add RGV任务复位

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();
+                String next_parent_code = inst1.getNext_parent_code();
-                Device nextDevice = deviceAppservice.findDeviceByCode(next_device_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");
+                if(nextDevice1.getDeviceDriver() instanceof LnshPalletizingManipulatorSiteDeviceDriver){
-                    logServer.deviceExecuteLog(nextDevice.getDevice_code(), "", "", "允许RGV后工位放货。");
+                    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<String> getDeviceCodeList2 = this.getExtraDeviceCodes("get_device_code2");
                 //前工位放货关联设备
                 List<String> 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");
     }
 
 }

acs/nladmin-system/src/main/resources/log/LnshRGVDeviceDriver.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<?import java.lang.*?>
+<?import java.util.*?>
+<?import javafx.scene.*?>
+<?import javafx.scene.control.*?>
+<?import javafx.scene.layout.*?>
+
+<AnchorPane xmlns="http://javafx.com/javafx"
+            xmlns:fx="http://javafx.com/fxml"
+            fx:controller="$CONTROLLER_NAME$"
+            prefHeight="400.0" prefWidth="600.0">
+
+</AnchorPane>