diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java index abd256b..c2bfcbd 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java @@ -207,6 +207,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi if (mode == 2) { inst = null; this.setRequireSucess1(false); + log.info("任务复位完成"); logServer.deviceExecuteLog(this.device_code, "", "", "模式变待机，复位前工位请求标记requireSucess1:" + requireSucess1); } logServer.deviceItemValue(this.device_code, "mode", String.valueOf(mode)); @@ -227,6 +228,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi if (move1 != last_move1) { if (move1 == 0) { this.setRequireSucess1(false); + log.info("任务复位完成"); logServer.deviceExecuteLog(this.device_code, "", "", "前工位有货变无货，复位前工位请求标记requireSucess1:" + requireSucess1); } logServer.deviceItemValue(this.device_code, "move1", String.valueOf(move1)); @@ -302,7 +304,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } //前工位取货时判断取货位光电信号 - if (mode == 3 && error == 0 && status != 3 && action1 == 0 && move1 == 0 && task1 > 0 && action2 != 1) { + if (mode == 3 && error == 0 && status != 3 && action1 == 0 && move1 == 0 && task1 > 0 && action2 == 2) { Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); String start_device_code = inst1.getStart_device_code(); Device startDevice = deviceAppservice.findDeviceByCode(start_device_code); @@ -342,7 +344,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } //前工位放货时判断放货位光电信号 - if (mode == 3 && error == 0 && status != 3 && action1 == 2 && move1 != 0 && task1 > 0 && action2 == 3) { + if (mode == 3 && error == 0 && status != 3 && action1 == 2 && move1 != 0 && task1 > 0 && action2 != 1) { Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); String next_device_code = inst1.getNext_device_code(); Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code); @@ -464,10 +466,14 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } //后工位放货时判断放货位光电信号 - if (mode == 3 && error == 0 && status != 3 && action2 == 2 && move2 != 0 && task2 > 0 && action1 == 2) { + if (mode == 3 && error == 0 && status != 3 && action2 == 2 && move2 != 0 && task2 > 0 && action1 != 1) { Instruction inst1 = instructionService.findByCodeFromCache(String.valueOf(task2)); - String next_device_code = inst1.getNext_device_code2(); - Device nextDevice = deviceAppservice.findDeviceByCode(next_device_code); + String next_parent_code = inst1.getNext_parent_code(); + String start_device_code=inst1.getStart_device_code(); + //后工位单任务 + Device nextDevice = deviceAppservice.findDeviceByCode(next_parent_code); + //双工位 + Device nextDevice1 = deviceAppservice.findDeviceByCode(start_device_code); if (nextDevice.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver) { LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice.getDeviceDriver(); if (driver.getMode() != 0 @@ -476,6 +482,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi // && (driver.getAction() == 2 || driver.getAction() == 3) ) { this.writing("to_command2", "2"); + this.requireSucess1 = false; driver.setMessage(""); logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。"); } else { @@ -497,9 +504,19 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi driver.setMessage(msg); logServer.deviceExecuteLog(device_code, "", "", msg); } - } else if (nextDevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - this.writing("to_command2", "2"); - logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。"); + } + if(nextDevice1.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver){ + LnshPalletizingManipulatorSiteDeviceDriver driver = (LnshPalletizingManipulatorSiteDeviceDriver) nextDevice1.getDeviceDriver(); + if (driver.getMode() != 0 + && driver.getMove() == 0 +// && (driver.getIo_action() == 1 || driver.getIo_action() == 3) +// && (driver.getAction() == 2 || driver.getAction() == 3) + ) { + this.writing("to_command2", "2"); + this.requireSucess1 = false; + driver.setMessage(""); + logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。"); + } } } @@ -529,7 +546,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi log.debug("设备运转模式:等待工作"); return; case 2: - // 申请任务 + if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && requireSucess1) { + log.info("没有复位"); + } if (move1 == 0 && move2 == 0 && action1 == 0 && action2 == 0 && task1 == 0 && task2 == 0 && !requireSucess1) { instruction_require(); } @@ -579,10 +598,11 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi last_to_target2 = to_target2; last_to_task2 = to_task2; last_to_container_type = to_container_type; + } - //申请前工位任务 + //任务申请 public synchronized boolean instruction_require() throws Exception { Date date = new Date(); if (date.getTime() - this.instruction_apply_time2.getTime() < (long) this.instruction_require_time_out) { @@ -669,6 +689,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi //下发4个点任务 if (ObjectUtil.isNotEmpty(start_device_code2) && ObjectUtil.isNotEmpty(next_device_code2)) { sendHeadBackSignalType(instdto); + log.info("下发五点任务，指令信息()",instdto); requireSucess1 = true; logServer.deviceExecuteLog(this.device_code, "", "", "申请前后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); if(ObjectUtil.isNotEmpty(start_device_code)){ @@ -680,13 +701,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } else { sendHeadSignalType(instdto); requireSucess1 = true; + log.info("申请前工位任务成功,{}",requireSucess1); logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); - if(ObjectUtil.isNotEmpty(start_device_code)){ - if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) { - lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver(); - lnshLaminatingMachineDeviceDriver.writing("to_command", "1"); - } - } } } else { //申请后工位任务 @@ -694,7 +710,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi List getDeviceCodeList2 = this.getExtraDeviceCodes("get_device_code2"); //前工位放货关联设备 List putDeviceCodeList2 = this.getExtraDeviceCodes("put_device_code2"); - for (int i = 0; i < putDeviceCodeList.size(); i++) { + for (int i = 0; i < putDeviceCodeList2.size(); i++) { if (ObjectUtil.isNotEmpty(taskserver.queryTaskByDeviceCode(getDeviceCodeList2.get(i).replace("\"", "")))) { task2 = taskserver.queryTaskByDeviceCode(getDeviceCodeList2.get(i).replace("\"", "")).get(0); } @@ -712,6 +728,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String next_point_code = task2.getNext_point_code(); String next_device_code = task2.getNext_device_code(); String next_device_code2 = task2.getNext_device_code2(); + String put_device_code=task2.getPut_device_code(); Device startdevice = deviceAppservice.findDeviceByCode(start_device_code); Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); Device startdevice2 = null; @@ -761,6 +778,15 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi taskserver.update(task2); sendBackSignalType(instdto); requireSucess1 = true; + LnshLaminatingMachineDeviceDriver lnshLaminatingMachineDeviceDriver; + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device addressdevice = appService.findDeviceByCode(put_device_code); + if(ObjectUtil.isNotEmpty(start_device_code)){ + if (addressdevice.getDeviceDriver() instanceof LnshLaminatingMachineDeviceDriver) { + lnshLaminatingMachineDeviceDriver = (LnshLaminatingMachineDeviceDriver) addressdevice.getDeviceDriver(); + lnshLaminatingMachineDeviceDriver.writing("to_command", "1"); + } + } logServer.deviceExecuteLog(this.device_code, "", "", "申请后工位任务成功,requireSucess1" + requireSucess1 + ",指令号:" + instdto.getInstruction_code()); } } @@ -1005,21 +1031,31 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi try { finish_instruction(inst1); } catch (Exception e) { - log.error("RGV 前工位完成指令异常", e); + log.error("RGV 双工位完成指令异常", e); logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); } + log.info("五点任务完成"); + writing("to_command1", "0"); writing("to_command1", "0"); writing("to_onset1", "0"); + writing("to_onset1", "0"); + writing("to_target1", "0"); writing("to_target1", "0"); writing("to_task1", "0"); + writing("to_task1", "0"); writing("to_command2", "0"); + writing("to_command2", "0"); + writing("to_onset2", "0"); writing("to_onset2", "0"); writing("to_target2", "0"); + writing("to_target2", "0"); + writing("to_task2", "0"); writing("to_task2", "0"); writing("to_container_type", "0"); - requireSucess1 = false; + writing("to_container_type", "0"); } this.requireSucess1 = false; + log.info("前后工位任务完成复位"); //单独的后工位任务 } else if (action2 == 4 && move2 == 0 && task2 > 0 && action1 == 0 && move2 == 0 && task1 == 0) { //inst_message @@ -1028,16 +1064,21 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi try { finish_instruction(inst2); } catch (Exception e) { - log.error("RGV 前工位完成指令异常", e); + log.error("RGV 后工位完成指令异常", e); logServer.deviceExecuteLog(this.device_code, "", "", "后工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); } + log.info("后工位任务完成"); writing("to_command2", "0"); + writing("to_command2", "0"); + writing("to_onset2", "0"); writing("to_onset2", "0"); writing("to_target2", "0"); + writing("to_target2", "0"); + writing("to_task2", "0"); writing("to_task2", "0"); - requireSucess1 = false; } this.requireSucess1 = false; + log.info("后工位任务完成复位"); } else if (action1 == 4 && move1 == 0 && task1 > 0 && action2 == 0 && move2 == 0 && task2 == 0) { inst1 = checkInst(); if (inst1 != null) { @@ -1047,14 +1088,20 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi log.error("RGV 前工位完成指令异常", e); logServer.deviceExecuteLog(this.device_code, "", "", "前工位指令" + task1 + "完成异常，异常原因：" + e.getMessage()); } + log.info("前工位任务完成"); writing("to_command1", "0"); + writing("to_command1", "0"); + writing("to_onset1", "0"); writing("to_onset1", "0"); writing("to_target1", "0"); + writing("to_target1", "0"); + writing("to_task1", "0"); writing("to_task1", "0"); writing("to_container_type", "0"); - requireSucess1 = false; + writing("to_container_type", "0"); } this.requireSucess1 = false; + log.info("前工位任务完成复位"); } @@ -1130,8 +1177,12 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String start_addr = startDevice.getExtraValue().get("OPCServer").toString(); String next_addr = nextDevice.getExtraValue().get("OPCServer").toString(); this.writing("to_onset1", start_addr); + this.writing("to_onset1", start_addr); + this.writing("to_target1", next_addr); this.writing("to_target1", next_addr); this.writing("to_task1", dto.getInstruction_code()); + this.writing("to_task1", dto.getInstruction_code()); + this.writing("to_command1", "1"); this.writing("to_command1", "1"); } @@ -1149,8 +1200,12 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String start_addr = startDevice.getExtraValue().get("OPCServer").toString(); String next_addr = nextDevice.getExtraValue().get("OPCServer").toString(); this.writing("to_onset2", start_addr); + this.writing("to_onset2", start_addr); + this.writing("to_target2", next_addr); this.writing("to_target2", next_addr); this.writing("to_task2", dto.getInstruction_code()); + this.writing("to_task2", dto.getInstruction_code()); + this.writing("to_command2", "1"); this.writing("to_command2", "1"); } @@ -1176,13 +1231,20 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String start_addr2 = startDevice2.getExtraValue().get("OPCServer").toString(); String next_addr2 = nextDevice2.getExtraValue().get("OPCServer").toString(); this.writing("to_onset1", start_addr); + this.writing("to_onset1", start_addr); + this.writing("to_target1", next_addr); this.writing("to_target1", next_addr); this.writing("to_task1", dto.getInstruction_code()); + this.writing("to_task1", dto.getInstruction_code()); //this.writing("to_command1", "1"); this.writing("to_onset2", start_addr2); + this.writing("to_onset2", start_addr2); this.writing("to_target2", next_addr2); + this.writing("to_target2", next_addr2); + this.writing("to_task2", dto.getInstruction_code()); this.writing("to_task2", dto.getInstruction_code()); this.writing("to_command2", "1"); + this.writing("to_command2", "1"); } } diff --git a/acs/nladmin-system/src/main/resources/log/LnshRGVDeviceDriver.xml b/acs/nladmin-system/src/main/resources/log/LnshRGVDeviceDriver.xml new file mode 100644 index 0000000..76e6024 --- /dev/null +++ b/acs/nladmin-system/src/main/resources/log/LnshRGVDeviceDriver.xml @@ -0,0 +1,14 @@ + + + + + + + + + + +