From 27976b0faac5b6cfe8beb262d0002f95548308c2 Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Mon, 17 Jun 2024 22:02:18 +0800 Subject: [PATCH] =?UTF-8?q?fix=EF=BC=9A=E4=BF=AE=E5=A4=8D=E8=81=94?= =?UTF-8?q?=E8=B0=83=E6=B5=8B=E8=AF=95=E5=87=BA=E7=8E=B0=E7=9A=84=E9=97=AE?= =?UTF-8?q?=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../agv/server/impl/NDCAgvServiceImpl.java | 3 +- .../run/OneNDCSocketConnectionAutoRun.java | 4 +- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 299 ++++++------ .../basedriver/agv/utils/ErrorUtil.java | 124 +++++ .../basedriver/agv/utils/OneAgvPhase.java | 14 + .../basedriver/agv/xg_agv/ItemProtocol.java | 14 + .../agv/xg_agv/XgagvDeviceDriver.java | 262 +++++++---- .../acs/ext/wms/service/AcsToWmsService.java | 2 + .../wms/service/impl/AcsToWmsServiceImpl.java | 25 + .../service/impl/InstructionServiceImpl.java | 18 +- .../org/nl/acs/opc/DeviceAppServiceImpl.java | 14 +- .../nl/acs/opc/DeviceOpcProtocolRunable.java | 429 +++++++++++++----- .../main/java/org/nl/acs/opc/ObjectUtl.java | 79 ++++ .../task/service/impl/TaskServiceImpl.java | 4 +- .../nl/modules/quartz/task/ToAgvDevice.java | 131 ++++-- .../modules/system/service/DictService.java | 4 +- .../system/service/impl/DictServiceImpl.java | 5 + 17 files changed, 1017 insertions(+), 414 deletions(-) create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/opc/ObjectUtl.java diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java index 545c930..f599a84 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java @@ -34,7 +34,8 @@ public class NDCAgvServiceImpl implements NDCAgvService { DeviceAppService deviceAppService; @Autowired ParamService paramService; - private final AcsToWmsService acsToWmsService; + @Autowired + AcsToWmsService acsToWmsService; private final DeviceExecuteLogService logServer; 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 722dee7..a2a7f54 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 @@ -191,8 +191,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { //上报异常信息 //（不需要WCS反馈） - if (phase == 0x67) { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); + if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x50 || phase == 0x51 ) { + device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19])); } else { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } 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 9a6f206..af9c2a6 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 @@ -3,16 +3,21 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import cn.hutool.http.HttpResponse; +import cn.hutool.http.HttpStatus; import com.alibaba.fastjson.JSONArray; 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.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.OneAgvPhase; import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; @@ -24,6 +29,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl; import org.nl.acs.log.LokiLog; import org.nl.acs.log.LokiLogType; import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.service.TaskService; @@ -43,7 +49,7 @@ import java.util.Map; @Slf4j @Data @RequiredArgsConstructor -public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { +public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor { ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); @@ -53,6 +59,9 @@ 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); + + OneAgvPhase oneAgvPhase = new OneAgvPhase(); + int agvaddr = 0; int agvaddr_copy = 0; int weight = 0; @@ -73,6 +82,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int last_status = 0; int last_error = 0; + String error_code = "0"; + String error_message = ""; + String message = ""; + private Instruction instruction; + String order = ""; + + int mode = 2; + @LokiLog(type = LokiLogType.ACS_TO_LMS) public synchronized void processSocket(int[] arr) throws Exception { device_code = this.getDeviceCode(); @@ -89,15 +106,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic Instruction link_inst = null; List insts = null; Instruction inst = null; + boolean wcsFlag = false; + boolean wmsFlag = false; 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)) { - inst = instructionService.findByCode(String.valueOf(ikey)); + if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + this.instruction = inst; + } + if(ObjectUtil.isNotEmpty(inst)) { + order = inst.getTask_code(); } } if (!ObjectUtil.isEmpty(link_inst)) { @@ -109,24 +127,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic String emptyNum = null; String device_code = null; - if (phase == 0x67) { - //故障信息 - if (arr[18] * 256 + arr[19] == 0) { - - } - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - - //普通站点 - StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; - //货架 - StandardStorageDeviceDriver standardStorageDeviceDriver; - // - SiemensConveyorDeviceDriver siemensConveyorDeviceDriver; - //分配 车id //(不需要WCS反馈) if (phase == 0x02) { + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } inst.setCarno(String.valueOf(carno)); instructionService.update(inst); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); @@ -150,7 +158,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -158,8 +165,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic device = deviceAppService.findDeviceByCode(device_code); if (ObjectUtil.isEmpty(device_code)) { - log.info(agvaddr + "对应设备号为空!"); - logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + log.info(agvaddr + "对应设备号为空！"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空！"); return; } //校验agv上报站点编号与指令起始点相同 @@ -193,32 +200,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } - if (ObjectUtil.isNotEmpty(inst)){ - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("device_code", inst.getStart_point_code()); - map.put("device_status",inst.getExecute_status()); - map.put("energyLevel",electric_qty); - map.put("transportOrder",inst.getTask_code()); - map.put("positionX",x); - map.put("positionY",y); - map.put("positionAngle",angle); - HttpResponse httpResponse = acsToWmsService.feedbackAgv(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - //取货完毕 //(需要WCS反馈) } else if (phase == 0x05) { @@ -237,7 +218,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -281,31 +261,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } - if (ObjectUtil.isNotEmpty(inst)){ - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("device_code", inst.getStart_point_code()); - map.put("device_status",inst.getExecute_status()); - map.put("energyLevel",electric_qty); - map.put("transportOrder",inst.getTask_code()); - map.put("positionX",x); - map.put("positionY",y); - map.put("positionAngle",angle); - HttpResponse httpResponse = acsToWmsService.feedbackAgv(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } //到达放货点 //(需要WCS反馈) } else if (phase == 0x07) { @@ -324,7 +279,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -339,6 +293,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("未找到关联编号{}对应的指令", ikey); return; } + Object reqWms = device.getExtraValue().get("reqWms"); if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { JSONArray req = new JSONArray(); @@ -364,31 +319,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } - if (ObjectUtil.isNotEmpty(inst)){ - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("device_code", inst.getStart_point_code()); - map.put("device_status",inst.getExecute_status()); - map.put("energyLevel",electric_qty); - map.put("transportOrder",inst.getTask_code()); - map.put("positionX",x); - map.put("positionY",y); - map.put("positionAngle",angle); - HttpResponse httpResponse = acsToWmsService.feedbackAgv(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } //放货完毕 //(需要WCS反馈) } else if (phase == 0x09) { @@ -407,7 +337,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (StrUtil.contains(old_device_code, ".")) { String[] point = old_device_code.split("\\."); device_code = point[0]; - emptyNum = point[1]; } else { device_code = old_device_code; } @@ -423,6 +352,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info("未找到编号{}对应的指令", ikey); return; } + Object reqWms = device.getExtraValue().get("reqWms"); if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) { JSONArray req = new JSONArray(); @@ -442,31 +372,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } - if (ObjectUtil.isNotEmpty(inst)){ - JSONArray req = new JSONArray(); - JSONObject map = new JSONObject(); - map.put("device_code", inst.getStart_point_code()); - map.put("device_status",inst.getExecute_status()); - map.put("energyLevel",electric_qty); - map.put("transportOrder",inst.getTask_code()); - map.put("positionX",x); - map.put("positionY",y); - map.put("positionAngle",angle); - HttpResponse httpResponse = acsToWmsService.feedbackAgv(req); - if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { - JSONObject resp = JSONObject.parseObject(httpResponse.body()); - if (resp.getInteger("status") == 200) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code()); - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code()); - } - } else { - log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code()); - } - } else { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } } //到达位置点 //(需要WCS反馈) @@ -476,32 +381,142 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agvaddr_copy = agvaddr; data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } else if (phase == 0x50) {//进入交通灯区域 - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } else if (phase == 0x51) {//离开交通灯区域 + } else if (phase == 0x50) {//进入区域 + agvaddr = arr[18] * 256 + arr[19]; + String device_code1 = deviceService.queryDeviceCodeByAddress(agvaddr); + if (ObjectUtil.isEmpty(device_code1)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + return; + } + JSONArray req = new JSONArray(); + JSONObject map = new JSONObject(); + map.put("status", "5"); + map.put("device_code", device_code1); + map.put("vehicle_code", ""); + map.put("task_code", ""); + req.add(map); + HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); + if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else { + log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code()); + } + } else if (phase == 0x51) {//离开区域 + agvaddr = arr[18] * 256 + arr[19]; + String device_code2 = deviceService.queryDeviceCodeByAddress(agvaddr); + if (ObjectUtil.isEmpty(device_code2)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + return; + } + JSONArray req = new JSONArray(); + JSONObject map = new JSONObject(); + map.put("status", "6"); + map.put("device_code", device_code2); + map.put("vehicle_code", ""); + map.put("task_code", ""); + req.add(map); + HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req); + if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else { + log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code()); + } + } else if (phase == 0x67) {//agv异常 + if (ikey == 0) { + this.setErrorInfo(ikey, "0", "正常"); + } else { + Map error = ErrorUtil.getAgvErrorMsg(ikey); + String code = error.get("code"); + String info = error.get("info"); + this.setErrorInfo(ikey, code, info); + } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + last_error = error; } else if (phase == 0x70) { - //x坐标 + //x坐标 x = ikey; } else if (phase == 0x71) { //y坐标 y = ikey; } else if (phase == 0x72) { - //车辆角度 + //车辆角度 angle = ikey; } else if (phase == 0x73) { - //agv电量 - electric_qty = ikey; + //agv电量 + electric_qty = ikey; } else if (phase == 0x74) { - //三色灯状态 - status = ikey; - } + //三色灯状态 + status = ikey; + if(status==4) { + order = ""; + } + last_status = status; + } if (!ObjectUtil.isEmpty(data)) { + phase = 0; logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); OneNDCSocketConnectionAutoRun.write(data); } + + } + + private synchronized void setErrorInfo(int error, String error_code, String error_message) { + this.error = error; + this.error_code = error_code; + this.error_message = error_message; + } + +// @Override +// public JSONObject getDeviceStatusName() throws Exception { +// JSONObject jo = new JSONObject(); +// jo.put("device_name", this.getDevice().getDevice_name()); +// jo.put("x", this.x); +// jo.put("y", this.y); +// jo.put("angle", this.angle); +// jo.put("electric_qty", this.electric_qty); +// jo.put("status", this.status); +// jo.put("error", this.error); +// jo.put("error_message", this.error_message); +// jo.put("device_status", this.device_status); +// jo.put("message", this.message); +// return jo; +// } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + //agv编码 + jo.put("car_no", this.getDevice().getDevice_code()); + //agv名称 + jo.put("device_name", this.getDevice().getDevice_name()); + //x坐标 + jo.put("x", this.getX()); + //y坐标 + jo.put("y", this.getY()); + //角度 + jo.put("angle", this.getAngle()); + jo.put("phase", phase); + jo.put("phase_name", oneAgvPhase.getPhaseName(phase)); + //电量 + jo.put("electricity", this.getElectric_qty()); + String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常"; + //agv状态 + jo.put("status_name", status_name); + //任务号 + jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code()); + //异常 + jo.put("fault", this.getError_message()); + jo.put("message", this.getMessage()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java new file mode 100644 index 0000000..62c8e6c --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java @@ -0,0 +1,124 @@ +package org.nl.acs.device_driver.basedriver.agv.utils; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import org.nl.modules.system.domain.Dict; +import org.nl.modules.system.service.DictDetailService; +import org.nl.modules.system.service.DictService; +import org.nl.modules.system.service.dto.DictDetailDto; +import org.nl.modules.system.service.impl.DictDetailServiceImpl; +import org.nl.modules.system.service.impl.DictServiceImpl; +import org.nl.modules.wql.util.SpringContextHolder; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; +import java.util.function.Function; +import java.util.stream.Collectors; + +/** + * @author: tu qiang + * @createDate: 2024/1/12 + */ +public class ErrorUtil { + + public static ConcurrentHashMap> dictMap = new ConcurrentHashMap<>(); + + + public static String getDictDetail(String type, String error_code) { + getDict(); + List dictDetailDtos = dictMap.get(type); + String detail = null; + if (ObjectUtil.isNotEmpty(dictDetailDtos)) { + for (int i = 0; i < dictDetailDtos.size(); i++) { + DictDetailDto dictDetailDto = dictDetailDtos.get(i); + String value = dictDetailDto.getValue(); + String label = dictDetailDto.getLabel(); + if (StrUtil.equals(value, error_code)) { + detail = label; + break; + } + } + } + return detail == null ? "字典表未配置对应的报警信息" : detail; + } + + public static Map getDictDetailByName(String type) { + getDict(); + List dictDetailDtos = dictMap.get(type); + Map map = new HashMap<>(); + if (ObjectUtil.isNotEmpty(dictDetailDtos)) { + List dtos = dictDetailDtos + .stream() + .filter(dictDetailDto -> !dictDetailDto.getValue().equals("0")) + .filter(dictDetailDto -> !dictDetailDto.getValue().equals("-1")) + .collect(Collectors.toList()); + dtos.forEach(dictDetailDto -> map.put(Integer.parseInt(dictDetailDto.getValue()), dictDetailDto.getLabel())); + } + return map; + } + + + public static void getDict() { + if (ObjectUtil.isEmpty(dictMap)) { + DictDetailService dictDetailService = SpringContextHolder.getBean(DictDetailServiceImpl.class); + DictService dictService = SpringContextHolder.getBean(DictServiceImpl.class); + List dictDtos = dictService.queryAll(); + for (int i = 0; i < dictDtos.size(); i++) { + Dict dictDto = dictDtos.get(i); + dictMap.put(dictDto.getName(), getDict(dictDto.getName(), t -> { + return dictDetailService.getDictByName(t); + })); + } + } + } + + public static List getDict(String name, Function> f) { + return f.apply(name); + } + + public static Map getAgvErrorMsg(Integer ageErrorNum) { + Map agvMap = getDictDetailByName("agv_error_type"); + Integer[] keys = agvMap.keySet().toArray(new Integer[0]); + String message = ""; + String code = ""; + out: + for (int i = 1; i < 1 << keys.length; i++) { + int sum = 0; + StringBuffer sb = new StringBuffer(); + StringBuffer sbCode = new StringBuffer(); + inner: + for (int j = 0; j < keys.length; j++) { + if ((i & 1 << j) != 0) { + sum += keys[j]; + sb.append(agvMap.get(keys[j])).append(","); + sbCode.append(keys[j]).append(","); + } + } + if (sum == ageErrorNum) { + code = sbCode.toString(); + message = sb.toString(); + break out; + } + } + Map map = new HashMap<>(); + String info = replace(message); + code = replace(code); + map.put("code", StrUtil.isEmpty(code) ? "-1" : code); + map.put("info", StrUtil.isEmpty(info) ? "AGV上报报警代码有误" : info); + return map; + } + + public static String replace(String message) { + if (StrUtil.isEmpty(message)) { + return null; + } + if (message.endsWith(",")) { + return message.substring(0, message.length() - 1); + } + return message; + } + +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java index 4a1586d..537dbed 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java @@ -28,6 +28,20 @@ public class OneAgvPhase implements IAgv{ return "到达位置点"; } else if (phase == 0x65){ return "称重就绪"; + }else if (phase == 0x50){ + return "请求开门"; + } else if (phase == 0x51){ + return "请求关门"; + } else if (phase == 0x70){ + return "上报X坐标"; + } else if (phase == 0x71){ + return "上报Y坐标"; + } else if (phase == 0x72){ + return "上报角度"; + } else if (phase == 0x73){ + return "上报电量"; + } else if (phase == 0x74){ + return "上报状态"; } return null; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java index 8031e89..657a559 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java @@ -21,6 +21,7 @@ public class ItemProtocol { public static String DO0 = "DO0"; public static String DO1 = "DO1"; public static String DO2 = "DO2"; + public static String DO8 = "DO8"; public static String x = "x"; public static String y = "y"; public static String angle = "angle"; @@ -53,6 +54,7 @@ public class ItemProtocol { public static String to_pause_navigation = "to_pause_navigation"; public static String to_continue_navigation = "to_continue_navigation"; public static String to_cancle_navigation = "to_cancle_navigation"; + public static String to_reclaim_control = "to_reclaim_control"; public static String to_DO0_height = "to_DO0_height"; public static String to_DO0_low = "to_DO0_low"; public static String to_DO1_height = "to_DO1_height"; @@ -124,6 +126,11 @@ public class ItemProtocol { } + public int getDO8() { + return this.getOpcIntegerValue(DO8); + + } + public Float getX() { return this.getOpcFloatValue(x); @@ -219,6 +226,11 @@ public class ItemProtocol { ItemProtocol.to_cancle_navigation = to_cancle_navigation; } + public static void setTo_reclaim_control(String to_reclaim_control) { + ItemProtocol.to_reclaim_control = to_reclaim_control; + } + + public static void setTo_DO0_height(String to_DO0_height) { ItemProtocol.to_DO0_height = to_DO0_height; } @@ -313,6 +325,7 @@ public class ItemProtocol { list.add(new ItemDto(DI4, "DI4", "10024")); list.add(new ItemDto(DO1, "DO1", "10061")); list.add(new ItemDto(DO2, "DO2", "10062")); + list.add(new ItemDto(DO8, "DO8", "10068")); list.add(new ItemDto(DI11, "DI11", "10031")); list.add(new ItemDto(DI12, "DI12", "10032")); list.add(new ItemDto(x, "x", "30001")); @@ -344,6 +357,7 @@ public class ItemProtocol { list.add(new ItemDto(to_pause_navigation, "to_暂停导航", "00004")); list.add(new ItemDto(to_continue_navigation, "to_继续导航", "00005")); list.add(new ItemDto(to_cancle_navigation, "to_取消导航", "00006")); + list.add(new ItemDto(to_reclaim_control, "to_回收控制权", "00010")); list.add(new ItemDto(to_DO0_height, "to_DO0置为高电平", "00061")); list.add(new ItemDto(to_DO0_low, "to_DO0置为低电平", "00020")); list.add(new ItemDto(to_DO1_height, "to_DO1置为高电平", "00062")); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java index f0617c1..b91cd9b 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java @@ -22,6 +22,7 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; +import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.logging.DeviceCodeDir; import org.nl.modules.lucence.service.LuceneExecuteLogService; import org.nl.modules.lucence.service.dto.LuceneLogDto; @@ -30,10 +31,7 @@ import org.openscada.opc.lib.da.Server; import org.springframework.beans.factory.annotation.Autowired; import java.io.IOException; -import java.util.Date; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; /** @@ -74,6 +72,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device int DO0 = 0; int DO1 = 0; int DO2 = 0; + int DO8 = 0; Float x = 0f; Float y = 0f; Float angle = 0f; @@ -103,6 +102,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device int last_DO0 = 0; int last_DO1 = 0; int last_DO2 = 0; + int last_DO8 = 0; Float last_x = 0f; Float last_y = 0f; Float last_angle = 0f; @@ -133,7 +133,12 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device //休息点 int relax_point = 0; //充电点 - int charge_point =0; + int charge_point = 0; + //0.关机 1.有任务 2.空闲 3.充电 + int flag = 0; + //任务号 + String order = ""; + @Override public Device getDevice() { return this.device; @@ -154,6 +159,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device DO0 = this.itemProtocol.getDO0(); DO1 = this.itemProtocol.getDO1(); DO2 = this.itemProtocol.getDO2(); + DO8 = this.itemProtocol.getDO8(); x = this.itemProtocol.getX(); y = this.itemProtocol.getY(); navigation_address = this.itemProtocol.getNavigation_address(); @@ -170,6 +176,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device cancle_navigation = this.itemProtocol.getCancle_navigation(); drum_run_status = this.itemProtocol.getDrum_run_status(); stop = this.itemProtocol.getStop(); + angle = this.itemProtocol.getAngle(); if (home_relocation != last_home_relocation) { // LuceneLogDto logDto = LuceneLogDto.builder() @@ -178,7 +185,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device // .build(); // luceneExecuteLogService.deviceExecuteLog(logDto); luceneExecuteLogService.deviceExecuteLog( - new LuceneLogDto(this.getDevice().getOpc_server_code(),this.getDevice().getOpc_plc_code(),this.device_code,ItemProtocol.to_home_relocation,this.last_home_relocation,this.home_relocation)); + new LuceneLogDto(this.getDevice().getOpc_server_code(), this.getDevice().getOpc_plc_code(), this.device_code, ItemProtocol.to_home_relocation, this.last_home_relocation, this.home_relocation)); } if (stop != last_stop) { @@ -192,7 +199,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device if (address != last_address) { LuceneLogDto logDto = LuceneLogDto.builder() .device_code(device_code) - .content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + this.last_address + "->" + this.address) + .content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + this.last_address + "->" + this.address) .build(); luceneExecuteLogService.deviceExecuteLog(logDto); } @@ -200,7 +207,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device if (electricity != last_electricity) { LuceneLogDto logDto = LuceneLogDto.builder() .device_code(device_code) - .content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + this.last_electricity + "->" + this.electricity) + .content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + this.last_electricity + "->" + this.electricity) .build(); luceneExecuteLogService.deviceExecuteLog(logDto); } @@ -238,83 +245,114 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device Device charge_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("charge_point")); charge_point = Integer.parseInt(charge_point_device.getAddress()); List instList = instructionService.findAllInstFromCache(); - - if (instList.size() > 0) { + if (ObjectUtil.isNotEmpty(instList)) { for (int i = 0; i < instList.size(); i++) { + instList = this.sortTask(instList); inst = instList.get(i); - if (ObjectUtil.equal(inst.getInstruction_type(), "1")) { + if (!ObjectUtil.equal(inst.getInstruction_type(), "1")) { + inst = null; continue; } - } - if (ObjectUtil.isEmpty(inst)) { - message = "未找到对应指令"; - return; + if (ObjectUtil.isNotEmpty(inst)) break; } } //先判断当前有无指令 if (ObjectUtil.isEmpty(inst)) { + this.flag = 2; if (electricity != 0 && electricity < min_electric && address != charge_point && (navigation_status == 0 || navigation_status == 4)) { log.info("下发充电:{}", charge_point); - feedAgvTaskStatus(inst, "5"); + feedAgvTaskStatus(inst, "7"); } if (electricity != 0 && electricity > cancle_electric && address == charge_point && (navigation_status == 0 || navigation_status == 4)) { log.info("下发回休息点:{}", relax_point); - + writing("to_address", 1); } } else { + order = inst.getTask_code(); TaskDto task = taskserver.findByCodeFromCache(inst.getTask_code()); Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code()); Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code()); int start_device_code = Integer.parseInt(start_device.getAddress()); int next_device_code = Integer.parseInt(next_device.getAddress()); - StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; //指令状态就绪 if (StrUtil.equals("0", inst.getInstruction_status())) { + this.flag = 1; log.info("下发指令号{}，起点{}", inst.getInstruction_code(), start_device); //判断指令起点与任务起点是否相同 + String start_addr = start_device.getExtraValue().get("address").toString(); + String next_addr = next_device.getExtraValue().get("address").toString(); + String line_code = start_addr + next_addr; + int to_line_code = Integer.parseInt(line_code); + inst.setInstruction_status("1"); + if ("A4".equals(inst.getStart_device_code())) { + inst.setExecute_status("1"); + } else { + inst.setExecute_status("3"); + } + instructionService.update(inst); + writing("to_locate_correct", 1); + writing("to_reclaim_control", 1); + writing("to_line", to_line_code); + } + //判断起点终点是否配置电气值 + Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code()); + Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code()); + if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) { + throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！"); + } + if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) { + throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！"); + } + String start_addr = startDevice.getExtraValue().get("address").toString(); + String next_addr = nextDevice.getExtraValue().get("address").toString(); + + //申请取货 + if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "1")) { + //请求wms是否允许取货 feedAgvTaskStatus(inst, "1"); } + //取货完成请求离开 - if (StrUtil.equals("1", inst.getInstruction_status()) && address == 5 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) { - //请求wms是否允许从取货点离开 - feedAgvTaskStatus(inst, "2"); - } +// if (StrUtil.equals("1", inst.getInstruction_status()) && start_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "1")) { +// //请求wms是否允许从取货点离开 +// feedAgvTaskStatus(inst, "2"); +// } //请求放货 - if (StrUtil.equals("1", inst.getInstruction_status()) && address == 2 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) { + if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "3")) { //请求wms是否允许进入放货 feedAgvTaskStatus(inst, "3"); } //放货完成 完成任务回休息点 - if (StrUtil.equals("1", inst.getInstruction_status()) && address == 1 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) { - feedAgvTaskStatus(inst, "4"); - } +// if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "3")) { +// feedAgvTaskStatus(inst, "4"); +// } } //请求开门 - if ( (address == 3 || address == 11 ) && stop == 1 ) { + if ((address == 6 || address == 2) && stop == 1 && DO8 == 1) { feedAgvAction("5"); } //请求关门 - if ( (address == 9 || address == 10 ) && stop == 1 ) { + if ((address == 6 || address == 2) && stop == 1 && DO8 == 0) { feedAgvAction("6"); } - //请求充电 - if ( address == 4 && stop == 1 ) { - feedAgvAction( "7"); - } + last_home_relocation = home_relocation; last_address = address; last_next_address = next_address; last_electricity = electricity; last_stop = stop; + last_angle = angle; + last_x = x; + last_y = y; } @@ -327,7 +365,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device itemMap.put(to_command, value); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("下发信号"+ this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + key + "value:"+ value ) + .content("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + key + "value:" + value) .build(); ReadUtil.write(itemMap, server); @@ -354,6 +392,23 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device } + public List sortTask(List instructions) { + Collections.sort(instructions, new Comparator() { + @Override + public int compare(Instruction t1, Instruction t2) { + //优先级从大到小 + int i = t2.getPriority().compareTo(t1.getPriority()); + //如果优先级相等 + if (i == 0) { + //时间从早到晚 + i = t1.getCreate_time().compareTo(t2.getCreate_time()); + } + return i; + } + }); + return instructions; + } + /** * 反馈wms动作状态 * @@ -369,43 +424,38 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device //请求WMS允许取货 if (StrUtil.equals(type, "1")) { - Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code()); - Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code()); - int start_device_code = Integer.parseInt(start_device.getAddress()); - int next_device_code = Integer.parseInt(next_device.getAddress()); JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("vehicle_code", inst.getVehicle_code()); - jo.put("status", "1"); - jo.put("device_code", this.device_code); + jo.put("status", "4"); + jo.put("device_code", inst.getNext_device_code()); jo.put("task_code", inst.getTask_code()); ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); luceneExecuteLogService.deviceExecuteLog(resplogDto); - if (resp.getStatus() ==200) { - + if (resp.getStatus() == 200) { inst.setInstruction_status("1"); - inst.setExecute_status("1"); + inst.setExecute_status("2"); instructionService.update(inst); - writing("to_line", 1); - + //结束任务 + finish_instruction(inst); } else { - writing("to_line", 1); + } //取货完成请求离开 @@ -423,21 +473,21 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); luceneExecuteLogService.deviceExecuteLog(resplogDto); - if (resp.getStatus() ==200) { + if (resp.getStatus() == 200) { inst.setInstruction_status("1"); inst.setExecute_status("2"); @@ -446,7 +496,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device } //请求放货 - } else if (StrUtil.equals(type, "3")) { + } else if (StrUtil.equals(type, "3")) { Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code()); Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code()); int start_device_code = Integer.parseInt(start_device.getAddress()); @@ -454,38 +504,45 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("vehicle_code", inst.getVehicle_code()); - jo.put("status", "3"); - jo.put("device_code", this.device_code); + jo.put("status", "4"); + jo.put("device_code", inst.getNext_device_code()); jo.put("task_code", inst.getTask_code()); ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); luceneExecuteLogService.deviceExecuteLog(resplogDto); - if (resp.getStatus() ==200) { + if (resp.getStatus() == 200) { +// inst.setInstruction_status("1"); +// inst.setExecute_status("4"); +// instructionService.update(inst); inst.setInstruction_status("1"); - inst.setExecute_status("3"); + inst.setExecute_status("4"); instructionService.update(inst); + //结束任务 + finish_instruction(inst); } else { } } else if (StrUtil.equals(type, "4")) { Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code()); Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code()); - int start_device_code = Integer.parseInt(start_device.getAddress()); - int next_device_code = Integer.parseInt(next_device.getAddress()); + String start_addr = start_device.getExtraValue().get("address").toString(); + String next_addr = next_device.getExtraValue().get("address").toString(); + String line_code = next_addr + start_addr; + int to_line_code = Integer.parseInt(line_code); JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("vehicle_code", inst.getVehicle_code()); @@ -495,22 +552,23 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); luceneExecuteLogService.deviceExecuteLog(resplogDto); - if (resp.getStatus() ==200) { - writing("to_line", 2); + if (resp.getStatus() == 200) { + writing("to_locate_correct", 1); + writing("to_line", to_line_code); inst.setInstruction_status("2"); inst.setExecute_status("4"); instructionService.finish(inst); @@ -525,27 +583,26 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); luceneExecuteLogService.deviceExecuteLog(resplogDto); if (resp.getStatus() == 200) { - writing("to_di_low", 0); - writing("to_di_height", 0); + } else { } - } else if (StrUtil.equals(type, "6")) { + } else if (StrUtil.equals(type, "6")) { JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("status", "6"); @@ -558,15 +615,18 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device } else { } - } else if (StrUtil.equals(type, "7")) { + } else if (StrUtil.equals(type, "7")) { JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("status", "7"); - jo.put("device_code", this.device_code); + jo.put("device_code", "CP5"); + jo.put("vehicle_code", ""); + jo.put("task_code", ""); ja.add(jo); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); if (resp.getStatus() == 200) { - writing("to_di_low", 0); + writing("to_address", 5); + this.flag = 3; } else { } @@ -575,6 +635,11 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device return true; } + public synchronized boolean finish_instruction(Instruction inst) throws Exception { + instructionService.finish(inst); + return true; + } + public boolean feedAgvAction(String type) throws Exception { Date date = new Date(); if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) { @@ -585,55 +650,58 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("status", "5"); - jo.put("device_code", "A4"); + jo.put("device_code", "AD4"); + jo.put("vehicle_code", ""); + jo.put("task_code", ""); ja.add(jo); LuceneLogDto reqlogDto = LuceneLogDto.builder() .device_code(device_code) - .content("请求参数:"+jo) - .requestparam("请求参数:"+jo) + .content("请求参数:" + jo) + .requestparam("请求参数:" + jo) .method("feedAgvTaskStatus") .build(); luceneExecuteLogService.deviceExecuteLog(reqlogDto); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); LuceneLogDto resplogDto = LuceneLogDto.builder() .device_code(device_code) - .content("返回参数:"+resp.body()) - .responseparam("返回参数:"+resp.body()) + .content("返回参数:" + resp.body()) + .responseparam("返回参数:" + resp.body()) .method("feedAgvTaskStatus") .status_code(String.valueOf(resp.getStatus())) .build(); - luceneExecuteLogService.deviceExecuteLog(resplogDto); if (resp.getStatus() == 200) { - writing("to_di_low", 0); + luceneExecuteLogService.deviceExecuteLog(resplogDto); + if (resp.getStatus() == 200) { writing("to_di_height", 0); } else { - writing("to_di_low", 0); - writing("to_di_height", 0); + } - } else if (StrUtil.equals(type, "6")) { + } else if (StrUtil.equals(type, "6")) { JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("status", "6"); - jo.put("device_code", "A4"); + jo.put("device_code", "AD4"); + jo.put("vehicle_code", ""); + jo.put("task_code", ""); ja.add(jo); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); if (resp.getStatus() == 200) { - writing("to_di_height", 0); writing("to_di_low", 0); } else { - writing("to_di_height", 0); - writing("to_di_low", 0); + } - } else if (StrUtil.equals(type, "7")) { + } else if (StrUtil.equals(type, "7")) { JSONArray ja = new JSONArray(); JSONObject jo = new JSONObject(); jo.put("status", "7"); jo.put("device_code", "A4"); + jo.put("vehicle_code", ""); + jo.put("task_code", ""); ja.add(jo); HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja); if (resp.getStatus() == 200) { writing("to_di_height", 0); } else { - writing("to_di_height", 0); + } } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java index 57875fb..674d54c 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java @@ -112,4 +112,6 @@ public interface AcsToWmsService { * @return */ HttpResponse feedAgvTaskStatus(JSONArray from); + + void sendDeviceStatus(JSONObject param); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java index 3aa5a9c..ce86cfe 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java @@ -22,6 +22,7 @@ import org.nl.acs.task.service.dto.TaskDto; import org.nl.modules.system.service.ParamService; import org.slf4j.MDC; import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; @Service @@ -552,4 +553,28 @@ public class AcsToWmsServiceImpl implements AcsToWmsService { } return result; } + + @Override + public void sendDeviceStatus(JSONObject param) { + try { + MDC.put(log_file_type, log_type); + + if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); + AddressDto addressDto = addressService.findByCode("sendDeviceStatus"); + String methods_url = addressDto.getMethods_url(); + String url = wmsUrl + methods_url; + log.info("sendDeviceStatus - 请求参数 {}", param); + HttpResponse response = HttpRequest + .post(url) + .body(param.toString()) + .execute(); + log.info("sendDeviceStatus - 返回参数 {}", response.body()); + } + } catch (Throwable ignored) { + + } finally { + MDC.remove(log_file_type); + } + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 40939d2..f5587ef 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -182,7 +182,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Override public Map getByTaskId(String id) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject jsonObject = wo.query("task_id='" + id + "'").pageResult(); + JSONObject jsonObject = wo.query("task_id='" + id + "'","create_time desc").pageResult(); JSONArray content = jsonObject.getJSONArray("content"); JSONArray array = new JSONArray(); for (int i = 0; i < content.size(); i++) { @@ -222,7 +222,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Override public Instruction findById(String instruction_id) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject json = wo.query("instruction_id ='" + instruction_id + "'").uniqueResult(0); + JSONObject json = wo.query("instruction_id ='" + instruction_id + "'","create_time desc").uniqueResult(0); if (ObjectUtil.isNotEmpty(json)) { final Instruction obj = json.toJavaObject(Instruction.class); return obj; @@ -233,7 +233,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Override public Instruction findByCode(String code) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0); + JSONObject json = wo.query("instruction_code ='" + code + "'","create_time desc").uniqueResult(0); if (ObjectUtil.isEmpty(json)) { return null; } @@ -244,7 +244,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Override public Instruction findByTaskcode(String code) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0); + JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0); final Instruction obj = json.toJavaObject(Instruction.class); return obj; } @@ -268,7 +268,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu wherecaluse = " and " + wherecaluse; } WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject json = wo.query("task_id ='" + id + "'" + wherecaluse).uniqueResult(0); + JSONObject json = wo.query("task_id ='" + id + "'" + wherecaluse,"create_time desc").uniqueResult(0); if (ObjectUtil.isNotEmpty(json)) { return json.toJavaObject(Instruction.class); } @@ -363,7 +363,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu if (ObjectUtil.isEmpty(route)) { throw new BadRequestException("未查询到相关路由！"); } - if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) { + if (StrUtil.equals(shortPathsList.get(0).getType(), "2")) { NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); } @@ -518,7 +518,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu + "'" + " and task_id = '" + dto.getTask_id() - + "'") + + "'","create_time desc") .uniqueResult(0); if (instcheckjson != null) { throw new Exception(dto.getTask_code() + ":该任务已存在待完成指令!"); @@ -702,7 +702,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu JSONObject json = (JSONObject) JSONObject.toJSON(entity); wo.update(json); - JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'").uniqueResult(0); + JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'","create_time desc").uniqueResult(0); TaskDto obj = taskjson.toJavaObject(TaskDto.class); // =0 则不用再次请求 if (StrUtil.equals(obj.getRequest_again(), "0")) { @@ -780,7 +780,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu dto = foramte(dto); String device_code = dto.getNext_device_code(); WQLObject taskwo = WQLObject.getWQLObject("acs_task"); - JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'").uniqueResult(0); + JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'","create_time desc").uniqueResult(0); TaskDto acsTask = taskjson.toJavaObject(TaskDto.class); RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class); List list = diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java index 9c88337..1a16227 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java @@ -264,13 +264,13 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn @Override public List findDeviceByType(DeviceType deviceType) { List list = this.findDevice(deviceType); - Map map = new HashMap(); - Iterator var4 = list.iterator(); - - while (var4.hasNext()) { - Device device = (Device) var4.next(); - list.add(device); - } +// Map map = new HashMap(); +// Iterator var4 = list.iterator(); +// +// while (var4.hasNext()) { +// Device device = (Device) var4.next(); +// list.add(device); +// } return list; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java index ac5ade6..1aa7374 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java @@ -4,31 +4,36 @@ import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.udw.UnifiedDataAccessor; import org.nl.acs.udw.UnifiedDataAccessorFactory; +import org.nl.acs.udw.UnifiedDataAppService; import org.nl.modules.wql.util.SpringContextHolder; -import org.openscada.opc.lib.da.Group; -import org.openscada.opc.lib.da.Item; -import org.openscada.opc.lib.da.ItemState; -import org.openscada.opc.lib.da.Server; +import org.openscada.opc.lib.da.*; import java.util.*; -@Slf4j -public class DeviceOpcProtocolRunable implements Runnable { - OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class); - +@Slf4j +public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerConnectionStateListener { List protocols; OpcServerManageDto OpcServer; int error_num; String message; + int maxResartNum; + private Server server; + private Group group; + boolean flag = false; + private int all_null; + private Map itemSearchCache; - Group group; public DeviceOpcProtocolRunable() { this.error_num = 0; + this.all_null = 0; this.message = null; + this.itemSearchCache = new HashMap(); + this.server = null; } public List getProtocols() { @@ -47,32 +52,60 @@ public class DeviceOpcProtocolRunable implements Runnable { this.OpcServer = opcServer; } - OpcItemDto getItem(String item) { - Iterator var2 = this.protocols.iterator(); - OpcItemDto dto; - do { - if (!var2.hasNext()) { - return null; - } + private OpcItemDto getItem(String item) { + OpcItemDto x = (OpcItemDto) this.itemSearchCache.get(item); + if (x == null) { + Iterator var3 = this.protocols.iterator(); - dto = (OpcItemDto) var2.next(); - } while (!StrUtil.equals(item, dto.getItem_code())); + while (var3.hasNext()) { + OpcItemDto dto = (OpcItemDto) var3.next(); + if (StrUtil.equals(item, dto.getItem_code())) { + x = dto; + this.itemSearchCache.put(item, dto); + break; + } + } + } - return dto; + return x; } + @Override public void run() { + if (OpcConfig.opc_item_read_using_callback) { + this.runNew(); + } else { + this.runOld(); + } + } + + + private void runOld() { + OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerService .class); while (true) { + start: try { - group= opcServerService.getServer(this.OpcServer.getOpc_code()); + if (this.group != null) { + group.clear(); + group.remove(); + log.trace("清理group..."); + } + if (this.server != null) { + server.disconnect(); + log.trace("清理server..."); + } +// group =opcServerService.getServer(this.getOpcServer().getOpc_code()); + this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain()); + this.server.addStateListener(this); + group = this.server.addGroup(); List itemsString = new ArrayList(); - Iterator it = this.protocols.iterator(); + Iterator var3 = this.protocols.iterator(); - while (it.hasNext()) { - OpcItemDto protocol = (OpcItemDto) it.next(); + while (var3.hasNext()) { + OpcItemDto protocol = (OpcItemDto) var3.next(); String item = protocol.getItem_code(); itemsString.add(item); } @@ -80,66 +113,60 @@ public class DeviceOpcProtocolRunable implements Runnable { Map itemsMap = new LinkedHashMap(); boolean is_error = false; StringBuilder err_message = new StringBuilder(); - Iterator var7 = itemsString.iterator(); + Iterator var6 = itemsString.iterator(); - while (var7.hasNext()) { - String string = (String) var7.next(); + while (var6.hasNext()) { + String string = (String) var6.next(); try { - itemsMap.put(string, group.addItem(string)); + Item item = group.addItem(string); + itemsMap.put(string, item); log.trace("添加成功 {}", string); - } catch (Exception var29) { - err_message.append(string + ":" + var29.getMessage()); + } catch (Exception var26) { + err_message.append(string + ":" + var26.getMessage()); if (!is_error) { is_error = true; } } } + String tag; if (is_error) { - log.info("设备OPC数据同步配置异常," + err_message); + tag = err_message.toString(); + log.warn("{}:{}", OpcConfig.resource_code, tag); } if (!OpcStartTag.is_run) { OpcStartTag.is_run = true; } - // 线程名 - String tag = Thread.currentThread().getName(); - if (this.OpcServer != null) { - tag = tag + this.OpcServer.getOpc_code(); + tag = ""; + if (log.isWarnEnabled()) { + tag = Thread.currentThread().getName(); + if (this.OpcServer != null) { + tag = tag + this.getOpcGroupID(); + } } - UnifiedDataAccessor accessor_value = - UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); + UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); boolean time_out = false; - label97: - while (true) { - // System.out.println("label97"); + while (DeviceOpcSynchronizeAutoRun.isRun) { long begin = System.currentTimeMillis(); - Map itemStatus =null; - - try{ - itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0])); - }catch (Exception e){ - try{ - itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0])); - }catch (Exception e2){ - itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0])); - } - } - - - //TODO 读完释放server可行否? + if (log.isTraceEnabled()) { + log.trace("{} 开始记时{}", tag, DateUtil.now()); + } + Map itemStatus = group.read(true, (Item[]) itemsMap.values().toArray(new Item[0])); long end = System.currentTimeMillis(); - log.trace("{} 开始记时{}", tag, DateUtil.now()); long duration = end - begin; - log.trace("{} 读取耗时：{}", tag, duration); + if (log.isTraceEnabled()) { + log.trace("{} 读取耗时：{}", tag, duration); + } + if (duration > 1000L) { if (!time_out) { - log.warn(" {} 读取超时 : {} ", tag, duration); + log.warn("{} 读取超时 : {}", tag, duration); } time_out = true; @@ -147,89 +174,265 @@ public class DeviceOpcProtocolRunable implements Runnable { time_out = false; } - // A1_HK_04.A1_HK_04.A1_HK_04_3.door 列表 + boolean valueAllNotNull = false; Set items = itemStatus.keySet(); Iterator var18 = items.iterator(); - while (true) { - Item item; - // A1_HK_04.A1_HK_04.A1_HK_04_3.door - // 当前值 - Object value; - // 旧的值 - Object his; - do { - if (!var18.hasNext()) { - end = System.currentTimeMillis(); - log.trace("{}", itemsString); - log.trace("{} 计算完成耗时{}", tag, end - begin); - Thread.sleep((long) OpcConfig.synchronized_millisecond); - if (this.error_num != 0) { - this.error_num = 0; - this.message = null; - } - // 所有信号读完并且没有变化的值 - continue label97; - } + while (var18.hasNext()) { + Item item = (Item) var18.next(); + ItemState itemState = (ItemState) itemStatus.get(item); + Object value = OpcUtl.getValue(item, itemState); + if (value != null) { + valueAllNotNull = true; + } + + String itemId = item.getId(); + Object his = accessor_value.getValue(itemId); + if (!ObjectUtl.isEquals(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD) && his != null) { + log.warn("opc 值不健康 item: {}, 状态: {}", itemId, itemState.getQuality()); + valueAllNotNull = false; + } - item = (Item) var18.next(); - ItemState itemState = itemStatus.get(item); - value = OpcUtl.getValue(item, itemState); - his = accessor_value.getValue(item.getId()); - if (!ObjectUtil.equal(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD) - && his != null) { - log.warn("opc 值不健康 item: {}, 状态: {}", item.getId(), itemState.getQuality()); + if (!UnifiedDataAppService.isEquals(value, his)) { + OpcItemDto itemDto = this.getItem(itemId); + if (true) { + this.logItemChanged(itemId, accessor_value, value, itemDto); + } + if(!ObjectUtil.isEmpty(value)){ + accessor_value.setValue(itemId, value); } - } while (ObjectUtil.equal(value, his)); // 如果两次的值相等，不走下面的代码 - - OpcItemDto itemDto = this.getItem(item.getId()); - if (itemDto.getNeed_log() != null && itemDto.getNeed_log()) { - StringBuilder sb = new StringBuilder(); - // 设备的ITEM项 - List relate_items = itemDto.getRelate_items(); - Iterator var26 = relate_items.iterator(); - - while (var26.hasNext()) { - String relate = (String) var26.next(); - Object obj = accessor_value.getValue(relate); - sb.append("key:" + relate + "value:" + obj + ";"); + } + } + + end = System.currentTimeMillis(); + if (log.isTraceEnabled()) { + log.trace("{}", itemsString); + log.trace("{} 计算完成耗时{}", tag, end - begin); + } + + ThreadUtl.sleep((long) OpcConfig.synchronized_millisecond); + if (this.error_num != 0) { + this.error_num = 0; + this.message = null; + } + + if (!valueAllNotNull) { + int random = (new Random()).nextInt(10) + 1; + random *= 1000; + if (this.all_null < 3) { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3); } - log.info("信号{}变更从{}->{};信号快照：{}", new Object[] {item.getId(), his, value, sb}); + ThreadUtl.sleep( 3000); + break start; + } else if (this.all_null < 6) { + if (log.isWarnEnabled()) { + log.warn(tag + "重新创建server"); + log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3); + } + ThreadUtl.sleep(3000); + break start; + } else if (this.all_null < 12) { + if (log.isWarnEnabled()) { + log.warn(tag + "重新创建server"); + log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3); + } + ThreadUtl.sleep(3000); + break start; + } else { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空, all_null:{} ,暂定{}ms", tag, all_null, 5000); + } + ThreadUtl.sleep((long) (5000)); } - // 设置值 - accessor_value.setValue(item.getId(), value); + + ++this.all_null; + } else { + this.all_null = 0; } +// break start; + } - } catch (Exception var30) { - if (group != null) { + log.warn("opc线程停止。。。"); + return; + } catch (Exception var27) { + if (this.server != null) { try { - group.getServer().dispose(); - group.clear(); - group.remove(); - } catch (Exception var6) { + this.server.disconnect(); + } catch (Exception var25) { } - this.group = null; } + this.server = null; + if (!DeviceOpcSynchronizeAutoRun.isRun) { + log.warn("opc线程停止2。。。"); + return; + } String error_message = "设备信息同步异常"; if (!StrUtil.equals(this.message, error_message)) { - log.warn("", var30); + log.warn(error_message, var27); } - try { - Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); - } catch (InterruptedException e) { - e.printStackTrace(); + ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); + ++this.error_num; + if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) { + this.message = error_message; } + } + } + } + + + private void runNew() { + Async20Access accessor = null; + + while (true) { + String opcGroupId = this.getOpcGroupID(); + + try { + if (this.server == null) { + this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain()); + this.server.addStateListener(this); + accessor = new Async20Access(this.server, OpcConfig.synchronized_millisecond, true); + Iterator var9 = this.protocols.iterator(); + + while (var9.hasNext()) { + OpcItemDto protocol = (OpcItemDto) var9.next(); + String itemId = protocol.getItem_code(); + accessor.addItem(itemId, this); + } + + accessor.bind(); + log.info("Async20Access bind {}", opcGroupId); + } + + Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); + } catch (Exception var8) { + if (accessor != null) { + try { + log.warn("Async20Access unbind {}", opcGroupId); + accessor.unbind(); + } catch (Exception var7) { + var7.printStackTrace(); + } + + accessor = null; + } + + if (this.server != null) { + try { + this.server.disconnect(); + } catch (Exception var6) { + } + + this.server = null; + } + + if (var8 instanceof InterruptedException) { + log.warn("OPC 同步线程(%s)被中断", opcGroupId); + return; + } + + log.warn("设备信息同步异常", var8); + ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); + String error_message = var8.getMessage(); + if (error_message == null) { + error_message = var8.toString(); + } + ++this.error_num; if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) { - log.info("设备同步通信异常"); this.message = error_message; } } } } + + + public void connectionStateChanged(boolean connected) { + if (!connected) { + this.server = null; + } + + log.warn("opc server {} {}", this.getOpcGroupID(), connected ? "connected" : "disconnected"); + } + + private String getOpcGroupID() { + String var10000 = this.OpcServer.getOpc_code(); + return var10000 + "(" + this.protocols.size() + " items)"; + } + + public static String formatDuring(long mss) { + long days = mss / 86400000L; + long hours = mss % 86400000L / 3600000L; + long minutes = mss % 3600000L / 60000L; + long seconds = mss % 60000L / 1000L; + return days + " days " + hours + " hours " + minutes + " minutes " + seconds + " seconds "; + } + + + public void changed(Item item, ItemState itemState) { + String itemId = item.getId(); + + try { + Object value = OpcUtl.getValue(item, itemState); + UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); + accessor_value.setValue(itemId, value); + +// if (value != null) { +// if (log.isTraceEnabled()) { +// log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()}); +// } +// } else if (log.isInfoEnabled()) { +// log.info("Item {} new value: {}, Timestamp: {}, Quality: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime(), itemState.getQuality()}); +// } + log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()}); + + OpcItemDto itemDto = this.getItem(itemId); +// if (Boolean.TRUE.equals(itemDto.getNeed_log())) { +// this.logItemChanged(itemId, accessor_value, value, itemDto); +// } + this.logItemChanged(itemId, accessor_value, value, itemDto); + + } catch (Exception var7) { + log.error(itemId, var7); + } + + } + + private void logItemChanged(String itemId, UnifiedDataAccessor accessor_value, Object value, OpcItemDto itemDto) { + Object his = accessor_value.getValue(itemId); + List relate_items = itemDto.getRelate_items(); + if (relate_items != null && !relate_items.isEmpty()) { + StringBuilder sb = new StringBuilder(); + Iterator var8 = relate_items.iterator(); + + while (var8.hasNext()) { + String relate = (String) var8.next(); + Object obj = accessor_value.getValue(relate); + sb.append("key:" + relate + "value:" + obj + ";"); + } + log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value, sb}); +// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{};信号快照：{}", new Object[]{itemId, his, value, sb}); + } else { +// if(his instanceof int[]){ +// if(!Arrays.equals((long[]) his, (long[]) value)){ +// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value}); +// } +// } else if(his instanceof String){ +// if(!StrUtil.equals((CharSequence) his, (CharSequence) value)){ +// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value}); +// } +// } else { +// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value}); +// } + + log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value}); +// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{}", new Object[]{itemId, his, value}); + } + } + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/opc/ObjectUtl.java b/acs/nladmin-system/src/main/java/org/nl/acs/opc/ObjectUtl.java new file mode 100644 index 0000000..25e99f6 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/opc/ObjectUtl.java @@ -0,0 +1,79 @@ + +package org.nl.acs.opc; + + +import org.nl.modules.wql.exception.WDKException; + +import java.io.ByteArrayInputStream; +import java.io.ByteArrayOutputStream; +import java.io.ObjectInputStream; +import java.io.ObjectOutputStream; +import java.lang.reflect.InvocationTargetException; +import java.lang.reflect.Method; +import java.util.Arrays; +import java.util.Objects; + +public class ObjectUtl { + private ObjectUtl() { + } + + public static boolean isEquals(Object a, Object b) { + if (a == null && b == null) { + return true; + } else if (a != null && b != null) { + if (a.getClass().isArray()) { + if (a instanceof boolean[]) { + return Arrays.equals((boolean[]) ((boolean[]) a), (boolean[]) ((boolean[]) b)); + } else if (a instanceof byte[]) { + return Arrays.equals((byte[]) ((byte[]) a), (byte[]) ((byte[]) b)); + } else if (a instanceof int[]) { + return Arrays.equals((int[]) ((int[]) a), (int[]) ((int[]) b)); + } else if (a instanceof long[]) { + return Arrays.equals((long[]) ((long[]) a), (long[]) ((long[]) b)); + } else if (a instanceof double[]) { + return Arrays.equals((double[]) ((double[]) a), (double[]) ((double[]) b)); + } else if (a instanceof short[]) { + return Arrays.equals((short[]) ((short[]) a), (short[]) ((short[]) b)); + } else if (a instanceof char[]) { + return Arrays.equals((char[]) ((char[]) a), (char[]) ((char[]) b)); + } else if (a instanceof float[]) { + return Arrays.equals((float[]) ((float[]) a), (float[]) ((float[]) b)); + } else if (a instanceof Object[]) { + return Arrays.equals((Object[]) ((Object[]) a), (Object[]) ((Object[]) b)); + } else { + throw new WDKException("未实现"); + } + } else { + return Objects.equals(a, b); + } + } else { + return false; + } + } + + public static boolean isTrue(Boolean boolean_) { + return boolean_ != null && isEquals(boolean_, true); + } + + public static boolean isTrue(Boolean targetBoolean, boolean defaultBoolean) { + return targetBoolean == null ? defaultBoolean : targetBoolean; + } + + public static boolean isFalse(Boolean boolean_) { + return boolean_ != null && isEquals(boolean_, false); + } + + + + + + public static boolean isObject(Class clazz) { + if (clazz == null) { + return false; + } else if (clazz.getClass().isArray()) { + return false; + } else { + return Object.class.isAssignableFrom(clazz); + } + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index d5710f8..9f15b0d 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -290,7 +290,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { @Override public TaskDto findById(String task_id) { WQLObject wo = WQLObject.getWQLObject("acs_task"); - JSONObject json = wo.query("task_id ='" + task_id + "'").uniqueResult(0); + JSONObject json = wo.query("task_id ='" + task_id + "'","create_time desc").uniqueResult(0); final TaskDto obj = json.toJavaObject(TaskDto.class); return obj; } @@ -306,7 +306,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { @Override public TaskDto findByCode(String code) { WQLObject wo = WQLObject.getWQLObject("acs_task"); - JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0); + JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0); final TaskDto obj = json.toJavaObject(TaskDto.class); return obj; } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java index 76f136c..378bc3d 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java @@ -5,13 +5,19 @@ import com.alibaba.fastjson.JSONObject; import lombok.extern.slf4j.Slf4j; import org.nl.acs.agv.server.AgvService; import org.nl.acs.agv.server.dto.AgvDto; +import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.device_driver.basedriver.agv.xg_agv.XgagvDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceType; import org.nl.modules.mnt.websocket.MsgType; import org.nl.modules.mnt.websocket.SocketMsg; import org.nl.modules.mnt.websocket.WebSocketServer; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; +import java.util.List; import java.util.Map; /** @@ -25,52 +31,97 @@ public class ToAgvDevice { AcsToWmsService acsToWmsService; @Autowired AgvService agvService; + @Autowired + DeviceAppService deviceAppService; public void run() throws Exception { - JSONObject json = new JSONObject(); - Map agv_map = agvService.findAllAgvFromCache(); - JSONArray agv_rows = new JSONArray(); - JSONObject row = new JSONObject(); - for (AgvDto agvDto : agv_map.values()) { - row.put("device_code", agvDto.getName()); - row.put("energyLevel", agvDto.getEnergyLevel()); - if (agvDto.getState().equals("UNKNOWN")) { - row.put("status_name", "有任务"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("UNAVAILABLE")) { - row.put("status_name", "网络异常"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("ERROR")) { - row.put("status_name", "机器错误"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("IDLE")) { - row.put("status_name", "空闲"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("EXECUTING")) { - row.put("status_name", "运行中"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("CHARGING")) { - row.put("status_name", "充电中"); - row.put("flag", "0"); + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + XgagvDeviceDriver xgagvDeviceDriver; + try { + List deviceList = deviceAppService.findDeviceByType(DeviceType.agv); + for(Device device:deviceList) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + JSONObject row = new JSONObject(); + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + row.put("device_code", String.valueOf(device.getDevice_code())); + row.put("energyLevel", String.valueOf(agvNdcOneDeviceDriver.getElectric_qty())); +// 车状态： +// 1：关机 +// 2：运行中 +// 3：交通管制 +// 4：任务等待 +// 5：充电中 +// 6：故障中 +// 7：低电量 + if (agvNdcOneDeviceDriver.getStatus()==1) { + row.put("device_status", "UNKNOWN"); + row.put("status_name", "关机"); + } else if (agvNdcOneDeviceDriver.getStatus()==2) { + row.put("device_status", "EXECUTING"); + row.put("status_name", "有任务"); + } else if (agvNdcOneDeviceDriver.getStatus()==3) { + row.put("device_status", "UNAVAILABLE"); + row.put("status_name", "交通管制"); + } else if (agvNdcOneDeviceDriver.getStatus()==4) { + row.put("device_status", "IDLE"); + row.put("status_name", "空闲"); + } else if (agvNdcOneDeviceDriver.getStatus()==5) { + row.put("device_status", "CHARGING"); + row.put("status_name", "充电"); + } else if (agvNdcOneDeviceDriver.getStatus()==6) { + row.put("device_status", "ERROR"); + row.put("status_name", "故障"); + } else if (agvNdcOneDeviceDriver.getStatus()==7) { + row.put("device_status", "ERROR"); + row.put("status_name", "低电量"); + } + + row.put("transportOrder", String.valueOf(agvNdcOneDeviceDriver.getOrder())); + row.put("positionX", String.valueOf(agvNdcOneDeviceDriver.getX())); + row.put("positionY", String.valueOf(agvNdcOneDeviceDriver.getY())); + row.put("positionAngle", String.valueOf(agvNdcOneDeviceDriver.getAngle())); + agv_rows.add(row); + + }else if (device.getDeviceDriver() instanceof XgagvDeviceDriver){ + JSONObject row = new JSONObject(); + xgagvDeviceDriver = (XgagvDeviceDriver) device.getDeviceDriver(); + row.put("device_code", String.valueOf(device.getDevice_code())); + row.put("energyLevel", String.valueOf(xgagvDeviceDriver.getElectricity())); + // 车状态： +// 1：关机 +// 2：运行中 +// 3：交通管制 +// 4：任务等待 +// 5：充电中 +// 6：故障中 +// 7：低电量 + if (xgagvDeviceDriver.getFlag()==0) { + row.put("device_status", "UNKNOWN"); + row.put("status_name", "关机"); + } else if (xgagvDeviceDriver.getFlag()==1) { + row.put("device_status", "EXECUTING"); + row.put("status_name", "有任务"); + } else if (xgagvDeviceDriver.getFlag()==2) { + row.put("device_status", "IDLE"); + row.put("status_name", "空闲"); + } else if (xgagvDeviceDriver.getFlag()==3) { + row.put("device_status", "CHARGING"); + row.put("status_name", "充电"); + } + row.put("transportOrder", String.valueOf(xgagvDeviceDriver.getOrder())); + row.put("positionX", String.valueOf(xgagvDeviceDriver.getX())); + row.put("positionY", String.valueOf(xgagvDeviceDriver.getY())); + row.put("positionAngle", String.valueOf(xgagvDeviceDriver.getAngle())); + agv_rows.add(row); + } } - row.put("transportOrder", agvDto.getTransportOrder()); - row.put("positionX", agvDto.getPositionX()); - row.put("positionY", agvDto.getPositionY()); - row.put("positionAngle", agvDto.getPositionAngle()); - agv_rows.add(row); - } - json.put("agv_rows", agv_rows); - SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO); - WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data"); - // acsToWmsService.feedbackAgv(row); + }catch (Exception e){ + System.out.println(e.getMessage()); + } + acsToWmsService.feedbackAgv(agv_rows); } } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/system/service/DictService.java b/acs/nladmin-system/src/main/java/org/nl/modules/system/service/DictService.java index 76a0011..3b878e8 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/system/service/DictService.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/system/service/DictService.java @@ -73,4 +73,6 @@ public interface DictService { * @throws IOException / */ void download(List queryAll, HttpServletResponse response) throws IOException; -} \ No newline at end of file + + List queryAll(); +} diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/system/service/impl/DictServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/modules/system/service/impl/DictServiceImpl.java index 4b938b4..dda1783 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/system/service/impl/DictServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/system/service/impl/DictServiceImpl.java @@ -119,4 +119,9 @@ public class DictServiceImpl implements DictService { public void delCaches(Dict dict){ redisUtils.del("dict::name:" + dict.getName()); } + + @Override + public List queryAll() { + return dictRepository.findAll(); + } }