diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
index eb2eec1..396cab8 100644
--- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
+++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
@@ -159,4 +159,5 @@ public class AgvDto implements Serializable {
*/
private String w;
+ private String errorBuf;
}
diff --git a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/rest/NdxyHandController.java b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/rest/NdxyHandController.java
index d6d2d1f..bd141e5 100644
--- a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/rest/NdxyHandController.java
+++ b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/rest/NdxyHandController.java
@@ -6,6 +6,8 @@ import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
import org.nl.annotation.Log;
import org.nl.annotation.rest.AnonymousPostMapping;
import org.nl.hand.andxy.service.NdxyHandService;
@@ -153,4 +155,28 @@ public class NdxyHandController {
return new ResponseEntity<>(HandService.createTask2(whereJson), HttpStatus.OK);
}
+ /**
+ * 根据区域查询灭菌前后状态
+ *
+ * @param param String region 1灭菌前 \ 2灭菌后
+ * @return 设备状态数组
+ */
+ @PostMapping("/point2")
+ @Log("根据区域查询灭菌前后状态")
+ @ApiOperation("根据区域查询灭菌前后状态")
+ public ResponseEntity<JSONObject> point2(@RequestBody Map<String, String> param) {
+ return new ResponseEntity<>(HandService.point2(param), HttpStatus.OK);
+ }
+
+ /**
+ * 查询AGV状态
+ *
+ * @return AGV状态数组
+ */
+ @PostMapping("/queryagvStatus")
+ @Log("查询AGV状态")
+ @ApiOperation("查询AGV状态")
+ public ResponseEntity<JSONObject> queryagvStatus() {
+ return new ResponseEntity<>(HandService.queryagvStatus(), HttpStatus.OK);
+ }
}
diff --git a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/NdxyHandService.java b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/NdxyHandService.java
index 2113fed..a07f3bd 100644
--- a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/NdxyHandService.java
+++ b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/NdxyHandService.java
@@ -2,6 +2,9 @@
package org.nl.hand.andxy.service;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+
import java.util.Map;
/**
@@ -112,4 +115,19 @@ public interface NdxyHandService {
Map<String, Object> queryMaterial();
Map<String, Object> createTask2(Map<String, String> whereJson);
+
+ /**
+ * 根据区域查询灭菌前后状态
+ *
+ * @param param String region 1灭菌前 \ 2灭菌后
+ * @return 设备状态数组
+ */
+ JSONObject point2(Map<String, String> param);
+
+ /**
+ * 查询AGV状态
+ *
+ * @return AGV状态数组
+ */
+ JSONObject queryagvStatus();
}
diff --git a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/impl/NdxyHandServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/impl/NdxyHandServiceImpl.java
index 92bc5ab..046a194 100644
--- a/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/impl/NdxyHandServiceImpl.java
+++ b/hd/nladmin-system/src/main/java/org/nl/hand/andxy/service/impl/NdxyHandServiceImpl.java
@@ -13,6 +13,7 @@ import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.agv.server.impl.AgvServiceImpl;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.dto.DeviceDto;
@@ -60,6 +61,7 @@ public class NdxyHandServiceImpl implements NdxyHandService {
private final PasswordEncoder passwordEncoder;
private final DeviceService deviceService;
private final DeviceAppService deviceAppService;
+ private final AgvService agvService;
InstructionService instructionService = null;
@@ -853,5 +855,132 @@ public class NdxyHandServiceImpl implements NdxyHandService {
return jo;
}
+ @Override
+ public JSONObject point2(Map<String, String> param) {
+ // 返回值
+ JSONObject resultJSON = new JSONObject();
+
+ // 参数校验
+ String region = param.get("region");
+ if (StrUtil.isEmpty(region)) {
+ resultJSON.put("code", "0");
+ resultJSON.put("desc", "所属区域不能为空");
+ return resultJSON;
+ }
+
+ // 设备数组
+ JSONArray acsDevice;
+
+ // 根据区域不同处理
+ switch (region) {
+ case "1":
+ // 查询灭菌前设备
+ acsDevice = WQLObject
+ .getWQLObject("acs_device")
+ .query("device_code IN ('F5', 'F4', 'F3', 'F6', '1041')", "seq_num, device_name")
+ .getResultJSONArray(0);
+ break;
+ case "2":
+ // 查询灭菌后设备
+ acsDevice = WQLObject
+ .getWQLObject("acs_device")
+ .query("device_code IN ('B5', 'B4', 'B3', 'B6', '1042')", "seq_num, device_name")
+ .getResultJSONArray(0);
+ break;
+ default:
+ resultJSON.put("code", "0");
+ resultJSON.put("desc", "所属区域错误");
+ return resultJSON;
+ }
+
+ // 返回数组
+ JSONArray result = new JSONArray();
+
+ // 遍历设备数组获取设备状态
+ for (Object o : acsDevice) {
+ // 根据设备编码查询缓存的设备实例
+ JSONObject device = (JSONObject) o;
+ String deviceCode = device.getString("device_code");
+ Device deviceObj = deviceAppService.findDeviceByCode(deviceCode);
+
+ // 设备状态对象，默认为红灯
+ JSONObject deviceStatus = new JSONObject();
+ deviceStatus.put("device_id", device.getString("device_id"));
+ deviceStatus.put("device_code", deviceCode);
+ deviceStatus.put("device_name", device.getString("device_name"));
+ deviceStatus.put("status", "2");
+ deviceStatus.put("seq_num", device.getString("seq_num"));
+
+ if (ObjectUtil.isNotEmpty(deviceObj)) {
+ // 获取驱动
+ NdxySpecialDeviceDriver driver = (NdxySpecialDeviceDriver) deviceObj.getDeviceDriver();
+
+ // 只有在设备为空且无故障无选择的情况下才是绿灯
+ int hasGoods = driver.getHasGoods();// 是否有货
+ int error = driver.getError();// 是否故障
+ int actoin = driver.getActoin();// 是否允许取放
+ if (hasGoods == 0 && error == 0 && actoin == 1) {
+ deviceStatus.put("status", "1");
+ }
+ }
+
+ // 添加进返回数组
+ result.add(deviceStatus);
+ }
+
+ // 返回
+ resultJSON.put("code", "1");
+ resultJSON.put("desc", "查询成功");
+ resultJSON.put("result", result);
+ return resultJSON;
+ }
+ @Override
+ public JSONObject queryagvStatus() {
+ // 获取所有AGV对象
+ Map<String, AgvDto> agvMap = agvService.findAllAgvFromCache();
+
+ // 返回数组
+ JSONArray result = new JSONArray();
+
+ // 遍历所有agv
+ for (AgvDto agv : agvMap.values()) {
+ // 状态对象
+ JSONObject agvStatus = new JSONObject();
+ agvStatus.put("car_no", agv.getName());
+ String state = agv.getState();
+ String status;
+ switch (state) {
+ case "UNAVAILABLE":
+ status = "通信超时或者已断开连接";
+ break;
+ case "ERROR":
+ status = "错误状态";
+ agvStatus.put("error", agv.getErrorBuf());
+ break;
+ case "IDLE":
+ status = "空闲状态";
+ break;
+ case "EXECUTING":
+ status = "正在执行运单";
+ break;
+ case "CHARGING":
+ status = "正在充电";
+ break;
+ default:
+ status = "未知状态";
+ }
+ agvStatus.put("status", status);
+ agvStatus.put("electricity", agv.getEnergyLevel());
+
+ // 添加进返回数组
+ result.add(agvStatus);
+ }
+
+ JSONObject resultJSON = new JSONObject();
+ resultJSON.put("code", "1");
+ resultJSON.put("desc", "查询成功");
+ resultJSON.put("result", result);
+ return resultJSON;
+ }
}
diff --git a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
index ed6343f..b57960c 100644
--- a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
+++ b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
@@ -2465,11 +2465,35 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
//上报异常
else if (phase == 0x67) {
- if (arr[18] * 256 + arr[19] == 0) {
+ AgvDto dto = null;
+ Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
+// carno = arr[18] * 256 + arr[19];
+ if (map.containsKey(String.valueOf(carno))) {
+ dto = map.get(String.valueOf(carno));
} else {
-
+ dto = new AgvDto();
}
+ dto.setName(String.valueOf(carno));
+ if (agvaddr == 0) {
+ dto.setState("IDLE");
+ } else {
+ StringBuffer errbs = new StringBuffer();
+ for (int i = 0; i < ERROR.length; i++) {
+ if (((agvaddr) & (1 << i)) > 0)
+ errbs.append("," + ERROR[i]);
+ //反馈故障
+ }
+ String errorStr = errbs.toString();
+ // 去除字符串头部逗号
+ if (errorStr.length() > 0) {
+ errorStr = errorStr.substring(1);
+ }
+ dto.setState("ERROR");
+ dto.setErrorBuf(errorStr);
+ AgvService.updateAgvFromCache(dto);
+ }
+
} else {
@@ -3583,6 +3607,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//反馈故障
}
dto.setState("ERROR");
+ dto.setErrorBuf(errbs.toString());
acsToWmsService.feedbackAgvStatus(String.valueOf(carno), String.valueOf(ikey), "error");
}
}