更新

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"),
 

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);
 
 

acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java

@@ -253,6 +253,65 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri
             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);
                 logServer.deviceLog(this.device_code,"mode" ,String.valueOf(mode));

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<String, Object> itemMap = new HashMap<String, Object>();
+        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);