diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 6ece9c1..869d212 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -2,17 +2,16 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; -import cn.hutool.http.HttpResponse; -import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import lombok.Data; +import lombok.EqualsAndHashCode; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.basedriver.agv.utils.ErrorUtil; import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; @@ -22,9 +21,8 @@ import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.log.LokiLog; -import org.nl.acs.log.LokiLogType; import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.service.TaskService; @@ -33,18 +31,17 @@ import org.nl.modules.system.service.ParamService; import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.wql.util.SpringContextHolder; -import java.util.ArrayList; -import java.util.HashMap; import java.util.List; import java.util.Map; /** * NDC单工位AGV */ +@EqualsAndHashCode(callSuper = false) @Slf4j @Data @RequiredArgsConstructor -public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { +public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor { ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); @@ -74,8 +71,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int last_status = 0; int last_error = 0; - @LokiLog(type = LokiLogType.ACS_TO_LMS) - public synchronized void processSocket(int[] arr) throws Exception { + String error_code = "0"; + String error_message = ""; + + public synchronized void processSocket(int[] arr) { device_code = this.getDeviceCode(); byte[] data = null; phase = arr[16] * 256 + arr[17]; @@ -91,10 +90,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic List insts = null; Instruction inst = null; boolean link_flag = false; - Device agv_device = null; - if (carno != 0) { - agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); - } if (ikey != 0) { inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); // if (ObjectUtil.isEmpty(inst)) { @@ -110,21 +105,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic String emptyNum = null; String device_code = null; - if (phase == 0x67) { - //故障信息 - if (arr[18] * 256 + arr[19] == 0) { - - } - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - - //普通站点 - StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; - //货架 - StandardStorageDeviceDriver standardStorageDeviceDriver; - // - SiemensConveyorDeviceDriver siemensConveyorDeviceDriver; - //分配 车id //(不需要WCS反馈) if (phase == 0x02) { @@ -151,7 +131,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -159,8 +138,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic device = deviceAppService.findDeviceByCode(device_code); if (ObjectUtil.isEmpty(device_code)) { - log.info(agvaddr + "对应设备号为空!"); - logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + log.info(agvaddr + "对应设备号为空！"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空！"); return; } //校验agv上报站点编号与指令起始点相同 @@ -169,34 +148,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); return; } - if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } else { - Object reqWms = device.getExtraValue().get("reqWms"); - if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("vehicle_code", inst.getVehicle_code()); - map.put("status", "1"); - map.put("device_code", inst.getStart_point_code()); - map.put("task_code", inst.getTask_code()); - req.add(map); - HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getJSONObject("payload").getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs请求wms取货申请失败,wms不允许agv取货,未反馈agv允许取货", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } + //取货完毕 //(需要WCS反馈) } else if (phase == 0x05) { @@ -215,7 +167,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -234,34 +185,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic return; } - if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } else { - Object reqWms = device.getExtraValue().get("reqWms"); - if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("vehicle_code", inst.getVehicle_code()); - map.put("status", "2"); - map.put("device_code", inst.getStart_point_code()); - map.put("task_code", inst.getTask_code()); - req.add(map); - HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getJSONObject("payload").getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs反馈wms取货完成离开成功,wms允许agv取货完成离开,已反馈agv取货完成离开", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs反馈wms取货完成离开失败,wms不允许agv取货完成离开,未反馈agv取货完成离开", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs反馈wms取货完成离开失败，连接被拒绝,未反馈agv取货完成离开", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } //到达放货点 //(需要WCS反馈) } else if (phase == 0x07) { @@ -280,7 +203,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -296,35 +218,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic return; } - if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } else { - Object reqWms = device.getExtraValue().get("reqWms"); - if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("vehicle_code", inst.getVehicle_code()); - map.put("status", "3"); - map.put("device_code", inst.getNext_point_code()); - map.put("task_code", inst.getTask_code()); - req.add(map); - HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getJSONObject("payload").getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs请求wms放货申请失败,wms不允许agv放货,未反馈agv允许放货", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - //放货完毕 //(需要WCS反馈) } else if (phase == 0x09) { @@ -343,7 +236,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -359,34 +251,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("未找到编号{}对应的指令", ikey); return; } - if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } else { - Object reqWms = device.getExtraValue().get("reqWms"); - if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("vehicle_code", inst.getVehicle_code()); - map.put("status", "4"); - map.put("device_code", inst.getNext_point_code()); - map.put("task_code", inst.getTask_code()); - req.add(map); - HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getJSONObject("payload").getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs请求wms放货完成申请成功,wms允许agv放货完成,已反馈agv放货完成", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs请求wms放货完成离开失败,wms不允许agv放货完成离开,未反馈agv放货完成离开", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs请求wms放货完成离开失败，连接被拒绝,未反馈agv放货完成离开", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } } //到达位置点 @@ -397,12 +261,38 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agvaddr_copy = agvaddr; data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } else if (phase == 0x50) {//进入交通灯区域 + } else if (phase == 0x50) {//进入区域 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } else if (phase == 0x51) {//离开交通灯区域 + } else if (phase == 0x51) {//离开区域 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x67) {//agv异常 + if (ikey == 0) { + this.setErrorInfo(ikey, "0", "正常"); + } else { + Map error = ErrorUtil.getAgvErrorMsg(ikey); + String code = error.get("code"); + String info = error.get("info"); + this.setErrorInfo(ikey, code, info); + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + last_error = error; + } else if (phase == 0x70) { + //x坐标 + x = ikey; + } else if (phase == 0x71) { + //y坐标 + y = ikey; + } else if (phase == 0x72) { + //车辆角度 + angle = ikey; + } else if (phase == 0x73) { + //agv电量 + electric_qty = ikey; + } else if (phase == 0x74) { + //三色灯状态 + status = ikey; } if (!ObjectUtil.isEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); @@ -410,4 +300,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } } + private synchronized void setErrorInfo(int error, String error_code, String error_message) { + this.error = error; + this.error_code = error_code; + this.error_message = error_message; + } + + @Override + public JSONObject getDeviceStatusName() throws Exception { + return null; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java new file mode 100644 index 0000000..8799a81 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java @@ -0,0 +1,123 @@ +package org.nl.acs.device_driver.basedriver.agv.utils; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import org.nl.modules.system.domain.Dict; +import org.nl.modules.system.service.DictDetailService; +import org.nl.modules.system.service.DictService; +import org.nl.modules.system.service.dto.DictDetailDto; +import org.nl.modules.system.service.impl.DictDetailServiceImpl; +import org.nl.modules.system.service.impl.DictServiceImpl; +import org.nl.modules.wql.util.SpringContextHolder; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; +import java.util.function.Function; +import java.util.stream.Collectors; + +/** + * @author: geng by + * @createDate: 2023/3/15 + */ +public class ErrorUtil { + + public static ConcurrentHashMap> dictMap = new ConcurrentHashMap<>(); + + + public static String getDictDetail(String type, String error_code) { + getDict(); + List dictDetailDtos = dictMap.get(type); + String detail = null; + if (ObjectUtil.isNotEmpty(dictDetailDtos)) { + for (int i = 0; i < dictDetailDtos.size(); i++) { + DictDetailDto dictDetailDto = dictDetailDtos.get(i); + String value = dictDetailDto.getValue(); + String label = dictDetailDto.getLabel(); + if (StrUtil.equals(value, error_code)) { + detail = label; + break; + } + } + } + return detail == null ? "字典表未配置对应的报警信息" : detail; + } + + public static Map getDictDetailByName(String type) { + getDict(); + List dictDetailDtos = dictMap.get(type); + Map map = new HashMap<>(); + if (ObjectUtil.isNotEmpty(dictDetailDtos)) { + List dtos = dictDetailDtos + .stream() + .filter(dictDetailDto -> !dictDetailDto.getValue().equals("0")) + .filter(dictDetailDto -> !dictDetailDto.getValue().equals("-1")) + .collect(Collectors.toList()); + dtos.forEach(dictDetailDto -> map.put(Integer.parseInt(dictDetailDto.getValue()), dictDetailDto.getLabel())); + } + return map; + } + + + public static void getDict() { + if (ObjectUtil.isEmpty(dictMap)) { + DictDetailService dictDetailService = SpringContextHolder.getBean(DictDetailServiceImpl.class); + DictService dictService = SpringContextHolder.getBean(DictServiceImpl.class); + List dictDtos = dictService.queryAll(); + for (int i = 0; i < dictDtos.size(); i++) { + Dict dictDto = dictDtos.get(i); + dictMap.put(dictDto.getName(), getDict(dictDto.getName(), t -> { + return dictDetailService.getDictByName(t); + })); + } + } + } + + public static List getDict(String name, Function> f) { + return f.apply(name); + } + + public static Map getAgvErrorMsg(Integer ageErrorNum) { + Map agvMap = getDictDetailByName("agv_error_type"); + Integer[] keys = agvMap.keySet().toArray(new Integer[0]); + String message = ""; + String code = ""; + out: + for (int i = 1; i < 1 << keys.length; i++) { + int sum = 0; + StringBuffer sb = new StringBuffer(); + StringBuffer sbCode = new StringBuffer(); + inner: + for (int j = 0; j < keys.length; j++) { + if ((i & 1 << j) != 0) { + sum += keys[j]; + sb.append(agvMap.get(keys[j])).append(","); + sbCode.append(keys[j]).append(","); + } + } + if (sum == ageErrorNum) { + code = sbCode.toString(); + message = sb.toString(); + break out; + } + } + Map map = new HashMap<>(); + String info = replace(message); + code = replace(code); + map.put("code", StrUtil.isEmpty(code) ? "-1" : code); + map.put("info", StrUtil.isEmpty(info) ? "AGV上报报警代码有误" : info); + return map; + } + + public static String replace(String message) { + if (StrUtil.isEmpty(message)) { + return null; + } + if (message.endsWith(",")) { + return message.substring(0, message.length() - 1); + } + return message; + } + +}