fix agv驱动

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.getMessage());
-            logServer.deviceExecuteLog("1", "", "", "agv异常" + e);
+//            logServer.deviceExecuteLog("1", "", "", "agv异常" + e);
-            LuceneLogDto logDto = new LuceneLogDto();
+//            LuceneLogDto logDto = new LuceneLogDto();
-            logDto.setContent("agv异常" + e.getMessage());
+//            logDto.setContent("agv异常" + e.getMessage());
-            logDto.setDevice_code("1001");
+//            logDto.setDevice_code("1001");
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+//            luceneExecuteLogService.deviceExecuteLog(logDto);
             if (ObjectUtil.isNotEmpty(s)) {
                 s.close();
             }

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;
@@ -47,14 +52,16 @@ 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;
@@ -117,6 +124,16 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
     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;
@@ -155,14 +172,31 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
         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);
             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);
-//            last_home_relocation = home_relocation;
+        }
+
+        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.electricity + "变更从" + this.last_electricity + "->" + this.electricity);
+            luceneExecuteLogService.deviceExecuteLog(logDto);
         }
 
         //获取最小电量
@@ -170,41 +204,49 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
             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"))) {
             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"))) {
             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"))) {
             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());
+        relax_point = Integer.parseInt(relax_point_device.getAddress());
         //充电点
         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());
+        charge_point = Integer.parseInt(charge_point_device.getAddress());
         List<Instruction> instList = instructionService.findAllInstFromCache();
 
         if (instList.size() > 0) {
-            inst = instList.get(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);
@@ -214,101 +256,57 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
                 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);
+                //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);
                 }
-
-            //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());
-                    }
             }
-            }
-            //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  ){
+            if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
-                log.info("取货完成，指令号{}，下发to_di_height:12",inst.getInstruction_code());
+                //请求wms是否允许进入放货
-                if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                feedAgvTaskStatus(inst, "3");
-                    standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
+
-                    if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
-                        standardInspectSiteDeviceDriver.writing(1,1);
-                        writing("to_di_height",2);
-                    }
-                }
             }
             //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 (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
-                if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
+                feedAgvTaskStatus(inst, "4");
-                    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;
             }
         }
 
+        last_home_relocation = home_relocation;
+        last_address = address;
+        last_next_address = next_address;
+        last_electricity = electricity;
+        last_stop = stop;
     }
 
 
@@ -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;
+    }
+}
 

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

@@ -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)) {