opt:自动下发分配充电任务开发

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java

@@ -58,4 +58,8 @@ public interface AcsConfig {
     String MAXSENDTASKTIME = "maxSendTaskTime";
     //指令下发立库
     String INSTSENDLK = "instSendLk";
+
+    String ELECTRIC ="electric";
+
+    String IS_ATUO_ELECTRIC ="is_atuo_electric";
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java

@@ -40,4 +40,7 @@ public interface NDCAgvService {
      * @return
      */
     public boolean createChargingTaskToNDC(String carno);
+
+
+    public void charge(String carno);
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java

@@ -16,6 +16,8 @@ import org.nl.acs.log.LokiLogType;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.system.service.dict.ISysDictService;
+import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.common.utils.CodeUtil;
 import org.nl.config.SpringContextHolder;
@@ -23,6 +25,7 @@ import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
 
 @Slf4j
@@ -34,7 +37,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
     private final DeviceAppService deviceAppService;
     private final ISysParamService paramService;
     private final AcsToWmsService acsToWmsService;
-
+    private final ISysDictService dictService;
     private final DeviceExecuteLogService logServer;
 
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
@@ -193,6 +196,73 @@ public class NDCAgvServiceImpl implements NDCAgvService {
         return b;
     }
 
+    @Override
+    public void charge(String carno) {
+        //检查数据字典station为0的参数
+        //分配车辆
+        List<Dict> dictList= dictService.getDictByName("station");
+        int satation=0;
+        Dict temp=new Dict();
+        for(Dict dict : dictList){
+            if ("1".equals(dict.getValue())&&carno.equals(dict.getPara2())){
+                log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict.getPara1());
+                return;
+            }
+        }
+        for(Dict dict : dictList){
+            if ("0".equals(dict.getValue())){
+                satation = Integer.parseInt(dict.getPara1());
+                temp=dict;
+                break;
+            }
+        }
+        if(satation!=0){
+            String instcode =CodeUtil.getNewCode("INSTRUCT_NO");
+            byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
+            byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
+            byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
+            byte carlow = (byte) IntToHexLow(Integer.parseInt(carno));
+            byte satationhigh = (byte) IntToHexHigh(satation);
+            byte satationlow = (byte) IntToHexLow(satation);
+            String str = "十进制下发：";
+            String str1 = "十六进制下发：";
+            str += "ikey:" + (Integer.parseInt(instcode));
+            str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
+            str += "carno:" + (Integer.parseInt(carno));
+            str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF);
+            str += "/satation:" + (satation);
+            str1 += "/satation:" + hexToString(satationhigh & 0xFF) + hexToString(satationlow & 0xFF);
+
+            byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
+                    (byte) 0X00, (byte) 0X08,
+                    (byte) 0X00, (byte) 0X0E,
+                    (byte) 0X00, (byte) 0X01,
+                    (byte) 0X00, (byte) 0X71,
+                    (byte) 0X00, (byte) 0X0A,
+                    (byte) 0X64, (byte) 0X80,
+                    (byte) 0X00, (byte) 0X01,
+                    (byte) ikeyhigh, (byte) ikeylow,
+                    (byte) carhigh, (byte) carlow,
+                    (byte) satationhigh, (byte) satationlow
+
+            };
+            log.info("下发AGV充电任务--{}", str1);
+
+            try{
+                OneNDCSocketConnectionAutoRun.write(b);
+            } catch (Exception e){
+                log.error("下发充电任务失败{}{}",e,e.getMessage());
+            }
+
+            temp.setValue("1");
+            temp.setPara2(String.valueOf(carno));
+            dictService.updateDetail(temp);
+
+        }else{
+            log.error("目前暂无可使用充电桩充电桩，暂不分配{}充电任务",carno);
+        }
+    }
+
     @Override
     public boolean createChargingTaskToNDC(String carno) {
         byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -17,6 +17,8 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
+import org.nl.system.service.dict.ISysDictService;
+import org.nl.system.service.dict.dao.Dict;
 import org.nl.system.service.lucene.LuceneExecuteLogService;
 import org.nl.system.service.param.ISysParamService;
 import org.nl.config.SpringContextHolder;
@@ -59,6 +61,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     AutoRunService autoRunService;
     @Autowired
     LuceneExecuteLogService luceneExecuteLogService;
+    @Autowired
+    ISysDictService dictService;
 
 
     public OneNDCSocketConnectionAutoRun() {
@@ -127,6 +131,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     int agvaddr = arr[18] * 256 + arr[19];
                     //车号
                     int carno = arr[20];
+                    //充电桩站点号
+                    int station=arr[25];
+
                     Instruction link_inst = null;
                     Instruction inst = null;
                     List<Instruction> insts = null;
@@ -245,8 +252,36 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             }
                         }
                         data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
+                        //充电任务下发成功上报
+                    } else if (phase == 0x64){
+                        log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station);
+                        List<Dict> dictList= dictService.getDictByName("station");
+                        for(Dict dict : dictList){
+                            if (Integer.parseInt(dict.getPara1())==station){
+                                dict.setValue("1");
+                                dict.setPara2(String.valueOf(agvaddr));
+                                dictService.updateDetail(dict);
+                                break;
+                            }
+                        }
+                        //充电成功
+                    }else if (phase == 0x65){
+                        log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station);
+                        //充电取消上报
+                    }else if (phase == 0x66){
+                        log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station);
+                        List<Dict> dictList= dictService.getDictByName("station");
+                        for(Dict dict : dictList){
+                            if (Integer.parseInt(dict.getPara1())==station){
+                                dict.setValue("0");
+                                dict.setPara2("");
+                                dictService.updateDetail(dict);
+                                break;
+                            }
+                        }
+                    }
 
-                    } else {
+                    else {
                         //上报异常信息
                         //（不需要WCS反馈）
                         if (phase == 0x67) {

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -9,6 +9,7 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 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.domain.Device;
@@ -75,6 +76,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int last_electric_qty = 0;
     int last_status = 0;
     int last_error = 0;
+    boolean isCharge = false;
 
     @LokiLog(type = LokiLogType.ACS_TO_LMS)
     public synchronized void processSocket(int[] arr) throws Exception {
@@ -322,7 +324,27 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agvaddr_copy = agvaddr;
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+        }else if (phase == 0x73) {
+            //agv电量
+            electric_qty = ikey;
+            //是否开启自动充电
+            String is_atuo_electric = paramService.findByCode(AcsConfig.IS_ATUO_ELECTRIC).getValue();
+            if("1".equals(is_atuo_electric)){
+                int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue());
+                if (electric_qty>0&&electric_qty < electric) {
+                    log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty,electric);
+                    NDCAgvService.charge(String.valueOf(this.agvaddr));
+                    isCharge =true;
+                }
+            }
+        } 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);
             OneNDCSocketConnectionAutoRun.write(data);