码垛机械手字段调整

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

@@ -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;
     }
 

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

@@ -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;
@@ -117,6 +147,21 @@ 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);
@@ -152,6 +197,68 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
                 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) {
             return;
         }
@@ -207,7 +314,6 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
             }
 
 
-
         }
         last_mode = mode;
         last_status = status;
@@ -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;
 
     }
 

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

@@ -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>