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伊科拜克，营口更新

master
loujf 3 years ago
parent
a91ca9f560
commit
967ea380df
4 changed files with 36 additions and 14 deletions
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  1. 21
      hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
  2. 14
      hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
  3. 12
      hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
  4. 3
      hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java

21
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@ -812,6 +812,8 @@ public class AgvServiceImpl implements AgvService {
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
StandardManipulatorInspectSiteDeviceDriver standardManipulatorInspectSiteDeviceDriver;
//请求进入
if ("onEntry".equals(type)) {
@ -846,7 +848,24 @@ public class AgvServiceImpl implements AgvService {
is_feedback = true;
}
}
}
if (addressdevice.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
standardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货
if ("Load".equals(action)) {
if (standardManipulatorInspectSiteDeviceDriver.getMove() > 0
&& (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 1)) {
inst.setExecute_status("1");
is_feedback = true;
}
//请求放货
} else if ("Unload".equals(action)) {
if (standardManipulatorInspectSiteDeviceDriver.getMove() == 0
&& (standardManipulatorInspectSiteDeviceDriver.getIo_action() == 3 || standardManipulatorInspectSiteDeviceDriver.getIo_action() == 2)) {
inst.setExecute_status("3");
is_feedback = true;
}
}
}
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();

14
hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_manipulator_stacking_site/StandardManipulatorStackingSiteDeviceDriver.java
View File

@ -278,7 +278,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String device_code = "";
StandardPhotoelectricInspectSiteDeviceDriver standardPhotoelectricInspectSiteDeviceDriver;
List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
@ -488,7 +488,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String start_device_code = "";
List<RouteLineDto> list = routelineserver.getPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -557,7 +557,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String next_device_code = "";
List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -652,7 +652,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String next_device_code = "";
List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -730,7 +730,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String next_device_code = "";
List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -801,7 +801,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String next_device_code = "";
List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -871,7 +871,7 @@ public class StandardManipulatorStackingSiteDeviceDriver extends AbstractOpcDevi
dto.setCreate_by(this.getDevice().getDevice_code());
dto.setUpdate_by(this.getDevice().getDevice_code());
dto.setTask_status("0");
dto.setPriority("101");
dto.setPriority("1");
String next_device_code = "";
List<RouteLineDto> list = routelineserver.getShortPathLinesByCode(this.device_code, "normal");
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);

12
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@ -73,7 +73,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
try {
//{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
result2 = HttpRequest.post(url)
.header("Authorization", token)
// .header("Authorization", token)
.body(String.valueOf(jo))
.execute();
System.out.println(result2);
@ -239,7 +239,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
String methods_url = addressDto.getMethods_url();
try {
result2 = HttpRequest.post(wmsurl + methods_url)
.header("Authorization", token).body(String.valueOf(data))
// .header("Authorization", token)
.body(String.valueOf(data))
.execute();
} catch (Exception e) {
String msg = e.getMessage();
@ -319,7 +320,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
try {
result2 = HttpRequest.post(url)
.header("Authorization", token)
// .header("Authorization", token)
.body(String.valueOf(jo))
.execute().body();
System.out.println(result2);
@ -345,7 +346,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
log.info("apply_OutEmpty----请求参数{}", jo);
try {
result2 = HttpRequest.post(url)
.header("Authorization", token)
// .header("Authorization", token)
.body(String.valueOf(jo))
.execute().body();
System.out.println(result2);
@ -457,7 +458,8 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
try {
result = HttpRequest.post(url)
. header("Authorization", token).body(String.valueOf(from))
// . header("Authorization", token)
.body(String.valueOf(from))
.execute();
System.out.println(result);
log.info("feedWeighing----返回参数{}", result);

3
hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@ -2158,6 +2158,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
standardPhotoelectricInspectSiteDeviceDriver.writing(1, 8);
standardPhotoelectricInspectSiteDeviceDriver.writing(4, Integer.parseInt(inst.getVehicle_type()));
flag = true;
} else {
log.info("AGV请求取货设备{}有货,无法反馈", device_code);
@ -2346,7 +2347,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
else if (phase == 0x30) {
flag = true;
if (!ObjectUtil.isEmpty(inst)) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
data = AgvService.sendAgvOneModeInst(0x8F, index, 0);
} else {
log.info("未找到对应的指令无法删除");
break;

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