diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index 15108f5..d3a7ee7 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -103,7 +103,7 @@ public enum DriverTypeEnum { LNSH_SPLIT_MANIPULATOR(47, "lnsh_split_manipulator", "晟华-拆垛机械手", "station"), - LNSH_RGV(48, "lnsh_rgv", "晟华-RGV", "station"), + LNSH_RGV(48, "lnsh_rgv", "晟华-RGV", "rgv"), LNSH_PACKAGE_LINE(49, "lnsh_package_line", "晟华-包装机", "station"), diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java index dfaaeb7..03bbc41 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java @@ -1192,6 +1192,18 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial } extraObj.put("address", dto.getAddress()); + JSONArray get_device_code = extraObj.getJSONArray("get_device_code"); + JSONArray load_device_code = extraObj.getJSONArray("load_device_code"); + JSONArray put_device_code = extraObj.getJSONArray("put_device_code"); + if (ObjectUtil.isNotEmpty(get_device_code)) { + extraObj.put("get_device_code",get_device_code); + } + if (ObjectUtil.isNotEmpty(load_device_code)) { + extraObj.put("load_device_code",load_device_code); + } + if (ObjectUtil.isNotEmpty(put_device_code)) { + extraObj.put("put_device_code",put_device_code); + } result.put("form", extraObj); diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java index b2e41cd..e3bf54f 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java @@ -252,6 +252,65 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri production_time = this.itemProtocol.getProduction_time(); error_time = this.itemProtocol.getError_time(); encoder_qty = this.itemProtocol.getEncoder_qty(); + + product_code = this.itemProtocol.getProduct_code(); + AlongSide = this.itemProtocol.getAlongSide(); + BshortSide = this.itemProtocol.getBshortSide(); + Htrapezoidal = this.itemProtocol.getHtrapezoidal(); + Wthickness = this.itemProtocol.getWthickness(); + tray_qty = this.itemProtocol.getTray_qty(); + tray_high = this.itemProtocol.getTray_high(); + crib_category = this.itemProtocol.getCrib_category(); + palletX1_line = this.itemProtocol.getPalletX1_line(); + palletY1_row = this.itemProtocol.getPalletY1_row(); + palletA1_angle = this.itemProtocol.getPalletA1_angle(); + palletX2_line = this.itemProtocol.getPalletX2_line(); + palletY2_row = this.itemProtocol.getPalletY2_row(); + palletA2_angle = this.itemProtocol.getPalletA2_angle(); + palletX3_line = this.itemProtocol.getPalletX3_line(); + palletY3_row = this.itemProtocol.getPalletY3_row(); + palletA3_angle = this.itemProtocol.getPalletA3_angle(); + pressCribX1_line = this.itemProtocol.getPressCribX1_line(); + pressCribY1_row = this.itemProtocol.getPressCribY1_row(); + pressCribA1_angle = this.itemProtocol.getPressCribA1_angle(); + pressCribX2_line = this.itemProtocol.getPressCribX2_line(); + pressCribY2_row = this.itemProtocol.getPressCribY2_row(); + pressCribA2_angle = this.itemProtocol.getPressCribA2_angle(); + pressCribX3_line = this.itemProtocol.getPressCribX3_line(); + pressCribY3_row = this.itemProtocol.getPressCribY3_row(); + pressCribA3_angle = this.itemProtocol.getPressCribA3_angle(); + Zoffset = this.itemProtocol.getZoffset(); + pallet_layerQty = this.itemProtocol.getPallet_layerQty(); + pressCrib_layerQty = this.itemProtocol.getPressCrib_layerQty(); + codeLayerX1_interval = this.itemProtocol.getCodeLayerX1_interval(); + codeLayerY1_interval = this.itemProtocol.getCodeLayerY1_interval(); + codeLayerX2_interval = this.itemProtocol.getCodeLayerX2_interval(); + codeLayerY2_interval = this.itemProtocol.getCodeLayerY2_interval(); + codeLayerX3_interval = this.itemProtocol.getCodeLayerX3_interval(); + codeLayerY3_interval = this.itemProtocol.getcodeLayerY3_interval(); + codeLayerX1_offset = this.itemProtocol.getCodeLayerX1_offset(); + codeLayerY1_offset = this.itemProtocol.getCodeLayerY1_offset(); + codeLayerX2_offset = this.itemProtocol.getCodeLayerX2_offset(); + codeLayerY2_offset = this.itemProtocol.getCodeLayerY2_offset(); + codeLayerX3_offset = this.itemProtocol.getCodeLayerX3_offset(); + codeLayerY3_offset = this.itemProtocol.getCodeLayerY3_offset(); + pressLayerX1_interval = this.itemProtocol.getPressLayerX1_interval(); + pressLayerY1_interval = this.itemProtocol.getPressLayerY1_interval(); + pressLayerX2_interval = this.itemProtocol.getPressLayerX2_interval(); + pressLayerY2_interval = this.itemProtocol.getPressLayerY2_interval(); + pressLayerX3_interval = this.itemProtocol.getPressLayerX3_interval(); + pressLayerY3_interval = this.itemProtocol.getPressLayerY3_interval(); + pressLayerX1_offset = this.itemProtocol.getPressLayerX1_offset(); + pressLayerY1_offset = this.itemProtocol.getPressLayerY1_offset(); + pressLayerX2_offset = this.itemProtocol.getPressLayerX2_offset(); + pressLayerY2_offset = this.itemProtocol.getPressLayerY2_offset(); + pressLayerX3_offset = this.itemProtocol.getPressLayerX3_offset(); + pressLayerY3_offset = this.itemProtocol.getPressLayerY3_offset(); + one_cribTotal = this.itemProtocol.getOne_cribTotal(); + two_cribTotal = this.itemProtocol.getTwo_cribTotal(); + one_qty = this.itemProtocol.getOne_qty(); + two_qty = this.itemProtocol.getTwo_qty(); + tool_coordinate = this.itemProtocol.getTool_coordinate(); if (mode != last_mode) { this.setRequireSucess(false); diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java index 0f54c04..851c1b2 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java @@ -2,8 +2,8 @@ package org.nl.acs.device_driver.lnsh.lnsh_rgv; import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.IdUtil; +import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; -import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -17,15 +17,12 @@ import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.log.service.LogServer; import org.nl.acs.opc.Device; -import org.nl.acs.opc.WcsConfig; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.route.service.RouteLineService; -import org.nl.acs.route.service.dto.RouteLineDto; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; -import org.nl.modules.quartz.task.AutoCreateInst; -import org.nl.modules.system.util.CodeUtil; import org.nl.utils.SpringContextHolder; -import org.nl.wql.core.bean.WQLObject; import org.openscada.opc.lib.da.Server; import org.springframework.beans.factory.annotation.Autowired; @@ -52,6 +49,8 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); @Autowired LogServer logServer = SpringContextHolder.getBean("logServerImpl"); + @Autowired + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); int mode = 0; int error = 0; @@ -63,6 +62,11 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi String message = null; Boolean iserror = false; + private Date instruction_require_time = new Date(); + private Date instruction_finished_time = new Date(); + private Date instruction_apply_time = new Date(); + private int instruction_require_time_out = 3000; + int branchProtocol = 0; //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 @@ -105,7 +109,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi @Override - public void execute() { + public void execute() throws Exception{ String message = null; try { device_code = this.getDeviceCode(); @@ -212,7 +216,10 @@ 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 (walk_y == 1 && move_1 == 0 && !requireSucess ) { + instruction_apply(); + } break; } @@ -255,6 +262,126 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } } + /** + * 请求指令 + */ + public synchronized boolean instruction_apply() throws Exception { + Date date = new Date(); + if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); + return false; + } else { + this.instruction_require_time = date; + + Object[] value = (Object[]) this.device.getExtraValue().get("get_device_code"); + Object[] value2 = (Object[]) this.device.getExtraValue().get("load_device_code"); + Object[] value3 = (Object[]) this.device.getExtraValue().get("put_device_code"); + + for (int i = 0; i < value.length; i++) { + String get_device_code = value[i].toString(); + //Device device = appService.findDeviceByCode(get_device_code); + TaskDto task = taskserver.findByStartCode(get_device_code); + if (!ObjectUtil.isEmpty(task)) { + for (int j = 0; j < value2.length; j++) { + String putdevice_code = value2[j].toString(); + if (StrUtil.equals(task.getNext_device_code(), putdevice_code)) { + String taskid = task.getTask_id(); + String taskcode = task.getTask_code(); + String vehiclecode = task.getVehicle_code(); + String priority = task.getPriority(); + String start_point_code = task.getStart_point_code(); + String start_device_code = task.getStart_device_code(); + String route_plan_code = task.getRoute_plan_code(); + + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(task.getRemark()); + instdto.setMaterial(task.getMaterial()); + instdto.setQuantity(task.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + instdto.setStart_device_code(start_device_code); + instdto.setNext_device_code(putdevice_code); + instdto.setStart_point_code(start_point_code); + instdto.setNext_point_code(putdevice_code); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + instructionService.create(instdto); + //创建指令后修改任务状态 + task.setTask_status("1"); + taskserver.update(task); + requireSucess = true; + writing(instdto); + break; + } + } + } + + if (requireSucess) { + break; + } + } + + for (int i = 0; i < value2.length; i++) { + String load_device_code = value2[i].toString(); + //Device device = appService.findDeviceByCode(get_device_code); + TaskDto task = taskserver.findByStartCode(load_device_code); + if (!ObjectUtil.isEmpty(task)) { + for (int j = 0; j < value3.length; j++) { + String putdevice_code = value3[j].toString(); + if (StrUtil.equals(task.getNext_device_code(), putdevice_code)) { + String taskid = task.getTask_id(); + String taskcode = task.getTask_code(); + String vehiclecode = task.getVehicle_code(); + String priority = task.getPriority(); + String start_point_code = task.getStart_point_code(); + String start_device_code = task.getStart_device_code(); + String route_plan_code = task.getRoute_plan_code(); + + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(task.getRemark()); + instdto.setMaterial(task.getMaterial()); + instdto.setQuantity(task.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + instdto.setVehicle_code(vehiclecode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + instdto.setStart_device_code(start_device_code); + instdto.setNext_device_code(putdevice_code); + instdto.setStart_point_code(start_point_code); + instdto.setNext_point_code(putdevice_code); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + instructionService.create(instdto); + //创建指令后修改任务状态 + task.setTask_status("1"); + taskserver.update(task); + requireSucess = true; + writing(instdto); + break; + } + } + } + + if (requireSucess) { + break; + } + } + } + return true; + } + public boolean exe_business() { return true; } @@ -285,6 +412,26 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi } + public void writing(Instruction inst) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.standard_rgv.ItemProtocol.item_to_command; + String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.standard_rgv.ItemProtocol.item_to_target; + String to_onset = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.standard_rgv.ItemProtocol.item_to_onset; + String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.standard_rgv.ItemProtocol.item_to_task; + String opcservcerid = this.getDevice().getOpc_server_id(); + Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command, 1); + itemMap.put(to_onset,appService.findDeviceByCode(inst.getStart_device_code()).getAddress()); + itemMap.put(to_target,appService.findDeviceByCode(inst.getNext_device_code()).getAddress()); + itemMap.put(to_task, inst.getInstruction_code()); + ReadUtil.write(itemMap, server); + 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); + } + public void writing(int type, int command) { String opcservcerid = this.getDevice().getOpc_server_id(); Server server = ReadUtil.getServer(opcservcerid);