback = true;
} else { } else {
@@ -857,7 +859,7 @@ public class AgvServiceImpl implements AgvService {
//请求放货 //请求放货
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() == 0) { if (standardSpecialInspectSiteDeviceDriver.getMode() == 2 && standardSpecialInspectSiteDeviceDriver.getMove() == 0) {
if(standardSpecialInspectSiteDeviceDriver.getAction()>0){ if (standardSpecialInspectSiteDeviceDriver.getAction() > 0) {
inst.setExecute_status("1"); inst.setExecute_status("1");
is_feedback = true; is_feedback = true;
} else { } else {
@@ -929,7 +931,7 @@ public class AgvServiceImpl implements AgvService {
yzjaSpecialDeviceDriver.setManua_confirm(0); yzjaSpecialDeviceDriver.setManua_confirm(0);
inst.setExecute_status("1"); inst.setExecute_status("1");
is_feedback = true; is_feedback = true;
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")){ } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")) {
yzjaSpecialDeviceDriver.setManua_confirm(1); yzjaSpecialDeviceDriver.setManua_confirm(1);
} }
} else { } else {
@@ -945,7 +947,7 @@ public class AgvServiceImpl implements AgvService {
yzjaSpecialDeviceDriver.setManua_confirm(0); yzjaSpecialDeviceDriver.setManua_confirm(0);
inst.setExecute_status("3"); inst.setExecute_status("3");
is_feedback = true; is_feedback = true;
} else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")){ } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")) {
yzjaSpecialDeviceDriver.setManua_confirm(1); yzjaSpecialDeviceDriver.setManua_confirm(1);
} }
} else { } else {
@@ -973,26 +975,24 @@ public class AgvServiceImpl implements AgvService {
} else if ("onStation".equals(type)) { } else if ("onStation".equals(type)) {
System.out.println("取放货完成"); System.out.println("取放货完成");
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
//取货完成 //取货完成
if ("Load".equals(action)) { if ("Load".equals(action)) {
standardInspectSiteDeviceDriver.writing(2);
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
inst.setExecute_device_code(processingVehicle); standardInspectSiteDeviceDriver.setFlag(2);
inst.setExecute_status("2"); inst.setExecute_status("1");
is_feedback = true; is_feedback = true;
} }
//放货完成 //放货完成
} else if ("Unload".equals(action)) { } else if ("Unload".equals(action)) {
standardInspectSiteDeviceDriver.writing(4); if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() != 0) {
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { standardInspectSiteDeviceDriver.setFlag(4);
inst.setExecute_device_code(address); inst.setExecute_status("3");
inst.setExecute_status("4");
is_feedback = true; is_feedback = true;
} }
} }
} }
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteSmartDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteSmartDeviceDriver) {
standardInspectSiteSmartDeviceDriver = (StandardInspectSiteSmartDeviceDriver) addressdevice.getDeviceDriver(); standardInspectSiteSmartDeviceDriver = (StandardInspectSiteSmartDeviceDriver) addressdevice.getDeviceDriver();
@@ -1198,7 +1198,7 @@ public class AgvServiceImpl implements AgvService {
//请求进 //请求进
if (StrUtil.equals(type, "07") && address.endsWith("IQ")) { if (StrUtil.equals(type, "07") && address.endsWith("IQ")) {
sandardManipulatorInspectSiteDeviceDriver.writing(1, 7); sandardManipulatorInspectSiteDeviceDriver.writing(1, 7);
if ( sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1 if (sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1
|| sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) { || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) {
is_feedback = true; is_feedback = true;
} }
@@ -1386,18 +1386,21 @@ public class AgvServiceImpl implements AgvService {
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
flag = true;
log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + ""); log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + "");
//取货完成离开 //取货完成离开
if (standardInspectSiteDeviceDriver.getFlag() == 2) { if (standardInspectSiteDeviceDriver.getFlag() == 1 || standardInspectSiteDeviceDriver.getFlag() == 2) {
if (standardInspectSiteDeviceDriver.getMove() == 0) { standardInspectSiteDeviceDriver.writing(2);
if (standardInspectSiteDeviceDriver.getMode() != 0
&& standardInspectSiteDeviceDriver.getMove() == 0) {
flag = true; flag = true;
standardInspectSiteDeviceDriver.setFlag(5); standardInspectSiteDeviceDriver.setFlag(5);
} }
} }
//放货完成离开 //放货完成离开
if (standardInspectSiteDeviceDriver.getFlag() == 4) { if (standardInspectSiteDeviceDriver.getFlag() == 3 || standardInspectSiteDeviceDriver.getFlag() == 4) {
if (standardInspectSiteDeviceDriver.getMove() == 1) { standardInspectSiteDeviceDriver.writing(4);
if (standardInspectSiteDeviceDriver.getMode() != 0
&& standardInspectSiteDeviceDriver.getMove() != 0) {
flag = true; flag = true;
standardInspectSiteDeviceDriver.setFlag(6); standardInspectSiteDeviceDriver.setFlag(6);
} }

12
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java
View File

@@ -321,18 +321,6 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
break; break;
} }
switch (flag) {
//取货完成
case 1:
writing(2);
return;
//放货完成
case 2:
writing(3);
return;
}
} }
last_mode = mode; last_mode = mode;
last_error = error; last_error = error;