From 9c44559e67b069a8d60630a455a076b9d10a50f3 Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Tue, 9 Jan 2024 17:24:43 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../agv/server/impl/MagicAgvServiceImpl.java | 10 +- .../agv/server/impl/NDCAgvServiceImpl.java | 7 +- .../server/impl/XianGongAgvServiceImpl.java | 15 ++- .../agv/server/impl/ZheDaAgvServiceImpl.java | 4 +- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 120 +++++++++++++++++- .../wms/service/impl/AcsToWmsServiceImpl.java | 1 - .../service/impl/InstructionServiceImpl.java | 5 +- .../service/impl/TaskFeedbackServiceImpl.java | 4 +- .../task/service/impl/TaskServiceImpl.java | 17 ++- 9 files changed, 167 insertions(+), 16 deletions(-) diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java index d074229..63d52be 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java @@ -27,6 +27,7 @@ import org.nl.acs.opc.DeviceType; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.service.ParamService; import org.nl.modules.wql.util.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.Arrays; @@ -38,9 +39,12 @@ import java.util.Map; @Service @RequiredArgsConstructor public class MagicAgvServiceImpl implements MagicAgvService { - private final DeviceAppService deviceAppService; - private final ParamService paramService; - private final AcsToWmsService acsToWmsService; + @Autowired + DeviceAppService deviceAppService; + @Autowired + ParamService paramService; + @Autowired + AcsToWmsService acsToWmsService; Map AGVDeviceStatus = new HashMap(); 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 09eb276..545c930 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 @@ -19,6 +19,7 @@ import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.modules.system.service.ParamService; import org.nl.modules.system.util.CodeUtil; import org.nl.modules.wql.util.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.HashMap; @@ -29,8 +30,10 @@ import java.util.Map; @RequiredArgsConstructor public class NDCAgvServiceImpl implements NDCAgvService { - private final DeviceAppService deviceAppService; - private final ParamService paramService; + @Autowired + DeviceAppService deviceAppService; + @Autowired + ParamService paramService; private final AcsToWmsService acsToWmsService; private final DeviceExecuteLogService logServer; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index b4832e6..4d87c74 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -21,6 +21,8 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceType; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.service.ParamService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import java.util.Arrays; @@ -32,9 +34,16 @@ import java.util.Map; @Service @RequiredArgsConstructor public class XianGongAgvServiceImpl implements XianGongAgvService { - private final DeviceAppService deviceAppService; - private final ParamService paramService; - private final AcsToWmsService acsToWmsService; + @Autowired + DeviceAppService deviceAppService; + + @Autowired + ParamService paramService; + + @Lazy + @Autowired + AcsToWmsService acsToWmsService; + Map AGVDeviceStatus = new HashMap(); @LokiLog(type = LokiLogType.AGV) diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java index a144cbf..f8994c3 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java @@ -27,13 +27,15 @@ import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.modules.system.service.ParamService; import org.nl.modules.wql.util.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @Slf4j @Service @RequiredArgsConstructor public class ZheDaAgvServiceImpl implements ZheDaAgvService { - private final ParamService paramService; + @Autowired + ParamService paramService; @LokiLog(type = LokiLogType.AGV) @Override public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception { 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 f7249b7..9a6f206 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 @@ -193,6 +193,32 @@ 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) { @@ -254,6 +280,32 @@ 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); + } //到达放货点 //(需要WCS反馈) } else if (phase == 0x07) { @@ -311,6 +363,32 @@ 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); + } //放货完毕 //(需要WCS反馈) } else if (phase == 0x09) { @@ -364,6 +442,31 @@ 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) @@ -379,7 +482,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (phase == 0x51) {//离开交通灯区域 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } + } else if (phase == 0x70) { + //x坐标 + x = ikey; + } else if (phase == 0x71) { + //y坐标 + y = ikey; + } else if (phase == 0x72) { + //车辆角度 + angle = ikey; + } else if (phase == 0x73) { + //agv电量 + electric_qty = ikey; + } else if (phase == 0x74) { + //三色灯状态 + status = ikey; + } if (!ObjectUtil.isEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); OneNDCSocketConnectionAutoRun.write(data); 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 bf5729e..3aa5a9c 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 @@ -46,7 +46,6 @@ public class AcsToWmsServiceImpl implements AcsToWmsService { /*@Value("${acsTowms.token}")*/ public String token; - private String log_file_type="log_file_type"; private String log_type="ACS请求LMS"; 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 97bd083..40939d2 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 @@ -71,14 +71,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Autowired DeviceAppService deviceAppService; + @Autowired NDCAgvService ndcAgvService; @Autowired ParamService paramService; @Autowired RouteLineService routeLineService; - @Autowired - TaskService taskService; + + private final TaskService taskService; @Autowired AcsToLiKuService acsToLiKuService; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java index e034bc8..927a2fc 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java @@ -105,7 +105,9 @@ public class TaskFeedbackServiceImpl implements TaskFeedbackService { @Transactional(rollbackFor = Exception.class) public void update(TaskFeedbackDto dto) { TaskFeedbackDto entity = this.findById(dto.getTaskback_id()); - if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!"); + if (entity == null) { + throw new BadRequestException("被删除或无权限，操作失败!"); + } String currentUsername = SecurityUtils.getCurrentUsername(); String now = DateUtil.now(); 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 e5f42b2..d5710f8 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 @@ -74,8 +74,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { DeviceAppService deviceAppService; @Autowired RouteLineService routelineserver; + @Autowired AcsToWmsService acstowmsService; + @Autowired TaskFeedbackService taskFeedbackService; @Autowired @@ -86,8 +88,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { RouteLineService routeLineService; @Autowired DeviceAssignedService deviceAssignedService; + @Autowired InstructionService instructionService; + @Autowired StorageCellService storageCellService; @@ -99,6 +103,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { } } + @Override public synchronized void reload() { List list = this.queryAll("task_status <2 and is_delete =0 order by create_time"); @@ -372,6 +377,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return list; } + @Override public List queryTaskByStartAndIntStatus(String head_start_device_code) { List list = new ArrayList<>(); Iterator iterator = tasks.iterator(); @@ -392,6 +398,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return list; } + @Override public List queryTaskByNextAndIntStatus(String back_start_device_code) { List list = new ArrayList<>(); Iterator iterator = tasks.iterator(); @@ -800,10 +807,14 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { @Transactional(rollbackFor = Exception.class) public void finish(String id) { TaskDto entity = this.findById(id); - if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!"); + if (entity == null) { + throw new BadRequestException("被删除或无权限，操作失败!"); + } InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl"); InstructionDto instdto = instructionservice.findByTaskid(id, "instruction_status <2 "); - if (instdto != null) throw new BadRequestException("有指令未完成!"); + if (instdto != null) { + throw new BadRequestException("有指令未完成!"); + } String currentUsername = SecurityUtils.getCurrentUsername(); String now = DateUtil.now(); entity.setUpdate_time(now); @@ -1327,6 +1338,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return tasks; } + @Override public TaskDto findByContainer(String container_code) { Iterator var3 = tasks.iterator(); @@ -1340,6 +1352,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { return null; } + @Override public TaskDto findByCodeFromCache(String task_code) { Iterator var3 = tasks.iterator();