From bdbe601b1a927308881ed5714e4672892197f1da Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=BC=A0=E6=B1=9F=E7=8E=AE?=
<zhangjiangwei2000@outlook.com>
Date: Fri, 7 Apr 2023 20:10:20 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8E=E7=94=B5=E6=B0=94=E9=80=BB=E8=BE=91?=
=?UTF-8?q?=E4=BA=A4=E4=BA=92=E6=9B=B4=E6=96=B0?=
MIME-Version: 1.0
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---
.../agv/server/impl/MagicAgvServiceImpl.java | 144 ++++--------------
1 file changed, 33 insertions(+), 111 deletions(-)
diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
index a4d7472..8325d55 100644
--- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
+++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
@@ -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.autodoor.standard_autodoor.StandardAutodoorDeviceDriver;
+import org.nl.acs.device_driver.inspect_site.modbus_inspect_site.ModbusInspectSiteDeviceDriver;
import org.nl.acs.device_driver.inspect_site.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
@@ -419,78 +420,46 @@ public class MagicAgvServiceImpl implements MagicAgvService {
//请求进入
if ("onEntry".equals(type)) {
-
- if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
- standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
- //请求取货
- if ("Load".equals(action)) {
- if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
- inst.setExecute_status("1");
- is_feedback = true;
- }
- //请求放货
- } else if ("Unload".equals(action)) {
- if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
- inst.setExecute_status("3");
- is_feedback = true;
- }
- }
- }
- if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
- standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
+ if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
+ ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货
if ("Load".equals(action)) {
- if (addressdevice.getHas_goods() > 0) {
- inst.setExecute_status("1");
- is_feedback = true;
+ driver.writing(1);
+ if (driver.getAction() == 1) {
+ if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
+ if (driver.getMove() == 1) {
+ driver.writing(2);
+ inst.setExecute_status("1");
+ is_feedback = true;
+ }
+ } else {
+ driver.writing(2);
+ inst.setExecute_status("1");
+ is_feedback = true;
+ }
}
//请求放货
} else if ("Unload".equals(action)) {
- if (addressdevice.getHas_goods() == 0) {
- inst.setExecute_status("3");
- is_feedback = true;
- }
- }
- }
-
- if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
- //请求取货
- if ("Load".equals(action)) {
- inst.setExecute_status("1");
- is_feedback = true;
- //请求放货
- } else if ("Unload".equals(action)) {
- inst.setExecute_status("3");
- if (!instructionService.hasInstInOneRow(inst)) {
- is_feedback = true;
+ driver.writing(1);
+ if (driver.getAction() == 1) {
+ if ("1".equals(addressdevice.getExtraValue().get("inspect_in_stocck"))) {
+ if (driver.getMove() == 0) {
+ driver.writing(2);
+ inst.setExecute_status("1");
+ is_feedback = true;
+ }
+ } else {
+ driver.writing(2);
+ inst.setExecute_status("1");
+ is_feedback = true;
+ }
}
}
}
-
//取放货完成
} else if ("onStation".equals(type)) {
- System.out.println("取放货完成");
- if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
- standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
- //取货完成
- if ("Load".equals(action)) {
- if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
- inst.setExecute_device_code(processingVehicle);
- inst.setExecute_status("2");
- is_feedback = true;
- }
- //放货完成
- } else if ("Unload".equals(action)) {
- if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
- inst.setExecute_device_code(address);
- inst.setExecute_status("4");
- is_feedback = true;
- }
- }
- }
- if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
- standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
+ if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
//取货完成
if ("Load".equals(action)) {
inst.setExecute_device_code(processingVehicle);
@@ -504,19 +473,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
}
}
- if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
- //取货完成
- if ("Load".equals(action)) {
- inst.setExecute_device_code(processingVehicle);
- inst.setExecute_status("2");
- is_feedback = true;
- //放货完成
- } else if ("Unload".equals(action)) {
- inst.setExecute_device_code(processingVehicle);
- inst.setExecute_status("4");
- is_feedback = true;
- }
- }
}
JSONObject requestjo = new JSONObject();
@@ -577,9 +533,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device addressdevice = appService.findDeviceByCode(address);
- StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
- StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
- 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
@@ -587,42 +540,11 @@ public class MagicAgvServiceImpl implements MagicAgvService {
flag = true;
}
- if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
- standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
- flag = true;
- log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + "");
- //取货完成离开
- if (standardInspectSiteDeviceDriver.getFlag() == 2) {
- if (standardInspectSiteDeviceDriver.getMove() == 0) {
- flag = true;
- standardInspectSiteDeviceDriver.setFlag(5);
- }
- }
- //放货完成离开
- if (standardInspectSiteDeviceDriver.getFlag() == 4) {
- if (standardInspectSiteDeviceDriver.getMove() == 1) {
- flag = true;
- standardInspectSiteDeviceDriver.setFlag(6);
- }
- }
- }
-
- if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
- standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
+ if (addressdevice.getDeviceDriver() instanceof ModbusInspectSiteDeviceDriver) {
+ ModbusInspectSiteDeviceDriver driver = (ModbusInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
flag = true;
- log.info("agvstatus:" + standardOrdinarySiteDeviceDriver.getFlag() + "");
-
- //取货完成离开
- if (standardOrdinarySiteDeviceDriver.getFlag() == 2) {
- flag = true;
- standardOrdinarySiteDeviceDriver.setFlag(5);
- }
- //放货完成离开
- if (standardOrdinarySiteDeviceDriver.getFlag() == 4) {
- flag = true;
- standardOrdinarySiteDeviceDriver.setFlag(6);
- }
+ driver.writing(3);
}
if (flag) {