取放货物

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java

@@ -22,6 +22,7 @@ import org.nl.acs.device_driver.ndxy_special_two.NdxySpecialTwoDeviceDriver;
 import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceDriver;
 import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
 import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
+import org.nl.acs.device_driver.standard_inspect_site_smart200.StandardInspectSiteSmartDeviceDriver;
 import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_manipulator_stacking_site.StandardManipulatorStackingSiteDeviceDriver;
 import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -863,6 +864,7 @@ public class AgvServiceImpl implements AgvService {
             Device addressdevice = appService.findDeviceByCode(address);
 
             StandardManipulatorStackingSiteDeviceDriver standardManipulatorStackingSiteDeviceDriver;
+            StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
             //取货的进入前等待和离开等待
             if (action.equals("Load")) {
                 if ("EntryRequired".equals(type)) {
@@ -879,6 +881,14 @@ public class AgvServiceImpl implements AgvService {
                     if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                         is_feedback = true;
                     }
+                    if(addressdevice.getDeviceDriver() instanceof StandardInspectSiteSmartDeviceDriver){
+                        standardInspectSiteDeviceDriver=(StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardInspectSiteDeviceDriver.getMove()==1&&standardInspectSiteDeviceDriver.getAction()==1){
+                            is_feedback = true;
+                        }else {
+                            log.info("设备{} 请求取货，光电信号:{}",addressdevice,standardInspectSiteDeviceDriver.getMove());
+                        }
+                    }
                 }
                 if ("PauseOnStation".equals(type)) {
                     if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
@@ -892,6 +902,14 @@ public class AgvServiceImpl implements AgvService {
                     if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                         is_feedback = true;
                     }
+                    if(addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
+                        standardInspectSiteDeviceDriver=(StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardInspectSiteDeviceDriver.getMove()==0){
+                            is_feedback = true;
+                        }else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardInspectSiteDeviceDriver.getMove());
+                        }
+                    }
                 }
             }
 
@@ -909,6 +927,14 @@ public class AgvServiceImpl implements AgvService {
                     if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                         is_feedback = true;
                     }
+                    if(addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
+                        standardInspectSiteDeviceDriver=(StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardInspectSiteDeviceDriver.getMove()==0&&standardInspectSiteDeviceDriver.getAction()==2){
+                            is_feedback = true;
+                        }else {
+                            log.info("设备{} 请求放货，光电信号:{}",addressdevice,standardInspectSiteDeviceDriver.getMove());
+                        }
+                    }
                 }
                 if ("PauseOnStation".equals(type)) {
                     if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
@@ -922,6 +948,14 @@ public class AgvServiceImpl implements AgvService {
                     if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
                         is_feedback = true;
                     }
+                    if(addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver){
+                        standardInspectSiteDeviceDriver=(StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
+                        if(standardInspectSiteDeviceDriver.getMove()==1){
+                            is_feedback = true;
+                        }else {
+                            log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardInspectSiteDeviceDriver.getMove());
+                        }
+                    }
                 }
             }
             com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/ItemProtocol.java

@@ -14,6 +14,7 @@ public class ItemProtocol {
     public static String item_heartbeat = "heartbeat";
     public static String item_mode = "mode";
     public static String item_move = "move";
+    public static String item_action = "action";
     public static String item_ioaction = "ioaction";
     public static String item_error = "error";
     public static String item_task = "task";
@@ -22,6 +23,7 @@ public class ItemProtocol {
     public static String item_to_task = "to_task";
     public static String item_weight = "weight";
 
+
     private StandardInspectSiteDeviceDriver driver;
 
     public ItemProtocol(StandardInspectSiteDeviceDriver driver) {
@@ -36,6 +38,8 @@ public class ItemProtocol {
         return this.getOpcIntegerValue(item_mode);
     }
 
+    public int getAction(){return this.getOpcIntegerValue(item_action);}
+
     public int getMove() {
         return this.getOpcIntegerValue(item_move);
     }
@@ -89,8 +93,9 @@ public class ItemProtocol {
         list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0"));
         list.add(new ItemDto(item_mode, "工作状态", "DB600.B2", Boolean.valueOf(true)));
         list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3"));
-        list.add(new ItemDto(item_error, "报警信号", "DB600.B7"));
+        list.add(new ItemDto(item_action,"取放信号","DB600,B4"));
-        list.add(new ItemDto(item_task, "任务号", "DB600.D10"));
+        list.add(new ItemDto(item_error, "报警信号", "DB600.B5"));
+        list.add(new ItemDto(item_task, "任务号", "DB600.D6"));
         return list;
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDefination.java

@@ -60,8 +60,9 @@ public class StandardInspectSiteDefination implements OpcDeviceDriverDefination
         list.add(new ItemDto(ItemProtocol.item_heartbeat, "心跳", "DB600.B0"));
         list.add(new ItemDto(ItemProtocol.item_mode, "工作状态", "DB600.B2", true));
         list.add(new ItemDto(ItemProtocol.item_move, "光电开关信号", "DB600.B3"));
-        list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B7"));
+        list.add(new ItemDto(ItemProtocol.item_action,"取放信号","DB600,B4"));
-        list.add(new ItemDto(ItemProtocol.item_task, "任务号", "DB600.D10"));
+        list.add(new ItemDto(ItemProtocol.item_error, "报警信号", "DB600.B5"));
+        list.add(new ItemDto(ItemProtocol.item_task, "任务号", "DB600.D6"));
         return list;
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/standard_inspect_site/StandardInspectSiteDeviceDriver.java

@@ -66,6 +66,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp
     int mode = 0;
     int error = 0;
     int move = 0;
+    int action=0;
     int task = 0;
     int last_mode = 0;
     int last_error = 0;

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java

@@ -33,7 +33,7 @@ public class QueryAgvTaskStatus {
             JSONArray inst_rows = JSONArray.parseArray(response.body());
             for (int i = 0; i < inst_rows.size(); i++) {
                 JSONObject inst_jo = inst_rows.getJSONObject(i);
-                String inst_code = inst_jo.getString("task_code");
+                String inst_code = inst_jo.getString("taskCode");
                 Instruction inst = instructionService.findByCodeFromCache(inst_code);
                 if (ObjectUtil.isEmpty(inst)) {
                     continue;