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@ -24,13 +24,11 @@ import org.nl.acs.route.service.RouteLineService; |
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import org.nl.acs.task.service.TaskService; |
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import org.nl.acs.task.service.dto.TaskDto; |
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import org.nl.utils.SpringContextHolder; |
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import org.nl.wql.core.bean.WQLObject; |
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import org.openscada.opc.lib.da.Server; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import java.util.Date; |
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import java.util.HashMap; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.*; |
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/** |
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* 晟华RGV |
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@ -52,6 +50,13 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); |
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@Autowired |
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DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); |
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@Autowired |
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DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppServiceImpl.class); |
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//当前指令1
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Instruction inst1 = null; |
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//当前指令2
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Instruction inst2 = null; |
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int mode = 0; |
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int error = 0; |
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@ -73,6 +78,9 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
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int flag; |
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Boolean requireSucess1 = false; |
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Boolean requireSucess2 = false; |
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String device_code; |
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int status = 0; |
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int last_status = 0; |
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@ -191,12 +199,58 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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return; |
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} |
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if (!this.itemProtocol.getIsonline()) { |
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this.setIsonline(false); |
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this.setIserror(true); |
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message = "信号量同步异常"; |
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//未联机
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} else if (mode == 0) { |
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if (task1 > 0) { |
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//inst_message
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inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); |
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if (inst1 != null) { |
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if (StrUtil.equals(inst1.getInstruction_status(), "0")) { |
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inst1.setInstruction_status("1"); |
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instructionService.update(inst1); |
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} |
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} |
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} |
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if (action_1 == 4 && move_1 == 0 && task1 > 0) { |
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//inst_message
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inst1 = instructionService.findByCodeFromCache(String.valueOf(task1)); |
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if (inst1 != null) { |
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if (StrUtil.equals(inst1.getInstruction_status(), "1")) { |
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finish_instruction(inst1); |
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} |
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} |
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} |
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if (task2 > 0) { |
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//inst_message
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inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); |
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if (inst2 != null) { |
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if (StrUtil.equals(inst2.getInstruction_status(), "0")) { |
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inst2.setInstruction_status("1"); |
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instructionService.update(inst2); |
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} |
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} |
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} |
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if (action_2 == 4 && move_2 == 0 && task2 > 0) { |
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//inst_message
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inst2 = instructionService.findByCodeFromCache(String.valueOf(task2)); |
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if (inst2 != null) { |
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if (StrUtil.equals(inst2.getInstruction_status(), "1")) { |
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finish_instruction(inst2); |
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} |
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} |
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} |
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//给后工位下发空盘放货信号
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if (mode == 3 && action_1 == 2 && action_2 == 2 && move_1 == 1 && move_2 == 1 && task1 > 0 && task2 > 0) { |
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writing("to_command2", "2"); |
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} |
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//给前工位下发放货信号
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if (mode == 3 && action_2 == 4 && move_1 == 1 && move_2 == 0 && task1 > 0) { |
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writing("to_command1", "2"); |
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} |
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if (mode == 0) { |
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this.setIsonline(false); |
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this.setIserror(true); |
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message = "未联机"; |
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@ -217,25 +271,29 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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log.debug("设备运转模式:等待工作"); |
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return; |
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case 2: |
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//申请任务
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if (walk_y == 1 && move_1 == 0 && !requireSucess ) { |
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instruction_apply(); |
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//后工位申请任务
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if (mode == 2 && move_2 == 0 && action_2 == 0 && !requireSucess2) { |
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instruction_require2(); |
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} |
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break; |
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case 3: |
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//前工位申请任务
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if (mode == 3 && move_2 == 1 && action_2 == 1 && move_1 == 0 && !requireSucess1) { |
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instruction_require(); |
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} |
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} |
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switch (flag) { |
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//取货完成
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case 1: |
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writing(2); |
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writing1(2); |
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return; |
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//放货完成
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case 2: |
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writing(3); |
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writing1(3); |
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return; |
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} |
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} |
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last_mode = mode; |
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last_error = error; |
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@ -263,29 +321,42 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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} |
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} |
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/** |
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* 请求指令 |
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*/ |
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public synchronized boolean instruction_apply() throws Exception { |
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public void writing1(int command) { |
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String to_command1 = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() |
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+ "." + ItemProtocol.item_to_command1; |
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String opcservcerid = this.getDevice().getOpc_server_id(); |
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Server server = ReadUtil.getServer(opcservcerid); |
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Map<String, Object> itemMap = new HashMap<String, Object>(); |
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itemMap.put(to_command1, command); |
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ReadUtil.write(itemMap, server); |
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} |
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public synchronized boolean finish_instruction(Instruction inst) throws Exception { |
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instructionService.finish(inst); |
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return true; |
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} |
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//申请前工位任务
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public synchronized boolean instruction_require() throws Exception { |
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Date date = new Date(); |
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if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) { |
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if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) { |
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log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); |
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return false; |
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} else { |
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this.instruction_require_time = date; |
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Object[] value = (Object[]) this.device.getExtraValue().get("get_device_code"); |
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Object[] value2 = (Object[]) this.device.getExtraValue().get("load_device_code"); |
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Object[] value3 = (Object[]) this.device.getExtraValue().get("put_device_code"); |
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for (int i = 0; i < value.length; i++) { |
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String get_device_code = value[i].toString(); |
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//Device device = appService.findDeviceByCode(get_device_code);
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TaskDto task = taskserver.findByStartCode(get_device_code); |
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this.instruction_apply_time = date; |
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String linkobj = (String)this.getDevice().getExtraValue().get("get_device_code1"); |
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String demosub = linkobj.substring(1,linkobj.length()-1); |
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String demoArray[] = demosub.split(","); |
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List<String> device_code_list = Arrays.asList(demoArray); |
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TaskDto task = null; |
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for(int i=0;i<device_code_list.size();i++){ |
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task = taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"","")).get(0); |
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if(ObjectUtil.isNotEmpty(task)) break; |
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} |
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if (!ObjectUtil.isEmpty(task)) { |
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for (int j = 0; j < value2.length; j++) { |
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String putdevice_code = value2[j].toString(); |
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if (StrUtil.equals(task.getNext_device_code(), putdevice_code)) { |
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String taskid = task.getTask_id(); |
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String taskcode = task.getTask_code(); |
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String vehiclecode = task.getVehicle_code(); |
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@ -293,6 +364,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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String start_point_code = task.getStart_point_code(); |
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String start_device_code = task.getStart_device_code(); |
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String route_plan_code = task.getRoute_plan_code(); |
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String next_point_code = task.getNext_point_code(); |
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String next_device_code = task.getNext_device_code(); |
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Device startdevice = deviceAppservice.findDeviceByCode(start_device_code); |
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Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); |
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Instruction instdto = new Instruction(); |
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instdto.setInstruction_id(IdUtil.simpleUUID()); |
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@ -307,36 +382,62 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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instdto.setCreate_time(now); |
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instdto.setCreate_by("auto"); |
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instdto.setStart_device_code(start_device_code); |
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instdto.setNext_device_code(putdevice_code); |
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instdto.setNext_device_code(next_device_code); |
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instdto.setStart_point_code(start_point_code); |
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instdto.setNext_point_code(putdevice_code); |
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instdto.setNext_point_code(next_point_code); |
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instdto.setPriority(priority); |
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instdto.setInstruction_status("0"); |
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instdto.setExecute_device_code(start_point_code); |
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try { |
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instructionService.create(instdto); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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} |
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//创建指令后修改任务状态
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WQLObject taskwo = WQLObject.getWQLObject("acs_task"); |
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task.setTask_status("1"); |
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//创建指令后修改任务状态
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task.setTask_status("1"); |
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taskserver.update(task); |
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requireSucess = true; |
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writing(instdto); |
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break; |
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requireSucess1 = true; |
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String start_addr = startdevice.getAddress(); |
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String next_addr = nextdevice.getAddress(); |
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writing("to_command1","1"); |
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writing("to_onset1",start_addr); |
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writing("to_target1",next_addr); |
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writing("to_task1",instdto.getInstruction_code()); |
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} else { |
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} |
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} |
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return true; |
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} |
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if (requireSucess) { |
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break; |
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} |
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//申请后工位任务
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public synchronized boolean instruction_require2() throws Exception { |
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Date date = new Date(); |
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if (date.getTime() - this.instruction_apply_time.getTime() < (long) this.instruction_require_time_out) { |
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log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); |
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return false; |
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} else { |
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this.instruction_apply_time = date; |
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String linkobj = (String)this.getDevice().getExtraValue().get("get_device_code2"); |
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String demosub = linkobj.substring(1,linkobj.length()-1); |
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String demoArray[] = demosub.split(","); |
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List<String> device_code_list = Arrays.asList(demoArray); |
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TaskDto task = null; |
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for(int i=0;i<device_code_list.size();i++){ |
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task = taskserver.queryTaskByDeviceCode(device_code_list.get(i).replace("\"","")).get(0); |
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if(ObjectUtil.isNotEmpty(task)) break; |
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} |
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for (int i = 0; i < value2.length; i++) { |
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String load_device_code = value2[i].toString(); |
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//Device device = appService.findDeviceByCode(get_device_code);
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TaskDto task = taskserver.findByStartCode(load_device_code); |
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if (!ObjectUtil.isEmpty(task)) { |
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for (int j = 0; j < value3.length; j++) { |
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String putdevice_code = value3[j].toString(); |
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if (StrUtil.equals(task.getNext_device_code(), putdevice_code)) { |
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String taskid = task.getTask_id(); |
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String taskcode = task.getTask_code(); |
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String vehiclecode = task.getVehicle_code(); |
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@ -344,6 +445,10 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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String start_point_code = task.getStart_point_code(); |
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String start_device_code = task.getStart_device_code(); |
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String route_plan_code = task.getRoute_plan_code(); |
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String next_point_code = task.getNext_point_code(); |
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String next_device_code = task.getNext_device_code(); |
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Device startdevice = deviceAppservice.findDeviceByCode(start_device_code); |
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Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); |
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Instruction instdto = new Instruction(); |
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instdto.setInstruction_id(IdUtil.simpleUUID()); |
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@ -358,31 +463,45 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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instdto.setCreate_time(now); |
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instdto.setCreate_by("auto"); |
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instdto.setStart_device_code(start_device_code); |
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instdto.setNext_device_code(putdevice_code); |
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instdto.setNext_device_code(next_device_code); |
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instdto.setStart_point_code(start_point_code); |
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instdto.setNext_point_code(putdevice_code); |
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instdto.setNext_point_code(next_point_code); |
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instdto.setPriority(priority); |
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instdto.setInstruction_status("0"); |
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instdto.setExecute_device_code(start_point_code); |
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try { |
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instructionService.create(instdto); |
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} catch (Exception e) { |
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e.printStackTrace(); |
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} |
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//创建指令后修改任务状态
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WQLObject taskwo = WQLObject.getWQLObject("acs_task"); |
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task.setTask_status("1"); |
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//创建指令后修改任务状态
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task.setTask_status("1"); |
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taskserver.update(task); |
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requireSucess = true; |
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writing(instdto); |
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break; |
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} |
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} |
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} |
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requireSucess2 = true; |
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String start_addr = startdevice.getAddress(); |
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String next_addr = nextdevice.getAddress(); |
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writing("to_command2","1"); |
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writing("to_onset2",start_addr); |
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writing("to_target2",next_addr); |
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writing("to_task2",instdto.getInstruction_code()); |
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} else { |
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if (requireSucess) { |
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break; |
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} |
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} |
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} |
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return true; |
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} |
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public boolean exe_business() { |
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return true; |
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} |
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@ -433,10 +552,16 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi |
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log.info("设备:{},下发作业命令:{},起始站{},目标站:{},任务号:{}", device_code, to_command,to_onset ,to_target, to_task); |
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} |
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public void writing(int type, int command) { |
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public void writing(String param, String value) { |
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String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() |
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+ "." + param; |
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String opcservcerid = this.getDevice().getOpc_server_id(); |
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Server server = ReadUtil.getServer(opcservcerid); |
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Map<String, Object> itemMap = new HashMap<String, Object>(); |
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itemMap.put(to_param, value); |
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ReadUtil.write(itemMap, server); |
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} |
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} |
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|
