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码垛机械手字段调整

master
pangshenghao 1 year ago
parent
5b6add0c1c
commit
3a437675dd
3 changed files with 413 additions and 151 deletions
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  1. 105
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java
  2. 421
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java
  3. 38
      acs/nladmin-ui/src/views/acs/device/driver/lnsh/lnsh_palletizing_manipulator.vue

105
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/ItemProtocol.java
View File

@ -27,6 +27,29 @@ public class ItemProtocol {
public static String item_to_feedback = "to_feedback";
public static String item_get_station = "get_station";
public static String item_put_station = "put_station";
public static String item_is_qualified = "is_qualified";
public static String item_laser_marking_code = "laser_marking_code";
public static String item_grinding_number = "grinding_number";
public static String item_height1 = "height1";
public static String item_height2 = "height2";
public static String item_height3 = "height3";
public static String item_height4 = "height4";
public static String item_width1 = "width1";
public static String item_width2 = "width2";
public static String item_len = "len";
public static String item_volume = "volume";
public static String item_flatness = "flatness";
public static String item_unqualified_qty = "unqualified_qty";
public static String item_to_command = "to_command";
public static String item_to_error = "to_error";
public static String item_to_order_No = "to_order_No";
public static String item_to_weight = "to_weight";
public static String item_to_material_code = "to_material_code";
private LnshPalletizingManipulatorDeviceDriver driver;
@ -57,6 +80,7 @@ public class ItemProtocol {
public String getOpen_time() {
return this.getOpcStringValue(item_open_time);
}
public int getStandby_time() {
return this.getOpcIntegerValue(item_standby_time);
}
@ -73,6 +97,66 @@ public class ItemProtocol {
return this.getOpcIntegerValue(item_to_feedback);
}
public int getGet_station() {
return this.getOpcIntegerValue(item_get_station);
}
public int getPut_station() {
return this.getOpcIntegerValue(item_put_station);
}
public int getIs_qualified() {
return this.getOpcIntegerValue(item_is_qualified);
}
public String getLaser_marking_code() {
return this.getOpcStringValue(item_laser_marking_code);
}
public String getGrinding_number() {
return this.getOpcStringValue(item_grinding_number);
}
public String getHeight1() {
return this.getOpcStringValue(item_height1);
}
public String getHeight2() {
return this.getOpcStringValue(item_height2);
}
public String getHeight3() {
return this.getOpcStringValue(item_height3);
}
public String getHeight4() {
return this.getOpcStringValue(item_height4);
}
public String getWidth1() {
return this.getOpcStringValue(item_width1);
}
public String getWidth2() {
return this.getOpcStringValue(item_width2);
}
public String getLen() {
return this.getOpcStringValue(item_len);
}
public String getVolume() {
return this.getOpcStringValue(item_volume);
}
public String getFlatness() {
return this.getOpcStringValue(item_flatness);
}
public String getUnqualified_qty() {
return this.getOpcStringValue(item_unqualified_qty);
}
Boolean isonline;
public int getOpcIntegerValue(String protocol) {
@ -109,11 +193,32 @@ public class ItemProtocol {
list.add(new ItemDto(item_standby_time, "待机时间", "DB1.D58"));
list.add(new ItemDto(item_production_time, "生产时间", "DB1.D62"));
list.add(new ItemDto(item_error_time, "故障时间", "DB1.D66"));
list.add(new ItemDto(item_get_station, "当前抓取工位", "DB1.D70"));
list.add(new ItemDto(item_put_station, "当前放置工位", "DB1.D71"));
list.add(new ItemDto(item_is_qualified, "是否合格", "DB1.D72"));
list.add(new ItemDto(item_laser_marking_code, "激光标刻码", "DB1.D74"));
list.add(new ItemDto(item_grinding_number, "碾次", "DB1.D126"));
list.add(new ItemDto(item_height1, "高度1", "DB1.D178"));
list.add(new ItemDto(item_height2, "高度2", "DB1.D182"));
list.add(new ItemDto(item_height3, "高度3", "DB1.D186"));
list.add(new ItemDto(item_height4, "高度4", "DB1.D190"));
list.add(new ItemDto(item_width1, "宽度1", "DB1.D194"));
list.add(new ItemDto(item_width2, "宽度2", "DB1.D198"));
list.add(new ItemDto(item_len, "长度", "DB1.D202"));
list.add(new ItemDto(item_volume, "体积", "DB1.D206"));
list.add(new ItemDto(item_flatness, "平面度", "DB1.D210"));
list.add(new ItemDto(item_unqualified_qty, "缺陷个数", "DB1.D214"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_to_command, "反馈", "DB7.W0", Boolean.TRUE));
list.add(new ItemDto(item_to_error, "error", "DB7.W2"));
list.add(new ItemDto(item_to_order_No, "工单号", "DB7.STRING4.50"));
list.add(new ItemDto(item_to_weight, "生产重量", "DB7.D56"));
list.add(new ItemDto(item_to_material_code, "下发物料编号", "DB7.STRING60.50"));
return list;
}

421
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java
View File

@ -78,7 +78,6 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
float b = 0f;
//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
int flag;
@ -98,6 +97,37 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
int error_time = 0;
int last_error_time = 0;
int get_station = 0;
int last_get_station = 0;
int put_station = 0;
int last_put_station = 0;
int is_qualified = 0;
int last_is_qualified = 0;
String laser_marking_code = "";
String last_laser_marking_code = "";
String grinding_number = "";
String last_grinding_number = "";
String height1 = "";
String last_height1 = "";
String height2 = "";
String last_height2 = "";
String height3 = "";
String last_height3 = "";
String height4 = "";
String last_height4 = "";
String width1 = "";
String last_width1 = "";
String width2 = "";
String last_width2 = "";
String len = "";
String last_len = "";
String volume = "";
String last_volume = "";
String flatness = "";
String last_flatness = "";
String unqualified_qty = "";
String last_unqualified_qty = "";
@Override
public Device getDevice() {
return this.device;
@ -117,39 +147,116 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
standby_time = this.itemProtocol.getStandby_time();
production_time = this.itemProtocol.getProduction_time();
error_time = this.itemProtocol.getError_time();
get_station = this.itemProtocol.getGet_station();
put_station = this.itemProtocol.getPut_station();
is_qualified = this.itemProtocol.getIs_qualified();
laser_marking_code = this.itemProtocol.getLaser_marking_code();
grinding_number = this.itemProtocol.getGrinding_number();
height1 = this.itemProtocol.getHeight1();
height2 = this.itemProtocol.getHeight2();
height3 = this.itemProtocol.getHeight3();
height4 = this.itemProtocol.getHeight4();
width1 = this.itemProtocol.getWidth1();
width2 = this.itemProtocol.getWidth2();
len = this.itemProtocol.getLen();
volume = this.itemProtocol.getVolume();
flatness = this.itemProtocol.getFlatness();
unqualified_qty = this.itemProtocol.getUnqualified_qty();
if (mode != last_mode) {
this.setRequireSucess(false);
logServer.deviceItemValue(this.device_code,"mode" ,String.valueOf(mode));
logServer.deviceExecuteLog(this.device_code,"","","信号mode：" + last_mode + " -> " + mode);
logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode));
logServer.deviceExecuteLog(this.device_code, "", "", "信号mode：" + last_mode + " -> " + mode);
}
if (status != last_status) {
logServer.deviceItemValue(this.device_code,"status" ,String.valueOf(status));
logServer.deviceExecuteLog(this.device_code,"","","信号status：" + last_status + " -> " + status);
logServer.deviceItemValue(this.device_code, "status", String.valueOf(status));
logServer.deviceExecuteLog(this.device_code, "", "", "信号status：" + last_status + " -> " + status);
}
if (action != last_action) {
logServer.deviceItemValue(this.device_code,"action" ,String.valueOf(action));
logServer.deviceExecuteLog(this.device_code,"","","信号action：" + last_action + " -> " + action);
logServer.deviceItemValue(this.device_code, "action", String.valueOf(action));
logServer.deviceExecuteLog(this.device_code, "", "", "信号action：" + last_action + " -> " + action);
}
if (error != last_error) {
logServer.deviceItemValue(this.device_code,"error" ,String.valueOf(error));
logServer.deviceExecuteLog(this.device_code,"","","信号error：" + last_error + " -> " + error);
logServer.deviceItemValue(this.device_code, "error", String.valueOf(error));
logServer.deviceExecuteLog(this.device_code, "", "", "信号error：" + last_error + " -> " + error);
}
if (!open_time.equals(last_open_time)) {
logServer.deviceItemValue(this.device_code,"open_time" ,String.valueOf(open_time));
logServer.deviceExecuteLog(this.device_code,"","","信号open_time：" + last_open_time + " -> " + open_time);
logServer.deviceItemValue(this.device_code, "open_time", String.valueOf(open_time));
logServer.deviceExecuteLog(this.device_code, "", "", "信号open_time：" + last_open_time + " -> " + open_time);
}
if (standby_time != last_standby_time) {
logServer.deviceItemValue(this.device_code,"standby_time" ,String.valueOf(standby_time));
logServer.deviceExecuteLog(this.device_code,"","","信号standby_time：" + last_standby_time + " -> " + standby_time);
logServer.deviceItemValue(this.device_code, "standby_time", String.valueOf(standby_time));
logServer.deviceExecuteLog(this.device_code, "", "", "信号standby_time：" + last_standby_time + " -> " + standby_time);
}
if (production_time != last_production_time) {
logServer.deviceItemValue(this.device_code,"production_time" ,String.valueOf(production_time));
logServer.deviceExecuteLog(this.device_code,"","","信号production_time：" + last_production_time + " -> " + production_time);
logServer.deviceItemValue(this.device_code, "production_time", String.valueOf(production_time));
logServer.deviceExecuteLog(this.device_code, "", "", "信号production_time：" + last_production_time + " -> " + production_time);
}
if (error_time != last_error_time) {
logServer.deviceItemValue(this.device_code,"error_time" ,String.valueOf(error_time));
logServer.deviceExecuteLog(this.device_code,"","","信号error_time：" + last_error_time + " -> " + error_time);
logServer.deviceItemValue(this.device_code, "error_time", String.valueOf(error_time));
logServer.deviceExecuteLog(this.device_code, "", "", "信号error_time：" + last_error_time + " -> " + error_time);
}
if (get_station != last_get_station) {
this.setRequireSucess(false);
logServer.deviceItemValue(this.device_code, "get_station", String.valueOf(get_station));
logServer.deviceExecuteLog(this.device_code, "", "", "信号get_station：" + last_get_station + " -> " + get_station);
}
if (put_station != last_put_station) {
logServer.deviceItemValue(this.device_code, "put_station", String.valueOf(put_station));
logServer.deviceExecuteLog(this.device_code, "", "", "信号put_station：" + last_put_station + " -> " + put_station);
}
if (is_qualified != last_is_qualified) {
logServer.deviceItemValue(this.device_code, "is_qualified", String.valueOf(is_qualified));
logServer.deviceExecuteLog(this.device_code, "", "", "信号is_qualified：" + last_is_qualified + " -> " + is_qualified);
}
if (!laser_marking_code.equals(last_laser_marking_code)) {
logServer.deviceItemValue(this.device_code, "laser_marking_code", String.valueOf(laser_marking_code));
logServer.deviceExecuteLog(this.device_code, "", "", "信号laser_marking_code：" + last_laser_marking_code + " -> " + laser_marking_code);
}
if (!grinding_number.equals(last_grinding_number)) {
logServer.deviceItemValue(this.device_code, "grinding_number", String.valueOf(grinding_number));
logServer.deviceExecuteLog(this.device_code, "", "", "信号grinding_number：" + last_grinding_number + " -> " + grinding_number);
}
if (!height1.equals(last_height1)) {
logServer.deviceItemValue(this.device_code, "height1", String.valueOf(height1));
logServer.deviceExecuteLog(this.device_code, "", "", "信号height1：" + last_height1 + " -> " + height1);
}
if (!height2.equals(last_height2)) {
logServer.deviceItemValue(this.device_code, "height2", String.valueOf(height2));
logServer.deviceExecuteLog(this.device_code, "", "", "信号height2：" + last_height2 + " -> " + height2);
}
if (!height3.equals(last_height3)) {
logServer.deviceItemValue(this.device_code, "height3", String.valueOf(height3));
logServer.deviceExecuteLog(this.device_code, "", "", "信号height3：" + last_height3 + " -> " + height3);
}
if (!height4.equals(last_height4)) {
logServer.deviceItemValue(this.device_code, "height4", String.valueOf(height4));
logServer.deviceExecuteLog(this.device_code, "", "", "信号height4：" + last_height4 + " -> " + height4);
}
if (!width1.equals(last_width1)) {
logServer.deviceItemValue(this.device_code, "width1", String.valueOf(width1));
logServer.deviceExecuteLog(this.device_code, "", "", "信号width1：" + last_width1 + " -> " + width1);
}
if (!width2.equals(last_width2)) {
logServer.deviceItemValue(this.device_code, "width2", String.valueOf(width2));
logServer.deviceExecuteLog(this.device_code, "", "", "信号width2：" + last_width2 + " -> " + width2);
}
if (!len.equals(last_len)) {
logServer.deviceItemValue(this.device_code, "len", String.valueOf(len));
logServer.deviceExecuteLog(this.device_code, "", "", "信号len：" + last_len + " -> " + len);
}
if (!volume.equals(last_volume)) {
logServer.deviceItemValue(this.device_code, "volume", String.valueOf(volume));
logServer.deviceExecuteLog(this.device_code, "", "", "信号volume：" + last_volume + " -> " + volume);
}
if (!flatness.equals(last_flatness)) {
logServer.deviceItemValue(this.device_code, "flatness", String.valueOf(flatness));
logServer.deviceExecuteLog(this.device_code, "", "", "信号flatness：" + last_flatness + " -> " + flatness);
}
if (!unqualified_qty.equals(last_unqualified_qty)) {
logServer.deviceItemValue(this.device_code, "unqualified_qty", String.valueOf(unqualified_qty));
logServer.deviceExecuteLog(this.device_code, "", "", "信号unqualified_qty：" + last_unqualified_qty + " -> " + unqualified_qty);
}
} catch (Exception var17) {
@ -206,7 +313,6 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
// break;
}
}
last_mode = mode;
@ -217,6 +323,21 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
last_standby_time = standby_time;
last_production_time = production_time;
last_error_time = error_time;
last_get_station = get_station;
last_put_station = put_station;
last_is_qualified = is_qualified;
last_laser_marking_code = laser_marking_code;
last_grinding_number = grinding_number;
last_height1 = height1;
last_height2 = height2;
last_height3 = height3;
last_height4 = height4;
last_width1 = width1;
last_width2 = width2;
last_len = len;
last_volume = volume;
last_flatness = flatness;
last_unqualified_qty = unqualified_qty;
}
@ -233,134 +354,134 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
} else {
this.instruction_require_time = date;
JSONObject json = new JSONObject();
json.put("device_code",this.device_code);
json.put("device_code", this.device_code);
JSONObject jo = new JSONObject();
if (jo.getInteger("status") == 200) {
JSONObject content = jo.getJSONObject("content");
String qty = content.getString("qty");
String material_code = content.getString("material_code");
String material_name = content.getString("material_name");
String product_code = content.getString("product_code");
String AlongSide = content.getString("AlongSide");
String BshortSide = content.getString("BshortSide");
String Htrapezoidal = content.getString("Htrapezoidal");
String Wthickness = content.getString("Wthickness");
String tray_qty = content.getString("tray_qty");
String tray_high = content.getString("tray_high");
String crib_category = content.getString("crib_category");
String palletX1_line = content.getString("palletX1_line");
String palletY1_row = content.getString("palletY1_row");
String palletA1_angle = content.getString("palletA1_angle");
String palletX2_line = content.getString("palletX2_line");
String palletY2_row = content.getString("palletY2_row");
String palletA2_angle = content.getString("palletA2_angle");
String palletX3_line = content.getString("palletX3_line");
String palletY3_row = content.getString("palletY3_row");
String palletA3_angle = content.getString("palletA3_angle");
String pressCribX1_line = content.getString("pressCribX1_line");
String pressCribY1_row = content.getString("pressCribY1_row");
String pressCribA1_angle = content.getString("pressCribA1_angle");
String pressCribX2_line = content.getString("pressCribX2_line");
String pressCribY2_row = content.getString("pressCribY2_row");
String pressCribA2_angle = content.getString("pressCribA2_angle");
String pressCribX3_line = content.getString("pressCribX3_line");
String pressCribY3_row = content.getString("pressCribY3_row");
String pressCribA3_angle = content.getString("pressCribA3_angle");
String Zoffset = content.getString("Zoffset");
String pallet_layerQty = content.getString("pallet_layerQty");
String pressCrib_layerQty = content.getString("pressCrib_layerQty");
String codeLayerX1_interval = content.getString("codeLayerX1_interval");
String codeLayerY1_interval = content.getString("codeLayerY1_interval");
String codeLayerX2_interval = content.getString("codeLayerX2_interval");
String codeLayerY2_interval = content.getString("codeLayerY2_interval");
String codeLayerX3_interval = content.getString("codeLayerX3_interval");
String codeLayerY3_interval = content.getString("codeLayerY3_interval");
String codeLayerX1_offset = content.getString("codeLayerX1_offset");
String codeLayerY1_offset = content.getString("codeLayerY1_offset");
String codeLayerX2_offset = content.getString("codeLayerX2_offset");
String codeLayerY2_offset = content.getString("codeLayerY2_offset");
String codeLayerX3_offset = content.getString("codeLayerX3_offset");
String codeLayerY3_offset = content.getString("codeLayerY3_offset");
String pressLayerX1_interval = content.getString("pressLayerX1_interval");
String pressLayerY1_interval = content.getString("pressLayerY1_interval");
String pressLayerX2_interval = content.getString("pressLayerX2_interval");
String pressLayerY2_interval = content.getString("pressLayerY2_interval");
String pressLayerX3_interval = content.getString("pressLayerX3_interval");
String pressLayerY3_interval = content.getString("pressLayerY3_interval");
String pressLayerX1_offset = content.getString("pressLayerX1_offset");
String pressLayerY1_offset = content.getString("pressLayerY1_offset");
String pressLayerX2_offset = content.getString("pressLayerX2_offset");
String pressLayerY2_offset = content.getString("pressLayerY2_offset");
String pressLayerX3_offset = content.getString("pressLayerX3_offset");
String pressLayerY3_offset = content.getString("pressLayerY3_offset");
String one_cribTotal = content.getString("one_cribTotal");
String two_cribTotal = content.getString("two_cribTotal");
String one_qty = content.getString("one_qty");
String two_qty = content.getString("two_qty");
String tool_coordinate = content.getString("tool_coordinate");
this.writing(this.mode);
this.writing("to_materialQty",qty);
this.writing("to_material_code",material_code);
this.writing("to_AlongSide",AlongSide);
this.writing("to_BshortSide",BshortSide);
this.writing("to_Htrapezoidal",Htrapezoidal);
this.writing("to_Wthickness",Wthickness);
this.writing("to_tray_qty",tray_qty);
this.writing("to_tray_high",tray_high);
this.writing("to_crib_category",crib_category);
this.writing("to_palletX1_line",palletX1_line);
this.writing("to_palletY1_row",palletY1_row);
this.writing("to_palletA1_angle",palletA1_angle);
this.writing("to_palletX2_line",palletX2_line);
this.writing("to_palletY2_row",palletY2_row);
this.writing("to_palletA2_angle",palletA2_angle);
this.writing("to_palletX3_line",palletX3_line);
this.writing("to_palletY3_row",palletY3_row);
this.writing("to_palletA3_angle",palletA3_angle);
this.writing("to_pressCribX1_line",pressCribX1_line);
this.writing("to_pressCribY1_row",pressCribY1_row);
this.writing("to_pressCribA1_angle",pressCribA1_angle);
this.writing("to_pressCribX2_line",pressCribX2_line);
this.writing("to_pressCribY2_row",pressCribY2_row);
this.writing("to_pressCribA2_angle",pressCribA2_angle);
this.writing("to_pressCribX3_line",pressCribX3_line);
this.writing("to_pressCribY3_row",pressCribY3_row);
this.writing("to_pressCribA3_angle",pressCribA3_angle);
this.writing("to_Zoffset",Zoffset);
this.writing("to_pallet_layerQty",pallet_layerQty);
this.writing("to_pressCrib_layerQty",pressCrib_layerQty);
this.writing("to_codeLayerX1_interval",codeLayerX1_interval);
this.writing("to_codeLayerY1_interval",codeLayerY1_interval);
this.writing("to_codeLayerX2_interval",codeLayerX2_interval);
this.writing("to_codeLayerY2_interval",codeLayerY2_interval);
this.writing("to_codeLayerX3_interval",codeLayerX3_interval);
this.writing("to_codeLayerY3_interval",codeLayerY3_interval);
this.writing("to_codeLayerX1_offset",codeLayerX1_offset);
this.writing("to_codeLayerY1_offset",codeLayerY1_offset);
this.writing("to_codeLayerX2_offset",codeLayerX2_offset);
this.writing("to_codeLayerY2_offset",codeLayerY2_offset);
this.writing("to_codeLayerX3_offset",codeLayerX3_offset);
this.writing("to_codeLayerY3_offset",codeLayerY3_offset);
this.writing("to_pressLayerX1_interval",pressLayerX1_interval);
this.writing("to_pressLayerY1_interval",pressLayerY1_interval);
this.writing("to_pressLayerX2_interval",pressLayerX2_interval);
this.writing("to_pressLayerY2_interval",pressLayerY2_interval);
this.writing("to_pressLayerX3_interval",pressLayerX3_interval);
this.writing("to_pressLayerY3_interval",pressLayerY3_interval);
this.writing("to_pressLayerX1_offset",pressLayerX1_offset);
this.writing("to_pressLayerY1_offset",pressLayerY1_offset);
this.writing("to_pressLayerX2_offset",pressLayerX2_offset);
this.writing("to_pressLayerY2_offset",pressLayerY2_offset);
this.writing("to_pressLayerX3_offset",pressLayerX3_offset);
this.writing("to_pressLayerY3_offset",pressLayerY3_offset);
this.writing("to_one_cribTotal",one_cribTotal);
this.writing("to_two_cribTotal",two_cribTotal);
this.writing("to_one_qty",one_qty);
this.writing("to_two_qty",two_qty);
this.writing("to_tool_coordinate",tool_coordinate);
requireSucess = true;
JSONObject content = jo.getJSONObject("content");
String qty = content.getString("qty");
String material_code = content.getString("material_code");
String material_name = content.getString("material_name");
String product_code = content.getString("product_code");
String AlongSide = content.getString("AlongSide");
String BshortSide = content.getString("BshortSide");
String Htrapezoidal = content.getString("Htrapezoidal");
String Wthickness = content.getString("Wthickness");
String tray_qty = content.getString("tray_qty");
String tray_high = content.getString("tray_high");
String crib_category = content.getString("crib_category");
String palletX1_line = content.getString("palletX1_line");
String palletY1_row = content.getString("palletY1_row");
String palletA1_angle = content.getString("palletA1_angle");
String palletX2_line = content.getString("palletX2_line");
String palletY2_row = content.getString("palletY2_row");
String palletA2_angle = content.getString("palletA2_angle");
String palletX3_line = content.getString("palletX3_line");
String palletY3_row = content.getString("palletY3_row");
String palletA3_angle = content.getString("palletA3_angle");
String pressCribX1_line = content.getString("pressCribX1_line");
String pressCribY1_row = content.getString("pressCribY1_row");
String pressCribA1_angle = content.getString("pressCribA1_angle");
String pressCribX2_line = content.getString("pressCribX2_line");
String pressCribY2_row = content.getString("pressCribY2_row");
String pressCribA2_angle = content.getString("pressCribA2_angle");
String pressCribX3_line = content.getString("pressCribX3_line");
String pressCribY3_row = content.getString("pressCribY3_row");
String pressCribA3_angle = content.getString("pressCribA3_angle");
String Zoffset = content.getString("Zoffset");
String pallet_layerQty = content.getString("pallet_layerQty");
String pressCrib_layerQty = content.getString("pressCrib_layerQty");
String codeLayerX1_interval = content.getString("codeLayerX1_interval");
String codeLayerY1_interval = content.getString("codeLayerY1_interval");
String codeLayerX2_interval = content.getString("codeLayerX2_interval");
String codeLayerY2_interval = content.getString("codeLayerY2_interval");
String codeLayerX3_interval = content.getString("codeLayerX3_interval");
String codeLayerY3_interval = content.getString("codeLayerY3_interval");
String codeLayerX1_offset = content.getString("codeLayerX1_offset");
String codeLayerY1_offset = content.getString("codeLayerY1_offset");
String codeLayerX2_offset = content.getString("codeLayerX2_offset");
String codeLayerY2_offset = content.getString("codeLayerY2_offset");
String codeLayerX3_offset = content.getString("codeLayerX3_offset");
String codeLayerY3_offset = content.getString("codeLayerY3_offset");
String pressLayerX1_interval = content.getString("pressLayerX1_interval");
String pressLayerY1_interval = content.getString("pressLayerY1_interval");
String pressLayerX2_interval = content.getString("pressLayerX2_interval");
String pressLayerY2_interval = content.getString("pressLayerY2_interval");
String pressLayerX3_interval = content.getString("pressLayerX3_interval");
String pressLayerY3_interval = content.getString("pressLayerY3_interval");
String pressLayerX1_offset = content.getString("pressLayerX1_offset");
String pressLayerY1_offset = content.getString("pressLayerY1_offset");
String pressLayerX2_offset = content.getString("pressLayerX2_offset");
String pressLayerY2_offset = content.getString("pressLayerY2_offset");
String pressLayerX3_offset = content.getString("pressLayerX3_offset");
String pressLayerY3_offset = content.getString("pressLayerY3_offset");
String one_cribTotal = content.getString("one_cribTotal");
String two_cribTotal = content.getString("two_cribTotal");
String one_qty = content.getString("one_qty");
String two_qty = content.getString("two_qty");
String tool_coordinate = content.getString("tool_coordinate");
this.writing(this.mode);
this.writing("to_materialQty", qty);
this.writing("to_material_code", material_code);
this.writing("to_AlongSide", AlongSide);
this.writing("to_BshortSide", BshortSide);
this.writing("to_Htrapezoidal", Htrapezoidal);
this.writing("to_Wthickness", Wthickness);
this.writing("to_tray_qty", tray_qty);
this.writing("to_tray_high", tray_high);
this.writing("to_crib_category", crib_category);
this.writing("to_palletX1_line", palletX1_line);
this.writing("to_palletY1_row", palletY1_row);
this.writing("to_palletA1_angle", palletA1_angle);
this.writing("to_palletX2_line", palletX2_line);
this.writing("to_palletY2_row", palletY2_row);
this.writing("to_palletA2_angle", palletA2_angle);
this.writing("to_palletX3_line", palletX3_line);
this.writing("to_palletY3_row", palletY3_row);
this.writing("to_palletA3_angle", palletA3_angle);
this.writing("to_pressCribX1_line", pressCribX1_line);
this.writing("to_pressCribY1_row", pressCribY1_row);
this.writing("to_pressCribA1_angle", pressCribA1_angle);
this.writing("to_pressCribX2_line", pressCribX2_line);
this.writing("to_pressCribY2_row", pressCribY2_row);
this.writing("to_pressCribA2_angle", pressCribA2_angle);
this.writing("to_pressCribX3_line", pressCribX3_line);
this.writing("to_pressCribY3_row", pressCribY3_row);
this.writing("to_pressCribA3_angle", pressCribA3_angle);
this.writing("to_Zoffset", Zoffset);
this.writing("to_pallet_layerQty", pallet_layerQty);
this.writing("to_pressCrib_layerQty", pressCrib_layerQty);
this.writing("to_codeLayerX1_interval", codeLayerX1_interval);
this.writing("to_codeLayerY1_interval", codeLayerY1_interval);
this.writing("to_codeLayerX2_interval", codeLayerX2_interval);
this.writing("to_codeLayerY2_interval", codeLayerY2_interval);
this.writing("to_codeLayerX3_interval", codeLayerX3_interval);
this.writing("to_codeLayerY3_interval", codeLayerY3_interval);
this.writing("to_codeLayerX1_offset", codeLayerX1_offset);
this.writing("to_codeLayerY1_offset", codeLayerY1_offset);
this.writing("to_codeLayerX2_offset", codeLayerX2_offset);
this.writing("to_codeLayerY2_offset", codeLayerY2_offset);
this.writing("to_codeLayerX3_offset", codeLayerX3_offset);
this.writing("to_codeLayerY3_offset", codeLayerY3_offset);
this.writing("to_pressLayerX1_interval", pressLayerX1_interval);
this.writing("to_pressLayerY1_interval", pressLayerY1_interval);
this.writing("to_pressLayerX2_interval", pressLayerX2_interval);
this.writing("to_pressLayerY2_interval", pressLayerY2_interval);
this.writing("to_pressLayerX3_interval", pressLayerX3_interval);
this.writing("to_pressLayerY3_interval", pressLayerY3_interval);
this.writing("to_pressLayerX1_offset", pressLayerX1_offset);
this.writing("to_pressLayerY1_offset", pressLayerY1_offset);
this.writing("to_pressLayerX2_offset", pressLayerX2_offset);
this.writing("to_pressLayerY2_offset", pressLayerY2_offset);
this.writing("to_pressLayerX3_offset", pressLayerX3_offset);
this.writing("to_pressLayerY3_offset", pressLayerY3_offset);
this.writing("to_one_cribTotal", one_cribTotal);
this.writing("to_two_cribTotal", two_cribTotal);
this.writing("to_one_qty", one_qty);
this.writing("to_two_qty", two_qty);
this.writing("to_tool_coordinate", tool_coordinate);
requireSucess = true;
}
return true;
@ -380,8 +501,8 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
} else {
this.instruction_require_time = date;
JSONObject json = new JSONObject();
json.put("device_code",device_code);
json.put("is_full","1");
json.put("device_code", device_code);
json.put("is_full", "1");
HttpResponse result = acsToWmsService.applyTaskManipulatorToWms(json);
if (ObjectUtil.isNotEmpty(result)) {
@ -407,8 +528,8 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
} else {
this.instruction_require_time = date;
JSONObject json = new JSONObject();
json.put("device_code",device_code);
json.put("is_full","0");
json.put("device_code", device_code);
json.put("is_full", "0");
HttpResponse result = acsToWmsService.applyTaskManipulatorToWms(json);
if (ObjectUtil.isNotEmpty(result)) {
@ -434,8 +555,8 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
} else {
this.instruction_require_time = date;
JSONObject json = new JSONObject();
json.put("device_code",device_code);
json.put("type","4");
json.put("device_code", device_code);
json.put("type", "4");
HttpResponse result = acsToWmsService.lnshApplyTaskToWms(json);
if (ObjectUtil.isNotEmpty(result)) {
if (result.getStatus() == 200) {

38
acs/nladmin-ui/src/views/acs/device/driver/lnsh/lnsh_palletizing_manipulator.vue
View File

@ -136,6 +136,42 @@
</el-form-item>
</el-col>
</el-row>
<el-row>
<el-col :span="8">
<el-form-item label="取货设备" prop="device_code">
<el-select
v-model="form.link_get_station"
filterable
multiple
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_name"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="放货设备" prop="device_code">
<el-select
v-model="form.link_put_station"
filterable
multiple
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_name"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
</el-row>
</el-form>
</el-card>
@ -464,7 +500,7 @@ export default {
parentForm.is_route = true
parentForm.plc_id = this.plc_id
parentForm.opc_id = this.opc_id
updateConfig(parentForm, this.form, null, this.data1, this.data2).then(res => {
updateConfig(parentForm, this.form, null, this.data1, this.data2).then(res => {
this.notify('保存成功', 'success')
this.configLoading = false
}).catch(err => {

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