From c66881485da138b9c8593f703fb4e62526db1e37 Mon Sep 17 00:00:00 2001 From: psh Date: Mon, 8 Jan 2024 13:26:01 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=94=B5=E6=A2=AF=E9=80=BB?= =?UTF-8?q?=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 12 +- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 150 ++++++++++-------- .../basedriver/agv/utils/SocketUtil.java | 139 ++++++++++++++++ 3 files changed, 237 insertions(+), 64 deletions(-) create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index e2f04e5..5c62fff 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -6,6 +6,7 @@ import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.device_driver.basedriver.agv.utils.SocketUtil; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; @@ -183,7 +184,16 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - + //电梯开门 + }else if (phase == 0x50 && (agvaddr == 2421 || agvaddr == 2422 || agvaddr == 2423)) { + if (SocketUtil.checkConnect(agvaddr, (byte) 0X0A)) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } + //电梯关门 + }else if (phase == 0x51 && (agvaddr == 2421 || agvaddr == 2422 || agvaddr == 2423)) { + if (SocketUtil.checkConnect(agvaddr, (byte) 0X00)) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } } else { //上报异常信息 //（不需要WCS反馈） 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 817b1d4..deaf5c3 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 @@ -15,6 +15,7 @@ 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.agv.utils.SocketUtil; import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutoDoorDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_elevator.StandardElevatorDeviceDriver; @@ -77,6 +78,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int last_electric_qty = 0; int last_status = 0; int last_error = 0; + boolean wcsFlag = false; + boolean wmsFlag = false; String error_code = "0"; String error_message = ""; @@ -100,8 +103,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic List insts = null; Instruction inst = null; boolean flag = false; - boolean wcsFlag = false; - boolean wmsFlag = false; boolean link_flag = false; if (ikey != 0) { inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); @@ -199,7 +200,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic if ("true".equals(device.getExtraValue().get("reqWms")) && !inst.getTask_code().startsWith("-") - && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) { + && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) && !wmsFlag) { JSONObject form = new JSONObject(); form.put("vehicle_code", inst.getVehicle_code()); form.put("status", 1); @@ -227,6 +228,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); @@ -276,12 +279,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) { FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver(); if (driver.getMode() != 0 - && driver.getMove() != 0 - && driver.getNumber() != 0) { + && (driver.getMove() != 0 + || driver.getNumber() != 0)) { if (!inst.getTask_code().startsWith("-") && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) && "true".equals(device.getExtraValue().get("reqWms"))) { @@ -327,6 +332,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。"); + wmsFlag = false; + wcsFlag = false; } } @@ -416,7 +423,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - wmsFlag = true; + wmsFlag = true; // } if (wcsFlag && wmsFlag) { @@ -424,6 +431,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); @@ -452,7 +461,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } // } else { // String message = ""; @@ -473,6 +482,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) { FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver(); @@ -500,7 +511,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } } else { String message = ""; @@ -524,6 +535,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。"); + wmsFlag = false; + wcsFlag = false; } } @@ -610,7 +623,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - wmsFlag = true; + wmsFlag = true; // } if (wcsFlag && wmsFlag) { @@ -618,6 +631,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); @@ -646,7 +661,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } } else { String message = ""; @@ -667,6 +682,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) { FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver(); @@ -692,7 +709,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } } else { String message = ""; @@ -709,6 +726,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。"); + wmsFlag = false; + wcsFlag = false; } } @@ -796,7 +815,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - wmsFlag = true; + wmsFlag = true; // } if (wcsFlag && wmsFlag) { @@ -804,36 +823,38 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); if (driver.getMode() != 0 && driver.getMove() != 0) { - if (!inst.getTask_code().startsWith("-") - && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) - && "true".equals(device.getExtraValue().get("reqWms"))) { - JSONObject form = new JSONObject(); - form.put("vehicle_code", inst.getVehicle_code()); - form.put("status", 4); - form.put("device_code", device_code); - form.put("task_code", inst.getTask_code()); - JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{ - add(form); - }}); - - if (20000 == result.getIntValue("code")) { - flag = true; - } else { - String resultMessage = result.getString("message"); - this.message = resultMessage; - String message = resultMessage + "不允许AGV放货后离开。"; - driver.setMessage(message); - logServer.deviceExecuteLog(device_code, "", "", message); - } - } else { +// if (!inst.getTask_code().startsWith("-") +// && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) +// && "true".equals(device.getExtraValue().get("reqWms"))) { +// JSONObject form = new JSONObject(); +// form.put("vehicle_code", inst.getVehicle_code()); +// form.put("status", 4); +// form.put("device_code", device_code); +// form.put("task_code", inst.getTask_code()); +// JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{ +// add(form); +// }}); +// +// if (20000 == result.getIntValue("code")) { +// flag = true; +// } else { +// String resultMessage = result.getString("message"); +// this.message = resultMessage; +// String message = resultMessage + "不允许AGV放货后离开。"; +// driver.setMessage(message); +// logServer.deviceExecuteLog(device_code, "", "", message); +// } +// } else { flag = true; - } +// } } else { String message = ""; if (driver.getMode() == 0) { @@ -853,35 +874,37 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); + wmsFlag = false; + wcsFlag = false; } } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) { FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver(); if (driver.getMode() != 0 - && driver.getMove() != 0 - && driver.getNumber() != 0) { - if (!inst.getTask_code().startsWith("-") - && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) - && "true".equals(device.getExtraValue().get("reqWms"))) { - JSONObject form = new JSONObject(); - form.put("vehicle_code", inst.getVehicle_code()); - form.put("status", 4); - form.put("device_code", device_code); - form.put("task_code", inst.getTask_code()); - JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{ - add(form); - }}); - if (20000 == result.getIntValue("code")) { - flag = true; - } else { - String resultMessage = result.getString("message"); - this.message = resultMessage; - String message = resultMessage + "不允许AGV放货后离开。"; - driver.setMessage(message); - logServer.deviceExecuteLog(device_code, "", "", message); - } - } else { + && (driver.getMove() != 0 + || driver.getNumber() != 0)) { +// if (!inst.getTask_code().startsWith("-") +// && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) +// && "true".equals(device.getExtraValue().get("reqWms"))) { +// JSONObject form = new JSONObject(); +// form.put("vehicle_code", inst.getVehicle_code()); +// form.put("status", 4); +// form.put("device_code", device_code); +// form.put("task_code", inst.getTask_code()); +// JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{ +// add(form); +// }}); +// if (20000 == result.getIntValue("code")) { +// flag = true; +// } else { +// String resultMessage = result.getString("message"); +// this.message = resultMessage; +// String message = resultMessage + "不允许AGV放货后离开。"; +// driver.setMessage(message); +// logServer.deviceExecuteLog(device_code, "", "", message); +// } +// } else { flag = true; - } +// } } else { String message = ""; if (driver.getMode() == 0) { @@ -904,6 +927,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic this.message = ""; driver.setMessage(""); logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。"); + wmsFlag = false; + wcsFlag = false; } } @@ -940,7 +965,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic device_code = old_device_code; } } - device = deviceAppService.findDeviceByCode(device_code); if (ObjectUtil.isEmpty(device_code)) { log.info(agvaddr + "对应设备号为空!"); @@ -971,7 +995,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } } else { String message = "自动门未联机，无法开门。"; @@ -994,6 +1018,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } + } else if (phase == 0x51) {//离开区域 if (agvaddr == 0) { agvaddr = agvaddr_copy; @@ -1014,7 +1039,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic device_code = old_device_code; } } - device = deviceAppService.findDeviceByCode(device_code); if (ObjectUtil.isEmpty(device_code)) { log.info(agvaddr + "对应设备号为空!"); @@ -1045,7 +1069,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic // logServer.deviceExecuteLog(device_code, "", "", message); // } // } else { - flag = true; + flag = true; // } } else { String message = "自动门未联机，无法关门。"; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java new file mode 100644 index 0000000..940de24 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java @@ -0,0 +1,139 @@ +package org.nl.acs.device_driver.basedriver.agv.utils; + +import cn.hutool.core.util.ObjectUtil; +import lombok.extern.slf4j.Slf4j; + +import java.io.DataInputStream; +import java.io.DataOutputStream; +import java.io.IOException; +import java.net.Socket; + +import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; + +@Slf4j +public class SocketUtil { + + public static Socket s; + public static DataOutputStream dos; + public static DataInputStream dis; + + public static boolean checkConnect(int agvaddr, byte action) { + try { + System.out.println("电梯socket链接开始"); + byte[] b = new byte[1024]; + byte[] call = new byte[1024]; + byte[] move = new byte[1024]; + s = new Socket("172.17.195.242", 102); +// s = new Socket("127.0.0.1", 20002); + dos = new DataOutputStream(s.getOutputStream()); + dis = new DataInputStream(s.getInputStream()); + System.out.println("电梯socket链接开始"); + log.info("电梯socket链接成功"); + if(agvaddr==2421){ + call = new byte[]{(byte) 0X1A, (byte) 0X1B, + (byte) 0X02, (byte) 0X01, + (byte) 0X02, (byte) 0X04, + (byte) 0X01, (byte) 0X01, + (byte) 0X00, (byte) 0XFF, + (byte) 0XFB, + }; + } + if(agvaddr==2422){ + call = new byte[]{(byte) 0X1A, (byte) 0X1B, + (byte) 0X02, (byte) 0X01, + (byte) 0X02, (byte) 0X04, + (byte) 0X01, (byte) 0X02, + (byte) 0X00, (byte) 0XFF, + (byte) 0XF8, + }; + } + if(action==0X0A) { + move = new byte[]{(byte) 0X1A, (byte) 0X1B, + (byte) 0X02, (byte) 0X01, + (byte) 0X04, (byte) 0X04, + (byte) 0X01, (byte) 0X01, + (byte) 0X0A, (byte) 0XFF, + (byte) 0XF7, + }; + } + if(action==0X00) { + move = new byte[]{(byte) 0X1A, (byte) 0X1B, + (byte) 0X02, (byte) 0X01, + (byte) 0X04, (byte) 0X04, + (byte) 0X01, (byte) 0X01, + (byte) 0X00, (byte) 0XFF, + (byte) 0XFD, + }; + } + write(b); + int[] arr = packageResult(); + if (arr[14] * 256 + arr[15] == 0x00) { + if ((arr[18] * 256 + arr[19] == 0x01 && agvaddr==2421)|| + (arr[18] * 256 + arr[19] == 0x02 && agvaddr==2422)) { + log.info("电梯已就位，下发开门指令"); + write(move); + packageResult(); + if (arr[22] * 256 + arr[23] == 0x11 && action == 0X10) { + log.info("电梯已开门就位，反馈NDC允许进入"); + return true; + } else if (arr[22] * 256 + arr[23] == 0x21 && action == 0X00) { + log.info("电梯已关门就位，反馈NDC"); + return true; + } + } else { + log.info("电梯未就位，呼叫电梯就位"); + write(call); + packageResult(); + } + } else { + log.info("电梯状态不为正常，直接返回"); + return false; + } + } catch (Exception e) { + System.out.println("电梯socket链接异常"); + log.info("电梯socket链接异常"); + log.error("电梯socket链接出现异常:{}", e); + if (ObjectUtil.isNotEmpty(s)) { + try { + s.close(); + } catch (IOException ex) { + throw new RuntimeException(ex); + } + } + System.out.println(e.getMessage()); + e.printStackTrace(); + + } + return false; + } + + public static void write(byte[] b) { + try { + log.info("下发电梯socket数据:" + Bytes2HexString(b)); + System.out.println("下发电梯socket数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + + public static int[] packageResult() throws IOException { + byte[] b = new byte[1024]; + int count = dis.read(b); + int[] arr = new int[count]; + StringBuffer bs = new StringBuffer(); + + for (int i = 0; i < count; i++) { + int temp = b[i]; + if (temp < 0) + temp += 256; + arr[i] = temp; + StringBuffer bs1 = new StringBuffer("0"); + bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp)); + } + System.out.println("接收电梯socket上报信息：" + bs); + return arr; + } +}