diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java index 0cd700b..6debb79 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java @@ -23,6 +23,7 @@ import org.springframework.web.bind.annotation.RestController; @Api(tags = "仙工AGV") @Slf4j @SaIgnore +@RequestMapping("/api") public class XianGongAgvController { private final XianGongAgvService agvService; @@ -33,4 +34,20 @@ public class XianGongAgvController { public ResponseEntity xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) { return new ResponseEntity<>(agvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK); } + + @PostMapping ("/acquireBlockGroup") + @Log("占用互斥组") + @ApiOperation("占用互斥组") + public ResponseEntity getBlockGroup(@RequestBody JSONObject requestParam) { + return new ResponseEntity<>(agvService.getBlockGroup(requestParam), HttpStatus.OK); + } + + @PostMapping ("/releaseBlockGroup") + @Log("释放互斥组") + @ApiOperation("释放互斥组") + public ResponseEntity releaseBlockGroup(@RequestBody JSONObject requestParam) { + return new ResponseEntity<>(agvService.releaseBlockGroup(requestParam), HttpStatus.OK); + } + + } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java index cfd82d5..3f4b801 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java @@ -4,10 +4,12 @@ import cn.hutool.core.util.ObjectUtil; import com.alibaba.fastjson.JSONObject; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device_driver.basedriver.standard_conveyor_control.StandardCoveyorControlDeviceDriver; import org.nl.acs.device_driver.sdk.PhotoelectricDetectionDeviceDriver; import org.nl.acs.log.service.DeviceExecuteLogService; 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.modules.common.exception.BadRequestException; import org.springframework.beans.factory.annotation.Autowired; @@ -25,6 +27,8 @@ public class AgvWaitUtil { private DeviceAppService deviceAppService; @Autowired private DeviceExecuteLogService deviceExecuteLogService; + @Autowired + private TaskService taskService; //取货前等待 public JSONObject waitInGet(String deviceCode) { @@ -36,9 +40,13 @@ public class AgvWaitUtil { throw new BadRequestException("请求失败，未找到设备！"); } - if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) { - PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver(); - if (driver.getMove() == 1) { + if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { + // 标准版输送线驱动 + StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); + // 通知输送线申请取货-1 + driver.writing(1); + // 判断是否满足条件：action = 1（允许取货） && move = 1（有货） + if (driver.getMove() == 1 && driver.getAction() == 1) { String message = "允许AGV取货。"; driver.setMessage(message); this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); @@ -71,8 +79,11 @@ public class AgvWaitUtil { throw new BadRequestException("请求失败，未找到设备！"); } - if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) { - PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver(); + if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { + // 标准版输送线驱动 + StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); + // 通知输送线取货完成-2 + driver.writing(2); if (driver.getMove() == 0) { String message = "允许AGV取货后离开。"; driver.setMessage(message); @@ -99,7 +110,7 @@ public class AgvWaitUtil { } //放货前等待 - public JSONObject waitInPut(String deviceCode) { + public JSONObject waitInPut(String deviceCode,TaskDto taskDto) { log.info("仙工AGV请求放货，设备号 - {}", deviceCode); boolean flag = false; @@ -108,17 +119,26 @@ public class AgvWaitUtil { throw new BadRequestException("请求失败，未找到设备！"); } - if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) { - PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver(); - if (driver.getMove() == 0) { + if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { + // 标准版输送线驱动 + StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); + // 通知输送线申请放货-3 + driver.writing(3); + // 判断是否满足条件：action = 2（允许放货） && move = 0（无货） + if (driver.getMove() == 0 && driver.getAction() == 2) { String message = "允许AGV放货。"; driver.setMessage(message); this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); flag = true; + + if (taskDto.getIs_vehicle().equals("1")) { + // 获取当前母载具号 + taskDto.setVehicle_code(driver.getBarcode()); + taskService.update(taskDto); + } + } else { - String message = "光电信号有货,不允许放货!"; - driver.setMessage(message); - this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); + this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "光电信号为:" + driver.getMove()); } } else { flag = true; @@ -146,15 +166,20 @@ public class AgvWaitUtil { throw new BadRequestException("请求失败，未找到设备！"); } - if (device.getDeviceDriver() instanceof PhotoelectricDetectionDeviceDriver) { - PhotoelectricDetectionDeviceDriver driver = (PhotoelectricDetectionDeviceDriver) device.getDeviceDriver(); + if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { + // 标准版输送线驱动 + StandardCoveyorControlDeviceDriver driver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); + // 通知输送线放货完成-4 + driver.writing(4); if (driver.getMove() == 1) { - String message = "允许AGV放货完成离开。"; + String message = "允许AGV放货后离开。"; driver.setMessage(message); this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); flag = true; } else { - this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "光电信号为:" + driver.getMove() + ",不允许AGV放货完成离开!"); + String message = "光电信号有货,不允许AGV放货后离开。"; + driver.setMessage(message); + this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); } } else { flag = true; diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java index 3042831..5a21dbc 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java @@ -1,6 +1,5 @@ package org.nl.acs.agv.server; -import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSONObject; import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.ext.UnifiedResponse; @@ -91,10 +90,9 @@ public interface XianGongAgvService { * 占用互斥组 * * @param reqParam - * @param * @return */ - public UnifiedResponse getBlockGroup(JSONObject reqParam); + JSONObject getBlockGroup(JSONObject reqParam); /** * 查询互斥组状态 @@ -110,10 +108,9 @@ public interface XianGongAgvService { * 释放互斥组 * * @param reqParam - * @param * @return */ - public UnifiedResponse releaseBlockGroup(JSONObject reqParam); + JSONObject releaseBlockGroup(JSONObject reqParam); /** @@ -167,4 +164,14 @@ public interface XianGongAgvService { * @return */ public JSONObject xgAGVWaitPointRequest(JSONObject requestParam); + + /** + * 下发运单急停 + * + * @param requestParam + * @return + * @throws Exception + */ + public UnifiedResponse sendOrderStopToXZ(JSONObject requestParam); + } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index 04b0d4f..f574cf1 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -12,7 +12,9 @@ import org.nl.acs.agv.server.AgvWaitUtil; import org.nl.acs.agv.server.XianGongAgvService; import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.config.AcsConfig; +import org.nl.acs.device_driver.basedriver.standard_conveyor_control.StandardCoveyorControlDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; +import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver; import org.nl.acs.ext.UnifiedResponse; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.xg.XgHttpUtil; @@ -130,15 +132,78 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { } @Override - public UnifiedResponse getBlockGroup(JSONObject reqParam) { - String path = "/getBlockGroup"; - return xgHttpUtil.sendPostRequest(path, reqParam); + public JSONObject getBlockGroup(JSONObject reqParam) { + log.info("getBlockGroup收到AGV请求参数:{}", reqParam.toString()); + // 需返回参数 + JSONObject result = new JSONObject(); + + // 根据设备号获取对应的设备 + Device device = deviceAppService.findDeviceByCode(reqParam.getString("block_group_id")); + if (ObjectUtil.isEmpty(device)) { + throw new BadRequestException("设备号 " + reqParam.getString("block_group_id") + " 不存在！"); + } + + if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) { + // 三色灯驱动 + LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver(); + // 给三色灯写入进入命令0-离开，1-进入 + driver.writing(1,3); + + // 判断是否允许进入 1-允许，0-不允许 + if (driver.getAction() == 1) { + // 记录车号 + driver.setCar_no(reqParam.getString("robot_name")); + + result.put("code", 200); + result.put("message", "ok"); + } else { + result.put("code", 400); + result.put("message", "ok"); + } + } else { + result.put("code", 400); + result.put("message", "ok"); + } + log.info("getBlockGroup反馈AGV输出参数:{}", result.toString()); + return result; } @Override - public UnifiedResponse releaseBlockGroup(JSONObject reqParam) { - String path = "/releaseBlockGroup"; - return xgHttpUtil.sendPostRequest(path, reqParam); + public JSONObject releaseBlockGroup(JSONObject reqParam) { + log.info("releaseBlockGroup收到AGV请求参数:{}", reqParam.toString()); + // 需返回参数 + JSONObject result = new JSONObject(); + + // 根据设备号获取对应的设备 + Device device = deviceAppService.findDeviceByCode(reqParam.getString("block_group_id")); + if (ObjectUtil.isEmpty(device)) { + throw new BadRequestException("设备号 " + reqParam.getString("block_group_id") + " 不存在！"); + } + + if (device.getDeviceDriver() instanceof LampThreecolorDeviceDriver) { + // 三色灯驱动 + LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver(); + // 给三色灯写入进入命令0-离开，1-进入 + driver.writing(0,Integer.parseInt(device.getExtraValue().get("color").toString())); + + // 判断是否允许离开 1-允许，0-不允许 + if (driver.getAction() == 1) { + // 判断是否清楚车号 + if (device.getExtraValue().get("color").toString().equals("1")) { + driver.setCar_no(""); + } + result.put("code", 200); + result.put("message", "ok"); + } else { + result.put("code", 400); + result.put("message", "ok"); + } + } else { + result.put("code", 400); + result.put("message", "ok"); + } + log.info("releaseBlockGroup反馈AGV输出参数:{}", result.toString()); + return result; } @Override @@ -830,7 +895,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { if (address.contains("GET")) { return agvWaitUtil.waitInGet(deviceCodeNow); } else if (address.contains("PUT")) { - return agvWaitUtil.waitInPut(deviceCodeNow); + return agvWaitUtil.waitInPut(deviceCodeNow,task); } } if (address.contains("OUT")) { @@ -849,6 +914,12 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { throw new BadRequestException("请求失败，IN OUT 站点错误!"); } + @Override + public UnifiedResponse sendOrderStopToXZ(JSONObject json) { + String path = "/gotoSitePause"; + return xgHttpUtil.sendPostRequest(path, json); + } + /** * 叉车运单动作块 * diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index cf03e55..01d1111 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -15,7 +15,8 @@ public enum DriverTypeEnum { XIANGONG_AGV_DEVICE_DRIVER(4, "xg_agv", "仙工AGV", "agv"), RGV_DEVICE_DRIVER(5, "rgv_station", "RGV", "rgv"), ELEVATOR_DRIVER(6, "standard_elevator", "电梯", "elevator"), - CONVEYOR_CONTROL(7, "standard_conveyor_control", "标准版-输送线", "conveyor"); + CONVEYOR_CONTROL(7, "standard_conveyor_control", "标准版-输送线", "conveyor"), + CONVEYOR_COLOR(8, "lamp_three_color", "标准版-三色灯", "color"); //驱动索引 private int index; //驱动编码 diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/ItemProtocol.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/ItemProtocol.java index 490a6ed..df1ca69 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/ItemProtocol.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/ItemProtocol.java @@ -23,6 +23,7 @@ public class ItemProtocol { public static String item_direction = "direction"; public static String item_operation_type = "operation_type"; public static String item_task = "task"; + public static String item_barcode = "barcode"; public static String item_to_command = "to_command"; public static String item_to_target = "to_target"; @@ -39,6 +40,10 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_heartbeat); } + public String getBarcode() { + return this.getOpcStringValue(item_barcode); + } + public int getMode() { return this.getOpcIntegerValue(item_mode); } @@ -95,6 +100,15 @@ public class ItemProtocol { return 0; } + public String getOpcStringValue(String protocol) { + String value = this.driver.getStringValue(protocol); + if (value == null) { + //throw new BusinessException("{} : {}", new Object[]{protocol, DeviceErrorProtocol.getMessage(10000)}); + } else { + return value; + } + return "0"; + } public static List getReadableItemDtos() { ArrayList list = new ArrayList(); diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java index 4dbc2bb..67a9278 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control/StandardCoveyorControlDeviceDriver.java @@ -79,6 +79,8 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver int mode = 0; int error = 0; int move = 0; + int action = 0; + String barcode = null; int task = 0; //出入库模式 int operation_type = 0; @@ -155,6 +157,8 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver error = this.itemProtocol.getError(); move = this.itemProtocol.getMove(); task = this.itemProtocol.getTask(); + action = this.itemProtocol.getAction(); + barcode = this.itemProtocol.getBarcode(); hasGoods = this.itemProtocol.getMove(); operation_type = this.itemProtocol.getOperation_type(); if (mode != last_mode) { @@ -169,7 +173,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver if (error != last_error) { } - if (mode == 2 && move != 0 && task > 0) { + /* if (mode == 2 && move != 0 && task > 0) { //inst_message inst = instructionService.findByCodeFromCache(String.valueOf(task)); if (inst != null) { @@ -182,7 +186,7 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver instructionService.update(inst); } } - } + }*/ } catch (Exception var17) { return; } @@ -214,9 +218,6 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver break; case 2: //申请任务 - if (!StrUtil.isBlank(material) && !StrUtil.isBlank(qty) && material.length() > 0 && qty.length() > 0 && !requireSucess) { - this.instruction_require(container); - } break; case 3: @@ -227,18 +228,9 @@ public class StandardCoveyorControlDeviceDriver extends AbstractOpcDeviceDriver break; case 5: //申请空盘 - if (move == 0 && !requireSucess) { - apply_OutEmpty(); - } break; case 6: //申请入库 - if (move != 0 && !applySucess) { - instruction_apply(); - } - if (move != 0 && !requireSucess) { - apply_InEmpty(); - } break; } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/ItemProtocol.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/ItemProtocol.java index a6deb63..ed01e38 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/ItemProtocol.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/ItemProtocol.java @@ -12,7 +12,9 @@ public class ItemProtocol { public static String item_mode = "mode"; public static String item_action = "action"; public static String item_error = "error"; - public static String item_to_command = "to_command"; + public static String item_to_command = "toCommand"; + public static String item_to_color = "toColor"; + public static String item_color = "color"; private LampThreecolorDeviceDriver driver; @@ -25,6 +27,10 @@ public class ItemProtocol { return this.getOpcIntegerValue(item_heartbeat); } + public int getColor() { + return this.getOpcIntegerValue(item_color); + } + public int getMode() { return this.getOpcIntegerValue(item_mode); } @@ -57,14 +63,16 @@ public class ItemProtocol { ArrayList list = new ArrayList(); list.add(new ItemDTO(item_heartbeat, "心跳", "DB51.B0")); list.add(new ItemDTO(item_mode, "工作模式", "DB51.B1", Boolean.valueOf(true))); - list.add(new ItemDTO(item_action, "动作信号", "DB51.B2")); + list.add(new ItemDTO(item_action, "是否允许进入", "DB51.B2")); list.add(new ItemDTO(item_error, "报警信号", "DB51.B4")); + list.add(new ItemDTO(item_color, "颜色", "DB51.B5")); return list; } public static List getWriteableItemDtos() { ArrayList list = new ArrayList(); list.add(new ItemDTO(item_to_command, "作业命令", "DB52.W2", Boolean.valueOf(true))); + list.add(new ItemDTO(item_to_color, "颜色", "DB52.W3", Boolean.valueOf(true))); return list; } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDefinition.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDefinition.java index 727b898..79915f5 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDefinition.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDefinition.java @@ -55,12 +55,7 @@ public class LampThreecolorDefinition implements OpcDeviceDriverDefinition { } public static List getReadableItemDtos2() { - List list = new ArrayList(); - list.add(new ItemDTO(ItemProtocol.item_heartbeat, "心跳", "DB600.B0")); - list.add(new ItemDTO(ItemProtocol.item_mode, "工作模式", "DB600.B1", true)); - list.add(new ItemDTO(ItemProtocol.item_action, "动作信号", "DB600.B2")); - list.add(new ItemDTO(ItemProtocol.item_error, "报警信号", "DB600.B4")); - return list; + return ItemProtocol.getReadableItemDtos(); } @Override diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java index 028173d..6efb55c 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java @@ -5,11 +5,13 @@ import lombok.Getter; import lombok.Setter; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl; import org.nl.acs.device.device_driver.standard_inspect.ReadUtil; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.UnifiedResponse; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.opc.Device; import org.nl.acs.route.service.RouteLineService; @@ -18,9 +20,7 @@ import org.nl.modules.wql.util.SpringContextHolder; import org.openscada.opc.lib.da.Server; import org.springframework.beans.factory.annotation.Autowired; -import java.util.Date; -import java.util.HashMap; -import java.util.Map; +import java.util.*; /** * 检测站点驱动 @@ -50,6 +50,8 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen String devicecode; int mode = 0; int action = 0; + int heartbeat = 0; + int color = 0; int error = 0; int move = 0; int task = 0; @@ -59,6 +61,8 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen int last_move = 0; int last_task = 0; + String car_no = ""; + boolean hasVehicle = false; boolean isReady = false; protected int instruction_num = 0; @@ -97,9 +101,11 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen String message = null; String device_code = this.getDevice().getDevice_code(); + heartbeat = this.itemProtocol.getHeartbeat(); mode = this.itemProtocol.getMode(); action = this.itemProtocol.getAction(); error = this.itemProtocol.getError(); + color = this.itemProtocol.getColor(); if (mode != last_mode) { } if (action != last_action) { @@ -109,8 +115,22 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen last_action = action; last_mode = mode; last_error = error; - //message = StringFormatUtl.format("设备报警:{}", new Object[]{}); + if (error == 1) { + String[] carArr = {car_no}; + JSONObject json = new JSONObject(); + json.put("vehicles", carArr); + // 请求下发agv急停 + XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class); + //创建订单序列 + UnifiedResponse response = xianGongAgv.sendOrderStopToXZ(json); + + if (!response.isSuccess()) { + } else { + } + } + + //message = StringFormatUtl.format("设备报警:{}", new Object[]{}); // String manual_create_task = this.getDevice().getExtraValue().get("manual_create_task").toString(); @@ -150,10 +170,29 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen System.out.println("设备：" + devicecode + ",下发PLC信号：" + to_command + ",value：" + command); } - public synchronized void OpenOrClose(String type) { + public void writing(int command,int color) { + String toCommand = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_command; - writing(Integer.parseInt(type)); + String toColor = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_color; + + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(toCommand, command); + itemMap.put(toColor, color); + ReadUtil.write(itemMap, server); + ReadUtil.write(itemMap, server); + server.disconnect(); + log.info("下发PLC信号：{},{}", toCommand, command); + log.info("下发PLC信号：{},{}", toColor, color); + System.out.println("设备：" + devicecode + ",下发PLC信号：" + toCommand + ",value：" + command); + System.out.println("设备：" + devicecode + ",下发PLC信号：" + toColor + ",value：" + color); + } + public synchronized void OpenOrClose(String type) { + writing(Integer.parseInt(type)); } } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs2/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index b5bd7ba..d2b8c40 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -77,6 +77,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { String task_type = task.getTask_type(); String remark = task.getRemark(); String params = task.getParams(); + String is_vehicle = task.getIs_vehicle(); // 双工RGV任务 后工位任务 String start_point_code2 = task.getStart_device_code2(); String next_point_code2 = task.getNext_device_code2(); @@ -223,6 +224,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { jo.put("vehicle_code", vehicle_code); jo.put("vehicle_type", vehicle_type); jo.put("remark", remark); + jo.put("is_vehicle", is_vehicle); jo.put("params", params); jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type)); jo.put("direction", direction); diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index c725d44..0bec341 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -457,7 +457,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu return; } - LampThreecolorDeviceDriver lampThreecolorDeviceDriver; + /* LampThreecolorDeviceDriver lampThreecolorDeviceDriver; //变更三色灯状态 @@ -469,7 +469,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) lamddevice.getDeviceDriver(); lampThreecolorDeviceDriver.writing(0); } - } + }*/ } @Override diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/opc/DeviceType.java b/acs2/nladmin-system/src/main/java/org/nl/acs/opc/DeviceType.java index bc9bcbe..7a8bdd5 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/opc/DeviceType.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/opc/DeviceType.java @@ -18,7 +18,8 @@ public enum DeviceType { shadow("影子设备", 20), other("其他设备", 14), safetydoor("安全门", 17), - elevator("电梯", 21); + elevator("电梯", 21), + color("三色灯", 22); private String description; private int order; diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java b/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java index db9c3dd..5718592 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java @@ -282,4 +282,9 @@ public class TaskDto implements Serializable { * 放货设备编号(覆膜机) */ private String put_device_code; + + /** + * 是否需要载具 + */ + private String is_vehicle; } diff --git a/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index 0e23b91..d6b8c1c 100644 --- a/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs2/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -493,6 +493,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return this.tasks .stream() .filter(taskDto -> "0".equals(taskDto.getTask_status())) + .sorted(Comparator.comparing(TaskDto::getPriority).reversed()) .collect(Collectors.toList()); } @@ -790,6 +791,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { request.setTask_id(dto.getExt_task_uuid()); request.setTask_code(dto.getTask_code()); request.setTask_status(dto.getTask_status()); + request.setVehicle_code(dto.getVehicle_code()); + request.setCar_no(""); request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode()); request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName()); acstowmsService.apply(request); diff --git a/acs2/nladmin-ui/src/views/acs/device/config.vue b/acs2/nladmin-ui/src/views/acs/device/config.vue index ad9a771..48a0365 100644 --- a/acs2/nladmin-ui/src/views/acs/device/config.vue +++ b/acs2/nladmin-ui/src/views/acs/device/config.vue @@ -75,11 +75,11 @@ import { get, selectDriverCodeList } from '@/api/acs/device/driverConfig' import { getDicts } from '@/api/system/dict' import standard_inspect_site from './driver/standard_inspect_site' import standard_ordinary_site from './driver/standard_ordinary_site' -import lamp_three_color from './driver/lamp_three_color' import standard_storage from '@/views/acs/device/driver/standard_storage' import standard_scanner from '@/views/acs/device/driver/standard_scanner' import standard_conveyor_control_with_scanner from '@/views/acs/device/driver/standard_conveyor_control_with_scanner' import standard_conveyor_control from '@/views/acs/device/driver/standard_conveyor_control' +import lamp_three_color from '@/views/acs/device/driver/lamp_three_color' import standard_conveyor_monitor from '@/views/acs/device/driver/standard_conveyor_monitor' import lnsh_mixing_mill from '@/views/acs/device/driver/lnsh/lnsh_mixing_mill' import lnsh_press from '@/views/acs/device/driver/lnsh/lnsh_press' diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/lamp_three_color.vue b/acs2/nladmin-ui/src/views/acs/device/driver/lamp_three_color.vue index 760590f..519f193 100644 --- a/acs2/nladmin-ui/src/views/acs/device/driver/lamp_three_color.vue +++ b/acs2/nladmin-ui/src/views/acs/device/driver/lamp_three_color.vue @@ -1,6 +1,50 @@