From d64ec3bef278b206ba41a88daced15498c4c7bdb Mon Sep 17 00:00:00 2001 From: "USER-20220102CG\\noblelift" <546428999@qq.com> Date: Fri, 14 Apr 2023 20:45:47 +0800 Subject: [PATCH] =?UTF-8?q?fix=20agv=E9=A9=B1=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 12 +- .../agv/xg_agv/XgagvDeviceDriver.java | 453 +++++++++++------- .../modules/quartz/task/AutoCreateInst.java | 8 - 3 files changed, 289 insertions(+), 184 deletions(-) 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 b8bb1dd..722dee7 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 @@ -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(); } 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 c8049f7..6855a4e 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 @@ -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 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 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 itemMap = new HashMap(); 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; + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java index e575119..3dea62d 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java @@ -39,9 +39,6 @@ public class AutoCreateInst { List 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 shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); if (ObjectUtils.isEmpty(shortPathsList)) {