wangs
/
huNanHunYuan
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

fix agv驱动

master
汪菘 2 years ago
parent
a614bcde3a
commit
d64ec3bef2
3 changed files with 289 additions and 184 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
  2. 453
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java
  3. 8
      acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

12
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@ -217,12 +217,12 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
System.out.println("Agv链接异常");
log.info("Agv链接异常");
log.error("agv连接出现异常:{}", e);
logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());
logServer.deviceExecuteLog("1", "", "", "agv异常" + e);
LuceneLogDto logDto = new LuceneLogDto();
logDto.setContent("agv异常" + e.getMessage());
logDto.setDevice_code("1001");
luceneExecuteLogService.deviceExecuteLog(logDto);
// logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());
// logServer.deviceExecuteLog("1", "", "", "agv异常" + e);
// LuceneLogDto logDto = new LuceneLogDto();
// logDto.setContent("agv异常" + e.getMessage());
// logDto.setDevice_code("1001");
// luceneExecuteLogService.deviceExecuteLog(logDto);
if (ObjectUtil.isNotEmpty(s)) {
s.close();
}

453
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java
View File

@ -2,6 +2,8 @@ package org.nl.acs.device_driver.basedriver.agv.xg_agv;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
@ -11,6 +13,7 @@ import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.monitor.DeviceStageMonitor;
@ -18,6 +21,7 @@ import org.nl.acs.opc.Device;
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.logging.DeviceCodeDir;
import org.nl.modules.lucence.service.LuceneExecuteLogService;
import org.nl.modules.lucence.service.dto.LuceneLogDto;
@ -26,6 +30,7 @@ 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;
@ -47,76 +52,88 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
@Autowired
DeviceAppService deviceAppService = SpringContextHolder.getBean("deviceAppServiceImpl");
@Autowired
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");;
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
;
@Autowired
AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
//车辆ip 0-未知；1-需充电；2-可执行任务；3-充满电
String agv_mode = "0";
String last_mode = "0";
private Date instruction_require_time = new Date();
private int instruction_require_time_out = 1000;
int is_charging = 0;
int stop = 0;
int DI0 = 0;
int DI1 = 0;
int DI2 = 0;
int DI3 = 0;
int DI4 = 0;
int DI11 = 0;
int DI12 = 0;
int DO0 = 0;
int DO1 = 0;
int DO2 = 0;
Float x = 0f;
Float y = 0f;
Float angle = 0f;
int navigation_address = 0;
int positioning_status = 0;
int navigation_status = 0;
int navigation_type = 0;
int electricity = 0;
int address = 0;
int next_address = 0;
int home_relocation = 0;
int locate_correct = 0;
int pause_navigation = 0;
int continue_navigation = 0;
int cancle_navigation = 0;
int drum_run_status = 0;
int is_charging =0;
int stop = 0;
int DI0 = 0;
int DI1 = 0;
int DI2 = 0;
int DI3 = 0;
int DI4 = 0;
int DI11 = 0;
int DI12 = 0;
int DO0 = 0;
int DO1 = 0;
int DO2 = 0;
Float x = 0f;
Float y = 0f;
Float angle = 0f;
int navigation_address =0;
int positioning_status =0;
int navigation_status =0;
int navigation_type =0;
int electricity =0;
int address =0;
int next_address =0;
int home_relocation =0;
int locate_correct =0;
int pause_navigation =0;
int continue_navigation =0;
int cancle_navigation =0;
int drum_run_status =0;
int last_is_charging =0;
int last_stop = 0;
int last_DI0 = 0;
int last_DI1 = 0;
int last_DI2 = 0;
int last_DI3 = 0;
int last_DI4 = 0;
int last_DI11 = 0;
int last_DI12 = 0;
int last_DO0 = 0;
int last_DO1 = 0;
int last_DO2 = 0;
Float last_x = 0f;
Float last_y = 0f;
Float last_angle = 0f;
int last_navigation_address =0;
int last_positioning_status =0;
int last_navigation_status =0;
int last_navigation_type =0;
int last_electricity =0;
int last_address =0;
int last_next_address =0;
int last_home_relocation =0;
int last_locate_correct =0;
int last_pause_navigation =0;
int last_continue_navigation =0;
int last_cancle_navigation =0;
int last_drum_run_status =0;
int last_is_charging = 0;
int last_stop = 0;
int last_DI0 = 0;
int last_DI1 = 0;
int last_DI2 = 0;
int last_DI3 = 0;
int last_DI4 = 0;
int last_DI11 = 0;
int last_DI12 = 0;
int last_DO0 = 0;
int last_DO1 = 0;
int last_DO2 = 0;
Float last_x = 0f;
Float last_y = 0f;
Float last_angle = 0f;
int last_navigation_address = 0;
int last_positioning_status = 0;
int last_navigation_status = 0;
int last_navigation_type = 0;
int last_electricity = 0;
int last_address = 0;
int last_next_address = 0;
int last_home_relocation = 0;
int last_locate_correct = 0;
int last_pause_navigation = 0;
int last_continue_navigation = 0;
int last_cancle_navigation = 0;
int last_drum_run_status = 0;
String message = null;
String device_code;
Instruction inst = null;
protected ItemProtocol itemProtocol = new ItemProtocol(this);
//最小电量
double min_electric = 0.0;
//最大电量
double cancle_electric = 0.0;
//执行任务电量
double task_electric = 0.0;
//休息点
int relax_point = 0;
//充电点
int charge_point =0;
@Override
public Device getDevice() {
return this.device;
@ -154,172 +171,153 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
drum_run_status = this.itemProtocol.getDrum_run_status();
stop = this.itemProtocol.getStop();
if (home_relocation != last_home_relocation){
// DeviceCodeDir deviceCodeDir = new DeviceCodeDir();
// deviceCodeDir.setPropertyValue(this.device_code);
// log.info("信号{}变更从{}->{}",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 (home_relocation != last_home_relocation) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_home_relocation + "变更从" + this.last_home_relocation + "->" + this.home_relocation);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (stop != last_stop) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.stop + "变更从" + this.last_stop + "->" + this.stop);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (address != last_address) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + "变更从" + this.last_address + "->" + this.address);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (electricity != last_electricity) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号"+this.getDevice().getOpc_server_code()+"."+this.getDevice().getOpc_plc_code()+"."+this.device_code+"."+ItemProtocol.to_home_relocation+"变更从"+this.last_home_relocation+"->"+this.home_relocation);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + "变更从" + this.last_electricity + "->" + this.electricity);
luceneExecuteLogService.deviceExecuteLog(logDto);
// last_home_relocation = home_relocation;
}
//获取最小电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("min_electric"))){
if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("min_electric"))) {
message = "未配置最小电量";
return;
}
double min_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("min_electric"));
min_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("min_electric"));
//获取最大电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("cancle_electric"))){
if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("cancle_electric"))) {
message = "未配置最大电量";
return;
}
double cancle_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("cancle_electric"));
cancle_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("cancle_electric"));
//可执行任务电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("task_electric"))){
if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("task_electric"))) {
message = "未配置可执行任务电量";
return;
}
double task_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("task_electric"));
task_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("task_electric"));
//休息点
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("relax_point"))){
if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("relax_point"))) {
message = "未配置休息点";
return;
}
Device relax_point_device = deviceAppService.findDeviceByCode((String)this.getDevice().getExtraValue().get("relax_point"));
int relax_point = Integer.parseInt(relax_point_device.getAddress());
Device relax_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("relax_point"));
relax_point = Integer.parseInt(relax_point_device.getAddress());
//充电点
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("charge_point"))){
if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("charge_point"))) {
message = "未配置充电点";
return;
}
Device charge_point_device = deviceAppService.findDeviceByCode((String)this.getDevice().getExtraValue().get("charge_point"));
int charge_point = Integer.parseInt(charge_point_device.getAddress());
Device charge_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("charge_point"));
charge_point = Integer.parseInt(charge_point_device.getAddress());
List<Instruction> instList = instructionService.findAllInstFromCache();
if(instList.size()>0){
inst = instList.get(0);
if (instList.size() > 0) {
for (int i = 0; i < instList.size(); i++) {
inst = instList.get(i);
if (ObjectUtil.equal(inst.getInstruction_type(), "1")) {
continue;
}
}
if (ObjectUtil.isEmpty(inst)) {
message = "未找到对应指令";
return;
}
}
//先判断当前有无指令
if(ObjectUtil.isEmpty(inst)){
// log.info("判断当前有无指令:{}",ObjectUtil.isEmpty(inst));
if( electricity != 0 && electricity <min_electric && address != charge_point && (navigation_status==0 ||navigation_status==4) ){
log.info("下发充电:{}",charge_point);
writing("to_address",charge_point);
if (ObjectUtil.isEmpty(inst)) {
if (electricity != 0 && electricity < min_electric && address != charge_point && (navigation_status == 0 || navigation_status == 4)) {
log.info("下发充电:{}", charge_point);
writing("to_address", charge_point);
}
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",relax_point);
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", relax_point);
}
} else {
// log.info("address:{}，滚筒状态:{},车子状态:{},DI4:{},DO1:{},DO2:{},导航状态:{}",address,drum_run_status,stop,DI4,DO1,DO2,navigation_status);
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())){
log.info("下发指令号{}，起点{}",inst.getInstruction_code(),start_device);
writing("to_address",start_device_code);
inst.setInstruction_status("1");
instructionService.update(inst);
}
//请求取货 && DI4==1 无货状态
if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==1){
log.info("agv准备取货，下发滚筒，指令号{}，下发to_di_height:1",inst.getInstruction_code());
if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
log.info("准备下发输送请求取货信号,mode:{}，move{}",standardInspectSiteDeviceDriver.getMode(),standardInspectSiteDeviceDriver.getMove());
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==1){
if((navigation_status==0 ||navigation_status==4) && (DO1 != 1 && DO2 != 1)){
writing("to_di_low",1);
writing("to_di_low",2);
writing("to_DO1_low",1);
writing("to_DO2_low",1);
writing("to_DO8_low",1);
writing("to_DO9_low",1);
writing("to_di_height",1);
}
log.info("agv准备取货，DO1:{},DO2:{}",DO1,DO2);
if(DO1 == 1 && DO2 == 1){
standardInspectSiteDeviceDriver.writing(1,1);
log.info("下发设备{}信号to_command值:{}",start_device,1);
} else {
log.info("agv准备取货，DO1:{},DO2:{}未就绪",DO1,DO2);
}
} else {
log.info("agv准备取货，输送线未就绪，mode:{}，move:{},action:{}",standardInspectSiteDeviceDriver.getMode(),
standardInspectSiteDeviceDriver.getMove(),standardInspectSiteDeviceDriver.getAction());
}
if (StrUtil.equals("0", inst.getInstruction_status())) {
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
if(StrUtil.equals(task.getStart_device_code(),inst.getStart_device_code())){
feedAgvTaskStatus(inst, "1");
} else {
//不同的话是按照路由生成的指令
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", start_device_code);
inst.setInstruction_status("1");
instructionService.update(inst);
}
}
//取货完成 下发去放货位置
if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==0 && DO1 == 0 && DO2 == 0 ){
log.info("取货完成，指令号{}，下发to_di_height:2",inst.getInstruction_code());
if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
standardInspectSiteDeviceDriver.writing(1,2);
log.info("下发设备{}信号to_command值:{}",start_device,2);
writing("to_di_low",1);
writing("to_address",next_device_code);
}
}
//取货完成请求离开
if (StrUtil.equals("1", inst.getInstruction_status()) && address == start_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) {
//请求wms是否允许从取货点离开
feedAgvTaskStatus(inst, "2");
}
//下发去放货位置
// if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==0 && DO1 == 0 && DO2 == 0){
// log.info("取货完成,指令号{},下发放货位{}",inst.getInstruction_code(),next_device);
// writing("to_address",next_device_code);
// }
//请求放货
if(StrUtil.equals("1",inst.getInstruction_status()) && address == next_device_code && stop==1 && DI4==0 ){
log.info("取货完成，指令号{}，下发to_di_height:12",inst.getInstruction_code());
if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
standardInspectSiteDeviceDriver.writing(1,1);
writing("to_di_height",2);
}
}
if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
//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 == next_device_code && stop==1 && DI4==1 && DO1 ==0 && DO2 ==0 ){
if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
standardInspectSiteDeviceDriver.writing(1,3);
}
log.info("放货完成，指令号{}，下发to_di_low:2",inst.getInstruction_code());
writing("to_di_low",1);
writing("to_di_low",2);
writing("to_DO1_low",1);
writing("to_DO2_low",1);
writing("to_DO8_low",1);
writing("to_DO9_low",1);
writing("to_address",relax_point);
inst.setInstruction_status("2");
instructionService.finish(inst);
inst = null;
if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
feedAgvTaskStatus(inst, "4");
}
}
last_home_relocation = home_relocation;
last_address = address;
last_next_address = next_address;
last_electricity = electricity;
last_stop = stop;
}
public void writing(String key, int value) {
public void writing(String key, int value) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + key;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, value);
log.info("下发信号{}，值{}",to_command,value);
log.info("下发信号{}，值{}", to_command, value);
ReadUtil.write(itemMap, server);
}
@ -340,6 +338,121 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
}
/**
* 反馈wms动作状态
*
* @param type
* @return
*/
public boolean feedAgvTaskStatus(Instruction inst, String type) throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
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());
//请求WMS允许取货
if (StrUtil.equals(type, "1")) {
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("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", start_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("1");
instructionService.update(inst);
} else {
}
//取货完成请求离开
} else if (StrUtil.equals(type, "2")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "2");
jo.put("device_code", this.device_code);
jo.put("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", next_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("2");
instructionService.update(inst);
} else {
}
//请求放货
} else if (StrUtil.equals(type, "3")) {
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("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
inst.setInstruction_status("1");
inst.setExecute_status("3");
instructionService.update(inst);
writing("to_address", start_device_code);
} else {
}
} else if (StrUtil.equals(type, "4")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "4");
jo.put("device_code", this.device_code);
jo.put("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", relax_point);
inst.setInstruction_status("2");
inst.setInstruction_status("1");
inst.setExecute_status("4");
instructionService.finish(inst);
} else {
}
}
}
return true;
}
}

8
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@ -39,9 +39,6 @@ public class AutoCreateInst {
List<TaskDto> list = taskserver.queryAll("task_status = '0'");
for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i);
if(StrUtil.equals(acsTask.getTask_type(),"7") && !StrUtil.startWith(acsTask.getTask_code(), "-") ){
continue;
}
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String task_type = acsTask.getTask_type();
@ -70,11 +67,6 @@ public class AutoCreateInst {
String vehicleType = acsTask.getVehicle_type();
String agv_system_type = acsTask.getAgv_system_type();
if (StrUtil.equals(is_send, "0")) {
continue;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {

Write Preview
Loading…
Cancel
Save