diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index e3c1d5e..f277944 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -2,12 +2,15 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.mvel2.util.ErrorUtil; +import org.nl.acs.agv.server.AgvService; import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.config.AcsConfig; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.basedriver.agv.utils.OneAgvPhase; @@ -15,11 +18,17 @@ import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspect import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; +import org.nl.acs.device_driver.lnsh.converor_barcode.ConveyorBarcodeDeviceDriver; +import org.nl.acs.device_driver.lnsh.conveyor_press_station.ConveyorPressStationDeviceDriver; +import org.nl.acs.device_driver.lnsh.lnsh_Laminating_machine.LnshLaminatingMachineDeviceDriver; +import org.nl.acs.device_driver.lnsh.lnsh_fold_disc_site.LnshFoldDiscSiteDeviceDriver; import org.nl.acs.device_driver.lnsh.lnsh_palletizing_manipulator_site.LnshPalletizingManipulatorSiteDeviceDriver; import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver; import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.WmsToAcsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.ext.wms.service.impl.WmsToAcsServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.impl.InstructionServiceImpl; @@ -27,6 +36,9 @@ import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; +import org.nl.acs.task.service.impl.TaskServiceImpl; import org.nl.modules.system.service.ParamService; import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.wql.util.SpringContextHolder; @@ -47,14 +59,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + TaskService taskService=SpringContextHolder.getBean(TaskServiceImpl.class); AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - + NDCAgvService AgvService = SpringContextHolder.getBean(NDCAgvService.class); OneAgvPhase oneAgvPhase = new OneAgvPhase(); - + ParamService acsConfigService = SpringContextHolder.getBean(ParamServiceImpl.class); + WmsToAcsService wmsToAcsService=SpringContextHolder.getBean(WmsToAcsService.class); int agvaddr = 0; int agvaddr_copy = 0; int weight = 0; @@ -70,7 +84,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int error = 0; int last_error = 0; String error_message = ""; - + boolean flag = false; private synchronized void setErrorInfo(int error, String error_code, String error_message) { this.error = error; this.error_code = error_code; @@ -137,9 +151,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic LnshStationDeviceDriver lnshStationDeviceDriver; //码垛机械手工位 LnshPalletizingManipulatorSiteDeviceDriver lnshPalletizingManipulatorSiteDeviceDriver; - - - + //标准版-压制对接位 + ConveyorPressStationDeviceDriver conveyorPressStationDeviceDriver; + //下发条码输送线工位 + ConveyorBarcodeDeviceDriver conveyorBarcodeDeviceDriver; + //标准版-叠盘机 + LnshFoldDiscSiteDeviceDriver lnshFoldDiscSiteDeviceDriver; + //标准版-覆膜机 + LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver; //分配 车id //(不需要WCS反馈) if (phase == 0x02) { @@ -150,6 +169,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic //到达取货点 //(需要WCS反馈) } else if (phase == 0x03) { + log.info("==================AGV请求取货=================="); + if (ObjectUtil.isEmpty(device)) { + log.info("未找到 address = " + agvaddr + " 的设备"); + return; + } + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令：" + ikey); + logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]"); + return; + } if (agvaddr == 0) { agvaddr = agvaddr_copy; } @@ -184,6 +213,195 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); return; } + //标准版-机械手对接位 + if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { + lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); + lnshPalletizingManipulatorSiteDeviceDriver.writing(2); + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 + && lnshPalletizingManipulatorSiteDeviceDriver.getMove() != 0 + && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1) + && (lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 1)) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) { + message += "站点无货,"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 3 && lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 1) { + message += "站点不允许进入,"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getAction() != 3 && lnshPalletizingManipulatorSiteDeviceDriver.getAction() != 1) { + message += "站点不允许取货,"; + } + } + message += "不允许AGV取货。"; + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-工位(交互模板) + if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){ + lnshStationDeviceDriver=(LnshStationDeviceDriver) device.getDeviceDriver(); + lnshStationDeviceDriver.writing(2); + if(lnshStationDeviceDriver.getMode()!=0 + &&lnshStationDeviceDriver.getMove() != 0 + && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 1) + && (lnshStationDeviceDriver.getAction() == 3 || lnshStationDeviceDriver.getAction() == 1)){ + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshStationDeviceDriver.setMessage(""); + flag=true; + }else{ + String message=""; + if(lnshStationDeviceDriver.getMode()==0){ + message += "站点未联机，"; + }else{ + if(lnshStationDeviceDriver.getMove()==0){ + message += "站点无货,"; + } + if (lnshStationDeviceDriver.getIo_action() != 3 && lnshStationDeviceDriver.getIo_action() != 1) { + message += "站点不允许进入,"; + } + if (lnshStationDeviceDriver.getAction() != 3 && lnshStationDeviceDriver.getAction() != 1) { + message += "站点不允许取货,"; + } + } + message += "不允许AGV取货。"; + lnshStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-压制对接位 + if(device.getDeviceDriver() instanceof ConveyorPressStationDeviceDriver){ + conveyorPressStationDeviceDriver = (ConveyorPressStationDeviceDriver) device.getDeviceDriver(); + TaskDto task=taskService.findByCode(inst.getTask_code()); + String direction=task.getDirection(); + Integer direction1=Integer.parseInt(direction); + //困料位写入方向 + conveyorPressStationDeviceDriver.writing(2,direction1); + conveyorPressStationDeviceDriver.writing(2); + if (conveyorPressStationDeviceDriver.getMode() != 0 + && conveyorPressStationDeviceDriver.getMove() != 0 + && (conveyorPressStationDeviceDriver.getIo_action() == 3 || conveyorPressStationDeviceDriver.getIo_action() == 1) + && (conveyorPressStationDeviceDriver.getAction() == 3 || conveyorPressStationDeviceDriver.getAction() == 1)) { + inst.setExecute_status("1"); + instructionService.update(inst); + + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorPressStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorPressStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorPressStationDeviceDriver.getMove() == 0) { + message += "站点无货,"; + } + if (conveyorPressStationDeviceDriver.getIo_action() != 3 && conveyorPressStationDeviceDriver.getIo_action() != 1) { + message += "站点不允许进入,"; + } + if (conveyorPressStationDeviceDriver.getAction() != 3 && conveyorPressStationDeviceDriver.getAction() != 1) { + message += "站点不允许取货,"; + } + } + message += "不允许AGV取货。"; + conveyorPressStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.IGNOREHASGOODS).getValue(), "1")) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + if (device.getHas_goods() != 0) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + logServer.deviceExecuteLog(device_code, "", "", "AGV请求取货设备{}无货,无法反馈"); + } + } + } + //标准版-下发条码输送线 + if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){ + conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver(); + conveyorBarcodeDeviceDriver.writing(2); + if (conveyorBarcodeDeviceDriver.getMode() != 0 + && conveyorBarcodeDeviceDriver.getMove() != 0 + && (conveyorBarcodeDeviceDriver.getIo_action() == 3 || conveyorBarcodeDeviceDriver.getIo_action() == 1) + && (conveyorBarcodeDeviceDriver.getAction() == 3 || conveyorBarcodeDeviceDriver.getAction() == 1)) { + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorBarcodeDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorBarcodeDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorBarcodeDeviceDriver.getMove() == 0) { + message += "站点无货,"; + } + if (conveyorBarcodeDeviceDriver.getIo_action() != 3 && conveyorBarcodeDeviceDriver.getIo_action() != 1) { + message += "站点不允许进入,"; + } + if (conveyorBarcodeDeviceDriver.getAction() != 3 && conveyorBarcodeDeviceDriver.getAction() != 1) { + message += "站点不允许取货,"; + } + } + message += "不允许AGV取货。"; + conveyorBarcodeDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-叠盘机 LnshFoldDiscSiteDeviceDriverl + if(device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver){ + lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver(); + lnshFoldDiscSiteDeviceDriver.writing(2); + if (lnshFoldDiscSiteDeviceDriver.getMode() != 0 + && lnshFoldDiscSiteDeviceDriver.getMove() != 0) { +// && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 3 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 1) +// && (lnshFoldDiscSiteDeviceDriver.getAction() == 3 || lnshFoldDiscSiteDeviceDriver.getAction() == 1) + inst.setExecute_status("1"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshFoldDiscSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshFoldDiscSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshFoldDiscSiteDeviceDriver.getMove() == 0) { + message += "站点无货,"; + } +// if (lnshFoldDiscSiteDeviceDriver.getIo_action() != 3 && lnshFoldDiscSiteDeviceDriver.getIo_action() != 1) { +// message += "站点不允许进入,"; +// } +// if (lnshFoldDiscSiteDeviceDriver.getAction() != 3 && lnshFoldDiscSiteDeviceDriver.getAction() != 1) { +// message += "站点不允许取货,"; +// } + } + message += "不允许AGV取货。"; + lnshFoldDiscSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); @@ -195,9 +413,23 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } + if (flag) { + log.info("==================允许AGV取货=================="); + logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); + } //取货完毕 //(需要WCS反馈) } else if (phase == 0x05) { + log.info("================AGV取货完成请求离开================"); + if (ObjectUtil.isEmpty(device)) { + log.info("未找到 address = " + ikey + " 的设备"); + return; + } + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令：" + ikey); + logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]"); + return; + } if (agvaddr == 0) { agvaddr = agvaddr_copy; } @@ -231,7 +463,172 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); return; } - + //标准版-机械手对接位 + if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { + lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); + lnshPalletizingManipulatorSiteDeviceDriver.writing(2); + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 + && lnshPalletizingManipulatorSiteDeviceDriver.getMove() != 0 + && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2) + ) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) { + message += "站点有货,"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 3 && lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 2) { + message += "站点不允许离开,"; + } + } + message += "不允许AGV取货后离开。"; + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-工位(交互模板) LnshStationDeviceDriver + if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){ + lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); + lnshStationDeviceDriver.writing(2); + if (lnshStationDeviceDriver.getMode() != 0 + && lnshStationDeviceDriver.getMove() != 0 + && (lnshStationDeviceDriver.getIo_action() == 3 || lnshStationDeviceDriver.getIo_action() == 2) + ) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshStationDeviceDriver.getMove() == 0) { + message += "站点有货,"; + } + if (lnshStationDeviceDriver.getIo_action() != 3 && lnshStationDeviceDriver.getIo_action() != 2) { + message += "站点不允许离开,"; + } + } + message += "不允许AGV取货后离开。"; + lnshStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-压制对接位 + if(device.getDeviceDriver() instanceof ConveyorPressStationDeviceDriver){ + conveyorPressStationDeviceDriver = (ConveyorPressStationDeviceDriver) device.getDeviceDriver(); + conveyorPressStationDeviceDriver.writing(2); + if (conveyorPressStationDeviceDriver.getMode() != 0 + && conveyorPressStationDeviceDriver.getMove() != 0 + && (conveyorPressStationDeviceDriver.getIo_action() == 3 || conveyorPressStationDeviceDriver.getIo_action() == 2) + ) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorPressStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorPressStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorPressStationDeviceDriver.getMove() == 0) { + message += "站点有货,"; + } + if (conveyorPressStationDeviceDriver.getIo_action() != 3 && conveyorPressStationDeviceDriver.getIo_action() != 2) { + message += "站点不允许离开,"; + } + } + message += "不允许AGV取货后离开。"; + conveyorPressStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.IGNOREHASGOODS).getValue(), "1")) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + if (device.getHas_goods() != 0) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + } + //标准版-下发条码输送线 + if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){ + conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver(); + conveyorBarcodeDeviceDriver.writing(2); + if (conveyorBarcodeDeviceDriver.getMode() != 0 + && conveyorBarcodeDeviceDriver.getMove() != 0 + && (conveyorBarcodeDeviceDriver.getIo_action() == 3 || conveyorBarcodeDeviceDriver.getIo_action() == 2) + ) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorBarcodeDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorBarcodeDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorBarcodeDeviceDriver.getMove() == 0) { + message += "站点有货,"; + } + if (conveyorBarcodeDeviceDriver.getIo_action() != 3 && conveyorBarcodeDeviceDriver.getIo_action() != 2) { + message += "站点不允许离开,"; + } + } + message += "不允许AGV取货后离开。"; + conveyorBarcodeDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-叠盘机 + if(device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver){ + lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver(); + lnshFoldDiscSiteDeviceDriver.writing(2); + if (lnshFoldDiscSiteDeviceDriver.getMode() != 0 + && lnshFoldDiscSiteDeviceDriver.getMove() != 0 +// && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 3 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 2) + ) { + inst.setExecute_status("5"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshFoldDiscSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshFoldDiscSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshFoldDiscSiteDeviceDriver.getMove() == 0) { + message += "站点有货,"; + } +// if (lnshFoldDiscSiteDeviceDriver.getIo_action() != 3 && lnshFoldDiscSiteDeviceDriver.getIo_action() != 2) { +// message += "站点不允许离开,"; +// } + } + message += "不允许AGV取货后离开。"; + lnshFoldDiscSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } if (StrUtil.equals(inst.getStart_device_code(), device_code)) { if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { @@ -250,9 +647,39 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic if (ObjectUtil.isNotEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈:" + Bytes2HexString(data)); } + if (flag) { + String hasWms = acsConfigService.findByCode(AcsConfig.HASWMS).getValue(); + if (!StrUtil.startWith(inst.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { + try { + JSONArray ar = new JSONArray(); + JSONObject param = new JSONObject(); + param.put("task_code", inst.getTask_code()); + param.put("task_status", "4"); + ar.add(param); + acsToWmsService.feedbackTaskStatusToWms(ar); + } catch (Exception e) { + logServer.deviceExecuteLog(device_code, "", "", "AGV取货完成离开后，反馈上位系统失败！"); + e.printStackTrace(); + } + } + } + if (flag) { + log.info("================允许AGV取货后离开================="); + logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。"); + } //到达放货点 //(需要WCS反馈) } else if (phase == 0x07) { + log.info("==================AGV请求放货=================="); + if (ObjectUtil.isEmpty(device)) { + log.info("未找到 address = " + ikey + " 的设备"); + return; + } + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令：" + ikey); + logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]"); + return; + } if (agvaddr == 0) { agvaddr = agvaddr_copy; } @@ -283,6 +710,188 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("未找到关联编号{}对应的指令", ikey); return; } + //标准版-机械手对接位 + if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { + lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); + lnshPalletizingManipulatorSiteDeviceDriver.writing(13); + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 + && lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0 + && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 1 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3) + && (lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 2 || lnshPalletizingManipulatorSiteDeviceDriver.getAction() == 3)) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() != 0) { + message += "站点有货，"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 1 && lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 3) { + message += "站点不允许进入，"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getAction() != 2 && lnshPalletizingManipulatorSiteDeviceDriver.getAction() != 3) { + message += "站点不允许放货，"; + } + } + message += "不允许AGV放货。"; + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-工位(交互模板) + if(device.getDeviceDriver() instanceof LnshStationDeviceDriver){ + lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); + lnshStationDeviceDriver.writing(13); + if (lnshStationDeviceDriver.getMode() != 0 + && lnshStationDeviceDriver.getMove() == 0 + && (lnshStationDeviceDriver.getIo_action() == 1 || lnshStationDeviceDriver.getIo_action() == 3) + && (lnshStationDeviceDriver.getAction() == 2 || lnshStationDeviceDriver.getAction() == 3)) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshStationDeviceDriver.getMove() != 0) { + message += "站点有货，"; + } + if (lnshStationDeviceDriver.getIo_action() != 1 && lnshStationDeviceDriver.getIo_action() != 3) { + message += "站点不允许进入，"; + } + if (lnshStationDeviceDriver.getAction() != 2 && lnshStationDeviceDriver.getAction() != 3) { + message += "站点不允许放货，"; + } + } + message += "不允许AGV放货。"; + lnshStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-压制对接位 + if(device.getDeviceDriver() instanceof ConveyorPressStationDeviceDriver){ + conveyorPressStationDeviceDriver = (ConveyorPressStationDeviceDriver) device.getDeviceDriver(); + conveyorPressStationDeviceDriver.writing(13); + if (conveyorPressStationDeviceDriver.getMode() != 0 + && conveyorPressStationDeviceDriver.getMove() == 0 + && (conveyorPressStationDeviceDriver.getIo_action() == 1 || conveyorPressStationDeviceDriver.getIo_action() == 3) + && (conveyorPressStationDeviceDriver.getAction() == 2 || conveyorPressStationDeviceDriver.getAction() == 3)) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorPressStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorPressStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorPressStationDeviceDriver.getMove() != 0) { + message += "站点有货，"; + } + if (conveyorPressStationDeviceDriver.getIo_action() != 1 && conveyorPressStationDeviceDriver.getIo_action() != 3) { + message += "站点不允许进入，"; + } + if (conveyorPressStationDeviceDriver.getAction() != 2 && conveyorPressStationDeviceDriver.getAction() != 3) { + message += "站点不允许放货，"; + } + } + message += "不允许AGV放货。"; + conveyorPressStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.IGNOREHASGOODS).getValue(), "1")) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + if (device.getHas_goods() != 0) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + } + //标准版-下发条码输送线 + if(device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver){ + conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver(); + conveyorBarcodeDeviceDriver.writing(13); + if (conveyorBarcodeDeviceDriver.getMode() != 0 + && conveyorBarcodeDeviceDriver.getMove() == 0 + && (conveyorBarcodeDeviceDriver.getIo_action() == 1 || conveyorBarcodeDeviceDriver.getIo_action() == 3) + && (conveyorBarcodeDeviceDriver.getAction() == 2 || conveyorBarcodeDeviceDriver.getAction() == 3)) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorBarcodeDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorBarcodeDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorBarcodeDeviceDriver.getMove() != 0) { + message += "站点有货，"; + } + if (conveyorBarcodeDeviceDriver.getIo_action() != 1 && conveyorBarcodeDeviceDriver.getIo_action() != 3) { + message += "站点不允许进入，"; + } + if (conveyorBarcodeDeviceDriver.getAction() != 2 && conveyorBarcodeDeviceDriver.getAction() != 3) { + message += "站点不允许放货，"; + } + } + message += "不允许AGV放货。"; + conveyorBarcodeDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-叠盘机 + if(device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver){ + lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver(); + lnshFoldDiscSiteDeviceDriver.writing(13); + if (lnshFoldDiscSiteDeviceDriver.getMode() != 0 + && lnshFoldDiscSiteDeviceDriver.getMove() == 0 +// && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 1 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 3) +// && (lnshFoldDiscSiteDeviceDriver.getAction() == 2 || lnshFoldDiscSiteDeviceDriver.getAction() == 3) + ) { + inst.setExecute_status("3"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshFoldDiscSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshFoldDiscSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshFoldDiscSiteDeviceDriver.getMove() != 0) { + message += "站点有货，"; + } +// if (lnshFoldDiscSiteDeviceDriver.getIo_action() != 1 && lnshFoldDiscSiteDeviceDriver.getIo_action() != 3) { +// message += "站点不允许进入，"; +// } +// if (lnshFoldDiscSiteDeviceDriver.getAction() != 2 && lnshFoldDiscSiteDeviceDriver.getAction() != 3) { +// message += "站点不允许放货，"; +// } + } + message += "不允许AGV放货。"; + lnshFoldDiscSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } if (StrUtil.equals(inst.getNext_device_code(), device_code)) { if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { @@ -296,9 +905,24 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } } + if (flag) { + log.info("==================允许AGV放货=================="); + logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); + } + //放货完毕 //(需要WCS反馈) } else if (phase == 0x09) { + log.info("================AGV放货完成请求离开================"); + if (ObjectUtil.isEmpty(device)) { + log.info("未找到 address = " + ikey + " 的设备"); + return; + } + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令：" + ikey); + logServer.deviceExecuteLog("未找到指令号对应的指令：", "", "", String.valueOf(ikey)); + return; + } if (agvaddr == 0) { agvaddr = agvaddr_copy; } @@ -330,18 +954,172 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("未找到编号{}对应的指令", ikey); return; } - if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + //标准版-机械手对接位 + if (device.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { + lnshPalletizingManipulatorSiteDeviceDriver = (LnshPalletizingManipulatorSiteDeviceDriver) device.getDeviceDriver(); + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() != 0 + && lnshPalletizingManipulatorSiteDeviceDriver.getMove() != 0 + && (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 2 || lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() == 3)) { + inst.setExecute_status("6"); + instructionService.update(inst); + lnshPalletizingManipulatorSiteDeviceDriver.writing(3); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshPalletizingManipulatorSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshPalletizingManipulatorSiteDeviceDriver.getMove() == 0) { + message += "站点无货，"; + } + if (lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 2 && lnshPalletizingManipulatorSiteDeviceDriver.getIo_action() != 3) { + message += "站点不允许离开，"; + } + } + message += "不允许AGV放货后离开。"; + lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); } - - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } + //标准版-工位(交互模板) + if (device.getDeviceDriver() instanceof LnshStationDeviceDriver) { + lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver(); + if (lnshStationDeviceDriver.getMode() != 0 + && lnshStationDeviceDriver.getMove() != 0 + && (lnshStationDeviceDriver.getIo_action() == 2 || lnshStationDeviceDriver.getIo_action() == 3)) { + inst.setExecute_status("6"); + instructionService.update(inst); + lnshStationDeviceDriver.writing(3); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshStationDeviceDriver.getMove() == 0) { + message += "站点无货，"; + } + if (lnshStationDeviceDriver.getIo_action() != 2 && lnshStationDeviceDriver.getIo_action() != 3) { + message += "站点不允许离开，"; + } + } + message += "不允许AGV放货后离开。"; + lnshStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); } + } + //标准版-压制对接位(需要给电气目标站) + if (device.getDeviceDriver() instanceof ConveyorPressStationDeviceDriver) { + conveyorPressStationDeviceDriver = (ConveyorPressStationDeviceDriver) device.getDeviceDriver(); + if (conveyorPressStationDeviceDriver.getMode() != 0 + && conveyorPressStationDeviceDriver.getMove() != 0 + && (conveyorPressStationDeviceDriver.getIo_action() == 2 || conveyorPressStationDeviceDriver.getIo_action() == 3)) { + inst.setExecute_status("6"); + instructionService.update(inst); + conveyorPressStationDeviceDriver.writing(3); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorPressStationDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorPressStationDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorPressStationDeviceDriver.getMove() == 0) { + message += "站点无货，"; + } + if (conveyorPressStationDeviceDriver.getIo_action() != 2 && conveyorPressStationDeviceDriver.getIo_action() != 3) { + message += "站点不允许离开，"; + } + } + message += "不允许AGV放货后离开。"; + conveyorPressStationDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.IGNOREHASGOODS).getValue(), "1")) { + inst.setExecute_status("6"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } else { + if (device.getHas_goods() != 0) { + inst.setExecute_status("6"); + instructionService.update(inst); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + } + //标准版-下发条码输送线 + if (device.getDeviceDriver() instanceof ConveyorBarcodeDeviceDriver) { + conveyorBarcodeDeviceDriver = (ConveyorBarcodeDeviceDriver) device.getDeviceDriver(); + if (conveyorBarcodeDeviceDriver.getMode() != 0 + && conveyorBarcodeDeviceDriver.getMove() != 0 + && (conveyorBarcodeDeviceDriver.getIo_action() == 2 || conveyorBarcodeDeviceDriver.getIo_action() == 3)) { + inst.setExecute_status("6"); + instructionService.update(inst); + conveyorBarcodeDeviceDriver.writing(3); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + conveyorBarcodeDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (conveyorBarcodeDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (conveyorBarcodeDeviceDriver.getMove() == 0) { + message += "站点无货，"; + } + if (conveyorBarcodeDeviceDriver.getIo_action() != 2 && conveyorBarcodeDeviceDriver.getIo_action() != 3) { + message += "站点不允许离开，"; + } + } + message += "不允许AGV放货后离开。"; + conveyorBarcodeDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + //标准版-叠盘机 + if (device.getDeviceDriver() instanceof LnshFoldDiscSiteDeviceDriver) { + lnshFoldDiscSiteDeviceDriver = (LnshFoldDiscSiteDeviceDriver) device.getDeviceDriver(); + if (lnshFoldDiscSiteDeviceDriver.getMode() != 0 + && lnshFoldDiscSiteDeviceDriver.getMove() != 0 +// && (lnshFoldDiscSiteDeviceDriver.getIo_action() == 2 || lnshFoldDiscSiteDeviceDriver.getIo_action() == 3) + ) { + inst.setExecute_status("6"); + instructionService.update(inst); + lnshFoldDiscSiteDeviceDriver.writing(3); + data = AgvService.sendAgvOneModeInst(phase, index, 0); + lnshFoldDiscSiteDeviceDriver.setMessage(""); + flag = true; + } else { + String message = ""; + if (lnshFoldDiscSiteDeviceDriver.getMode() == 0) { + message += "站点未联机，"; + } else { + if (lnshFoldDiscSiteDeviceDriver.getMove() == 0) { + message += "站点无货，"; + } +// if (lnshFoldDiscSiteDeviceDriver.getIo_action() != 2 && lnshFoldDiscSiteDeviceDriver.getIo_action() != 3) { +// message += "站点不允许离开，"; +// } + } + message += "不允许AGV放货后离开。"; + lnshFoldDiscSiteDeviceDriver.setMessage(message); + logServer.deviceExecuteLog(device_code, "", "", message); + } + } + if (flag) { + log.info("================允许AGV放货后离开================="); + logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); } } //到达位置点 diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/converor_barcode/ConveyorBarcodeDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/converor_barcode/ConveyorBarcodeDeviceDriver.java index e813ddc..7226275 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/converor_barcode/ConveyorBarcodeDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/converor_barcode/ConveyorBarcodeDeviceDriver.java @@ -42,7 +42,7 @@ import java.util.List; import java.util.Map; /** - * 晟华-工位(交互模板) + * 下发条码输送线工位 */ @Slf4j @Getter diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index 52bfa2a..65e7904 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -111,7 +111,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { String next_device_code = ""; String start_parent_code = ""; String next_parent_code = ""; - + //困料区需要方向 + String direction=task.getDirection(); JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_point_code + "'").uniqueResult(0); if (!ObjectUtil.isEmpty(start_device_json)) { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java index 5edf3fa..504d7ff 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java @@ -243,4 +243,9 @@ public class TaskDto implements Serializable { * 扩展参数 */ private String params; + /** + * 方向 1往左 2往右 + */ + private String direction; + } diff --git a/acs/nladmin-ui/src/views/acs/device/index.vue b/acs/nladmin-ui/src/views/acs/device/index.vue index 4917edd..7b8a225 100644 --- a/acs/nladmin-ui/src/views/acs/device/index.vue +++ b/acs/nladmin-ui/src/views/acs/device/index.vue @@ -263,7 +263,7 @@ export default { regions: [], is_configs: [], uploadShow: false, - + device_code: '', regions: [], rules: { device_code: [