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@ -12,6 +12,8 @@ import net.sf.json.JSONObject; |
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import org.nl.acs.agv.server.AgvService; |
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import org.nl.acs.agv.server.AgvWaitUtil; |
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import org.nl.acs.agv.server.dto.AgvDto; |
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import org.nl.acs.angle.service.AcsPointAngleService; |
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import org.nl.acs.angle.service.dto.AcsPointAngleDto; |
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import org.nl.acs.config.AcsConfig; |
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import org.nl.acs.config.server.AcsConfigService; |
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import org.nl.acs.device.service.DeviceService; |
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@ -47,10 +49,14 @@ import org.nl.start.auto.run.NDCSocketConnectionAutoRun; |
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import org.nl.utils.SpringContextHolder; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.beans.factory.annotation.Value; |
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import org.springframework.context.annotation.Lazy; |
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import org.springframework.http.HttpStatus; |
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import org.springframework.stereotype.Service; |
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import java.math.BigDecimal; |
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import java.math.RoundingMode; |
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import java.text.DateFormat; |
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import java.text.DecimalFormat; |
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import java.text.SimpleDateFormat; |
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import java.util.*; |
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import java.util.function.Function; |
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@ -62,10 +68,13 @@ import java.util.stream.Stream; |
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@RequiredArgsConstructor |
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public class AgvServiceImpl implements AgvService { |
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protected BusinessLogger execute_log; |
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@Autowired |
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DeviceAppService deviceAppService; |
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@Lazy |
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@Autowired |
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TaskService taskService; |
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@Autowired |
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@ -78,6 +87,8 @@ public class AgvServiceImpl implements AgvService { |
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AcsToWmsService acsToWmsService; |
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@Autowired |
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DeviceService deviceService; |
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@Autowired |
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private static AcsPointAngleService acsPointAngleService; |
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private final LogServer logServer; |
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@ -220,7 +231,7 @@ public class AgvServiceImpl implements AgvService { |
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* demo:destination("cz14", "JackUnload", "3", "") |
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* @return |
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*/ |
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public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro) { |
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public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro,Instruction dto) { |
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//新增业务订单
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JSONObject destinationOrder = new JSONObject(); |
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//目标工作站
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@ -235,10 +246,16 @@ public class AgvServiceImpl implements AgvService { |
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properties.add(pro2); |
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destinationOrder.put("properties", properties); |
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} else if (propertiesType.equals("2")) {//Spin转动
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AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto(); |
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acsPointAngleDto = getAcsPointAngleDto(dto); |
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if (ObjectUtil.isEmpty(acsPointAngleDto)){ |
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throw new RuntimeException("沒有找到内容，无法下发"); |
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} |
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BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle(); |
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JSONArray properties = new JSONArray(); |
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JSONObject pro1 = new JSONObject(); |
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pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系
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pro1.put("value", pro);//弧度值，如3.14
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pro1.put("value", next_point_angle);//弧度值，如3.14
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properties.add(pro1); |
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JSONObject pro2 = new JSONObject(); |
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pro2.put("key", "spin_direction");//固定值
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@ -272,6 +289,21 @@ public class AgvServiceImpl implements AgvService { |
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return destinationOrder; |
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} |
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private static AcsPointAngleDto getAcsPointAngleDto(Instruction dto) { |
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List<AcsPointAngleDto> list = acsPointAngleService.queryAll(new HashMap()); |
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AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto(); |
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for (int i = 0; i < list.size(); i++) { |
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acsPointAngleDto = list.get(i); |
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String start_device_code = acsPointAngleDto.getStart_device_code(); |
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String next_device_code = acsPointAngleDto.getNext_device_code(); |
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String is_active = acsPointAngleDto.getIs_active(); |
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if (!(dto.getStart_device_code().equals(start_device_code) && dto.getNext_device_code().equals(next_device_code) && is_active == "1")) { |
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break; |
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} |
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} |
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return acsPointAngleDto; |
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} |
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@Override |
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public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception { |
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JSONArray ja = new JSONArray(); |
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@ -539,14 +571,16 @@ public class AgvServiceImpl implements AgvService { |
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String positionAngle = jo.getString("positionAngle"); |
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String positionX = jo.getString("positionX"); |
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String positionY = jo.getString("positionY"); |
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String current_map = jo.getString("current_map"); |
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AgvDto dto = new AgvDto(); |
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dto.setName(name); |
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dto.setEnergyLevel(energyLevel); |
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dto.setState(state); |
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dto.setPositionAngle(positionAngle); |
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dto.setPositionX(positionX); |
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dto.setPositionY(positionY); |
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// dto.setPositionAngle(positionAngle);
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// dto.setPositionX(positionX);
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// dto.setPositionY(positionY);
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dto.setTransportOrder(transportOrder); |
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dto.setCurrent_map(current_map); |
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if (AGVDeviceStatus.containsKey(name)) { |
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AGVDeviceStatus.remove(name); |
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@ -599,52 +633,61 @@ public class AgvServiceImpl implements AgvService { |
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@Override |
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public HttpResponse queryXZAgvDeviceStatus() { |
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if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { |
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String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); |
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String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); |
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if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.FORKAGV).getValue().toString(), "1")) { |
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String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue(); |
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String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue(); |
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String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles"; |
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String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails"; |
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agvurl = agvurl + ":" + agvport + "/robotsStatus"; |
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HttpResponse result = HttpRequest.get(agvurl1) |
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.timeout(20000)//超时，毫秒
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.execute(); |
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HttpResponse result2 = HttpRequest.get(agvurl2) |
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HttpResponse result = HttpRequest.get(agvurl) |
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.timeout(20000)//超时，毫秒
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.execute(); |
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System.out.println("查询agv状态数据:" + result.body()); |
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if (result.getStatus() == 200) { |
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com.alibaba.fastjson.JSONArray ja = (com.alibaba.fastjson.JSONArray) com.alibaba.fastjson.JSONArray.parse(result.body()); |
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com.alibaba.fastjson.JSONObject body = com.alibaba.fastjson.JSONObject.parseObject(result.body()); |
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com.alibaba.fastjson.JSONArray ja = body.getJSONArray("report"); |
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for (int i = 0; i < ja.size(); i++) { |
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com.alibaba.fastjson.JSONObject jo = (com.alibaba.fastjson.JSONObject) ja.get(i); |
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String name = jo.getString("name"); |
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String state = jo.getString("state"); |
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String energyLevel = jo.getString("energyLevel"); |
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String transportOrder = jo.getString("transportOrder"); |
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com.alibaba.fastjson.JSONObject detailjo = (com.alibaba.fastjson.JSONObject) com.alibaba.fastjson.JSONObject.parse(result2.body()); |
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com.alibaba.fastjson.JSONObject item = (com.alibaba.fastjson.JSONObject) detailjo.get(name); |
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String x = item.getString("x"); |
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String y = item.getString("y"); |
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String angle = item.getString("angle"); |
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com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i); |
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//机器人编码
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String agv_code = jo.getString("uuid"); |
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//机器人详细状态信息
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com.alibaba.fastjson.JSONObject rbk_report = jo.getJSONObject("rbk_report"); |
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//是否正在充电
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Boolean charging = rbk_report.getBoolean("charging"); |
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//电池电量
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float battery_level = rbk_report.getFloatValue("battery_level"); |
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//当前地图
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String current_map = rbk_report.getString("current_map"); |
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//角度
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float angle = rbk_report.getFloatValue("angle"); |
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//执行运单信息
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com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order"); |
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Integer connectionStatus = jo.getInteger("connection_status"); |
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String inst_code = current_order.getString("id"); |
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String taskNo= "0"; |
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if (StrUtil.isNotEmpty(inst_code)) { |
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Instruction inst = instructionService.findByCodeFromCache(inst_code); |
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if (ObjectUtil.isNotEmpty(inst)) { |
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//任务号
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taskNo = inst.getTask_code(); |
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} |
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} |
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//x坐标
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float x = rbk_report.getFloatValue("x"); |
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//y坐标
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float y = rbk_report.getFloatValue("y"); |
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AgvDto dto = new AgvDto(); |
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dto.setName(name); |
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dto.setEnergyLevel(energyLevel); |
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dto.setState(state); |
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dto.setTransportOrder(transportOrder); |
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dto.setPositionAngle(angle); |
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dto.setName(agv_code); |
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dto.setCurrent_map(current_map); |
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dto.setCharging(charging); |
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dto.setBattery_level(battery_level); |
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dto.setTransportOrder(taskNo); |
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dto.setPositionX(x); |
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dto.setPositionY(y); |
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if (AGVDeviceStatus.containsKey(name)) { |
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AGVDeviceStatus.remove(name); |
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AGVDeviceStatus.put(name, dto); |
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} else { |
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AGVDeviceStatus.put(name, dto); |
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} |
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dto.setPositionAngle(angle); |
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dto.setConnection_status(connectionStatus); |
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AGVDeviceStatus.put(agv_code, dto); |
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} |
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} |
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return result; |
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@ -1773,18 +1816,18 @@ public class AgvServiceImpl implements AgvService { |
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MachinesSiteDeviceDriver machinesSiteDeviceDriver; |
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if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) { |
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ja.add(destination2(device_code + "IN", "Wait", "1", device_code + "IN" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(device_code, "Wait", "1", device_code |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(device_code + "OUT", "Wait", "1", device_code + "OUT" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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} else { |
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ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01")); |
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ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01",inst)); |
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} |
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} |
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ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01")); |
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ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01",inst)); |
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} else { |
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String startAddress = inst.getStart_device_code(); |
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@ -1795,25 +1838,25 @@ public class AgvServiceImpl implements AgvService { |
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MachinesSiteDeviceDriver machinesSiteDeviceDriver; |
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if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) { |
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ja.add(destination2(startAddress, "Wait", "5", startAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(nextAddress, "Wait", "1", nextAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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} else { |
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ja.add(destination2(startAddress, "Wait", "1", startAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(nextAddress, "Wait", "1", nextAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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} |
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} else { |
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ja.add(destination2(startAddress, "Wait", "1", startAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(nextAddress, "Wait", "1", nextAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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} |
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} |
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break; |
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@ -1830,33 +1873,33 @@ public class AgvServiceImpl implements AgvService { |
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if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"), "true") && |
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ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin"))) { |
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ja.add(destination2(startAddress + "IQ", "Spin", "2", |
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standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString())); |
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standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString(),inst)); |
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} |
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ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ" |
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+ "-" + inst_code + "-" + "07")); |
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+ "-" + inst_code + "-" + "07",inst)); |
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ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(startAddress, "JackLoad", "3", startAddress |
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+ "-" + inst_code + "-" + "02")); |
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+ "-" + inst_code + "-" + "02",inst)); |
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ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT" |
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+ "-" + inst_code + "-" + "05")); |
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+ "-" + inst_code + "-" + "05",inst)); |
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ja.add(destination2(startAddress + "OQ", "Wait", "1", startAddress + "OQ" |
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+ "-" + inst_code + "-" + "08")); |
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+ "-" + inst_code + "-" + "08",inst)); |
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} else if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
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ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN" |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(startAddress, "JackLoad", "3", startAddress |
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+ "-" + inst_code + "-" + "02")); |
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+ "-" + inst_code + "-" + "02",inst)); |
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ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT" |
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+ "-" + inst_code + "-" + "05")); |
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+ "-" + inst_code + "-" + "05",inst)); |
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} else { |
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ja.add(destination2(nextAddress, "Wait", "1", startAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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ja.add(destination2(startAddress, "JackLoad", "3", startAddress |
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+ "-" + inst_code + "-" + "01")); |
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+ "-" + inst_code + "-" + "01",inst)); |
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} |
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//终点
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@ -1865,31 +1908,31 @@ public class AgvServiceImpl implements AgvService { |
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if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"), "true") && |
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ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin"))) { |
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ja.add(destination2(nextAddress + "IQ", "Spin", "2", |
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standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString())); |
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standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString(),inst)); |
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} |
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ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ" |
|
|
|
+ "-" + inst_code + "-" + "07")); |
|
|
|
+ "-" + inst_code + "-" + "07",inst)); |
|
|
|
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" |
|
|
|
+ "-" + inst_code + "-" + "03")); |
|
|
|
+ "-" + inst_code + "-" + "03",inst)); |
|
|
|
|
|
|
|
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress |
|
|
|
+ "-" + inst_code + "-" + "04")); |
|
|
|
+ "-" + inst_code + "-" + "04",inst)); |
|
|
|
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" |
|
|
|
+ "-" + inst_code + "-" + "06")); |
|
|
|
+ "-" + inst_code + "-" + "06",inst)); |
|
|
|
ja.add(destination2(nextAddress + "OQ", "Wait", "1", nextAddress + "OQ" |
|
|
|
+ "-" + inst_code + "-" + "08")); |
|
|
|
+ "-" + inst_code + "-" + "08",inst)); |
|
|
|
} else if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { |
|
|
|
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" |
|
|
|
+ "-" + inst_code + "-" + "03")); |
|
|
|
+ "-" + inst_code + "-" + "03",inst)); |
|
|
|
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress |
|
|
|
+ "-" + inst_code + "-" + "04")); |
|
|
|
+ "-" + inst_code + "-" + "04",inst)); |
|
|
|
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" |
|
|
|
+ "-" + inst_code + "-" + "06")); |
|
|
|
+ "-" + inst_code + "-" + "06",inst)); |
|
|
|
} else { |
|
|
|
ja.add(destination2(nextAddress, "Wait", "1", nextAddress |
|
|
|
+ "-" + inst_code + "-" + "01")); |
|
|
|
+ "-" + inst_code + "-" + "01",inst)); |
|
|
|
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress |
|
|
|
+ "-" + inst_code + "-" + "01")); |
|
|
|
+ "-" + inst_code + "-" + "01",inst)); |
|
|
|
} |
|
|
|
break; |
|
|
|
} |
|
|
|
|
