opt:优化充电

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

@@ -1,5 +1,6 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -23,6 +24,7 @@ import org.nl.common.utils.CodeUtil;
 import org.nl.config.SpringContextHolder;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 
 import java.util.HashMap;
 import java.util.List;
@@ -197,24 +199,19 @@ public class NDCAgvServiceImpl implements NDCAgvService {
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     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");
+        Dict dict = dictService.getDictByName3("station",carno,null);
         int satation=0;
-        Dict temp=new Dict();
+        if(ObjectUtil.isNotEmpty(dict)){
-        for(Dict dict : dictList){
+            log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict.getPara1());
-            if ("1".equals(dict.getValue())&&carno.equals(dict.getPara2())){
+            return;
-                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){
+        Dict temp = dictService.getDictByName2("station");
-            if ("0".equals(dict.getValue())){
+        if(ObjectUtil.isNotEmpty(temp)){
-                satation = Integer.parseInt(dict.getPara1());
+            satation = Integer.parseInt(temp.getPara1());
-                temp=dict;
-                break;
-            }
         }
         if(satation!=0){
             String instcode =CodeUtil.getNewCode("INSTRUCT_NO");
@@ -238,7 +235,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                     (byte) 0X00, (byte) 0X0E,
                     (byte) 0X00, (byte) 0X01,
                     (byte) 0X00, (byte) 0X71,
-                    (byte) 0X00, (byte) 0X0A,
+                    (byte) 0X00, (byte) 0X08,
                     (byte) 0X64, (byte) 0X80,
                     (byte) 0X00, (byte) 0X01,
                     (byte) ikeyhigh, (byte) ikeylow,
@@ -255,7 +252,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             }
 
             temp.setValue("1");
-            temp.setPara2(String.valueOf(carno));
+            temp.setPara2(carno);
+            temp.setPara3("下发充电");
             dictService.updateDetail(temp);
 
         }else{

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

@@ -9,8 +9,6 @@ import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutodoorDeviceDriver;
-import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
@@ -31,7 +29,6 @@ import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.Socket;
 import java.util.Date;
-import java.util.List;
 
 import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
 
@@ -81,7 +78,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
         System.out.println("NDCAgv链接开始");
         ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class);
         InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
-        AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
         NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
         DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
         DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
@@ -131,16 +127,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     //车号
                     int carno = arr[20];
                     //充电桩站点号
-                    int station = arr[25];
+                    int station=arr[25];
-
                     Instruction link_inst = null;
                     Instruction inst = null;
-                    List<Instruction> insts = 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)) {
@@ -151,7 +141,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         link_flag = true;
                     }
                     log.info("接收agv上报信息：" + bs);
-                    log.info("接收agv上报信息：" + "phase--" + phase + "  index--" + index + "  ikey--" + ikey + "  agvaddr--" + agvaddr + "  carno--" + carno+"  station--"+station);
+                    log.info("接收agv上报信息：" + "phase--" + phase + "  index--" + index + "  ikey--" + ikey + "  agvaddr--" + agvaddr + "  carno--" + carno);
                     Device device = null;
                     String device_code = null;
                     String old_device_code = null;
@@ -244,24 +234,20 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     //(需要WCS反馈)
                     }else if (phase == 0xFF) {
 
-                        if (!ObjectUtil.isEmpty(inst)) {
+                        if (ObjectUtil.isNotEmpty(inst)) {
-                            if (!ObjectUtil.isEmpty(inst)) {
+                            instructionService.cancelNOSendAgv(inst.getInstruction_id());
-                                instructionService.cancelNOSendAgv(inst.getInstruction_id());
+                            taskService.cancel(inst.getTask_id());
-                                taskService.cancel(inst.getTask_id());
-                            }
                         }
                         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");
+                        Dict dict = dictService.getDictByName3("station",null,String.valueOf(station));
-                        for(Dict dict : dictList){
+                        if (ObjectUtil.isNotEmpty(dict)){
-                            if (Integer.parseInt(dict.getPara1())==station){
+                            dict.setValue("1");
-                                dict.setValue("1");
+                            dict.setPara2(String.valueOf(agvaddr));
-                                dict.setPara2(String.valueOf(agvaddr));
+                            dict.setPara3("下发成功");
-                                dictService.updateDetail(dict);
+                            dictService.updateDetail(dict);
-                                break;
-                            }
                         }
                         //充电成功
                     }else if (phase == 0x65){
@@ -269,14 +255,12 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         //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");
+                        Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),String.valueOf(station));
-                        for(Dict dict : dictList){
+                        if (ObjectUtil.isNotEmpty(dict)){
-                            if (Integer.parseInt(dict.getPara1())==station){
+                            dict.setValue("0");
-                                dict.setValue("0");
+                            dict.setPara2("");
-                                dict.setPara2("");
+                            dict.setPara3("");
-                                dictService.updateDetail(dict);
+                            dictService.updateDetail(dict);
-                                break;
-                            }
                         }
                     }
 
@@ -314,7 +298,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
             }
 
         } catch (Exception e) {
-            System.out.println("OneAgv链接异常");
             log.info("OneAgv链接异常");
             log.error("agv连接出现异常:{}", e);
             logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());

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

@@ -35,9 +35,12 @@ import org.nl.acs.task.domain.Task;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.acs.task.service.impl.TaskServiceImpl;
+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.config.SpringContextHolder;
 import org.nl.system.service.param.impl.SysParamServiceImpl;
+import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.List;
 
@@ -57,6 +60,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
     DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
     DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
+    ISysDictService dictService = SpringContextHolder.getBean(ISysDictService.class);
     int agvaddr = 0;
     int agvaddr_copy = 0;
     int weight = 0;
@@ -334,10 +338,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             log.info("接收agv上报信息,is_atuo_electric：" + is_atuo_electric);
             if("1".equals(is_atuo_electric)){
                 int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue());
-                if (electric_qty>0&&electric_qty < electric) {
+                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);
+                    log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.agvaddr, electric_qty,electric);
-                    NDCAgvService.charge(String.valueOf(this.agvaddr));
+                    //判断是否已下发充电任务
-                    isCharge =true;
+                    Dict dict1 = dictService.getDictByName3("station",String.valueOf(this.agvaddr),null);
+                    if(ObjectUtil.isNotEmpty(dict1)){
+                        log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict1.getPara1());
+                    }else{
+                        //未下发，判断是否有空闲充电桩
+                        Dict dict = dictService.getDictByName2("station");
+                        if(ObjectUtil.isNotEmpty(dict)){
+                            NDCAgvService.charge(String.valueOf(this.agvaddr));
+                            isCharge =true;
+                        }else{
+                            log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty,electric);
+                        }
+                    }
                 }
             }
         } else if (phase == 0x74) {

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -960,7 +960,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
 
         } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
             // NDC agv指令不当场取消指令,需要等agv上报
-            if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
+            if (StrUtil.isNotEmpty(entity.getAgv_jobno())) {
                 ndcAgvService.deleteAgvInstToNDC(new Instruction(entity));
             }
             flag = true;

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/ISysDictService.java

@@ -62,6 +62,20 @@ public interface ISysDictService extends IService<Dict> {
      */
     List<Dict> getDictByName(String name);
 
+    /**
+     * 获取字典明细
+     * @param name
+     * @return
+     */
+    Dict getDictByName2(String name);
+
+    /**
+     * 获取字典明细
+     * @param name
+     * @return
+     */
+    Dict getDictByName3(String name,String carno,String station);
+
     /**
      * 添加字典明细
      * @param resources

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/impl/SysDictServiceImpl.java

@@ -124,6 +124,39 @@ public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> impleme
         return dictList;
     }
 
+    @Override
+    public Dict getDictByName2(String name) {
+        Dict dict = null;
+        List<Dict> dictList = sysDictMapper.selectList(
+                new LambdaQueryWrapper<Dict>()
+                        .eq(Dict::getCode, name)
+                        .eq(Dict::getValue, "0")
+                        .and(slam -> slam.isNull(Dict::getPara2)
+                                .or()
+                                .eq(Dict::getPara2, ""))
+        );
+        if (ObjectUtil.isNotEmpty(dictList) && dictList.size()>0){
+            dict =  dictList.get(0);
+        }
+        return dict;
+    }
+
+    @Override
+    public Dict getDictByName3(String name,String carno,String station) {
+        Dict dict = null;
+        List<Dict> dictList = sysDictMapper.selectList(
+                new LambdaQueryWrapper<Dict>()
+                        .eq(Dict::getCode, name)
+                        .eq(ObjectUtil.isNotEmpty(carno),Dict::getPara2, carno)
+                        .eq(ObjectUtil.isNotEmpty(station),Dict::getPara1, station)
+                        .eq(Dict::getValue,"1")
+        );
+        if (ObjectUtil.isNotEmpty(dictList) && dictList.size()>0){
+            dict =  dictList.get(0);
+        }
+        return dict;
+    }
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void createDetail(Dict dict) {