rev 反馈agv状态、取消任务反馈

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

@@ -196,7 +196,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if (phase == 0x67) {
+                        if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
@@ -218,16 +218,15 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                 }
             }
 
-        } catch (
+        } catch ( Exception e) {
-                Exception e) {
             System.out.println("OneAgv链接异常");
             log.info("OneAgv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);
-            if (ObjectUtil.isNotEmpty(s)) {
+//            if (ObjectUtil.isNotEmpty(s)) {
-                s.close();
+//                s.close();
-            }
+//            }
             System.out.println(e.getMessage());
             e.printStackTrace();
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -1,6 +1,7 @@
 package org.nl.acs.device_driver.basedriver.agv.ndcone;
 
 import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
@@ -23,6 +24,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.LokiLog;
 import org.nl.acs.log.LokiLogType;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
@@ -43,7 +45,7 @@ import java.util.Map;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
+public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
 
     ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
     InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -72,6 +74,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int last_status = 0;
     int last_error = 0;
 
+    private Instruction instruction;
+
     @LokiLog(type = LokiLogType.ACS_TO_LMS)
     public synchronized void processSocket(int[] arr) throws Exception {
         device_code = this.getDeviceCode();
@@ -94,10 +98,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
         }
         if (ikey != 0) {
+            if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
                 inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
-            if (ObjectUtil.isEmpty(inst)){
+                this.instruction = inst;
-                inst = instructionService.findByCode(String.valueOf(ikey));
             }
+//            inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+//            if (ObjectUtil.isEmpty(inst)){
+//                inst = instructionService.findByCode(String.valueOf(ikey));
+//            }
         }
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
@@ -108,13 +116,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         String emptyNum = null;
         String device_code = null;
 
-        if (phase == 0x67) {
+//        if (phase == 0x67) {
-            //故障信息
+//            //故障信息
-            if (arr[18] * 256 + arr[19] == 0) {
+//            if (arr[18] * 256 + arr[19] == 0) {
-
+//
-            }
+//            }
-            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+//            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-        }
+//        }
 
         //普通站点
         StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
@@ -142,9 +150,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     request.put("METHOD", "1");
                     request.put("AGVCODE", this.device_code);
                     request.put("REQTIME", DateUtil.now());
-                    log.info("atrAgvCallback 请求参数:"+request.toJSONString());
+                    log.info("atrAgvCallback 请求参数:" + request.toJSONString());
                     String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
-                    log.info("atrAgvCallback 返回参数:"+str);
+                    log.info("atrAgvCallback 返回参数:" + str);
                 }
             }
             //到达取货点
@@ -218,9 +226,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     request.put("METHOD", "2");
                     request.put("AGVCODE", this.device_code);
                     request.put("REQTIME", DateUtil.now());
-                    log.info("atrAgvCallback 请求参数:"+request.toJSONString());
+                    log.info("atrAgvCallback 请求参数:" + request.toJSONString());
                     String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
-                    log.info("atrAgvCallback 返回参数:"+str);
+                    log.info("atrAgvCallback 返回参数:" + str);
                 }
             }
 
@@ -307,9 +315,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     request.put("METHOD", "3");
                     request.put("AGVCODE", this.device_code);
                     request.put("REQTIME", DateUtil.now());
-                    log.info("atrAgvCallback 请求参数:"+request.toJSONString());
+                    log.info("atrAgvCallback 请求参数:" + request.toJSONString());
                     String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
-                    log.info("atrAgvCallback 返回参数:"+str);
+                    log.info("atrAgvCallback 返回参数:" + str);
                 }
             }
 
@@ -371,9 +379,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     request.put("METHOD", "4");
                     request.put("AGVCODE", this.device_code);
                     request.put("REQTIME", DateUtil.now());
-                    log.info("atrAgvCallback 请求参数:"+request.toJSONString());
+                    log.info("atrAgvCallback 请求参数:" + request.toJSONString());
                     String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
-                    log.info("atrAgvCallback 返回参数:"+str);
+                    log.info("atrAgvCallback 返回参数:" + str);
                 }
             }
 
@@ -444,6 +452,24 @@ 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 == 0x67) {//agv异常
+            error = ikey;
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+        } else if (phase == 0x71) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x72) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x73) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x74) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x75) {
+            //三色灯状态
+            status = ikey;
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
@@ -451,4 +477,32 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         }
     }
 
+    @Override
+    public JSONObject getDeviceStatusName() throws Exception {
+        JSONObject jo = new JSONObject();
+        jo.put("REQCODE", IdUtil.getSnowflake().nextId());
+
+        jo.put("REQTIME", DateUtil.now());
+        //agv编码
+        jo.put("AGVCODE", this.getDevice().getDevice_code());
+        //角度
+        jo.put("AGVDIR", this.getAngle());
+        //IP
+        jo.put("AGVIP", ObjectUtil.isEmpty(this.getDevice().getExtraValue()) ? "" : this.getDevice().getExtraValue().get("ip_address"));
+        //电量
+        jo.put("AGVBATTERY", this.getElectric_qty());
+        //x坐标
+        jo.put("POSX", this.getX());
+        //y坐标
+        jo.put("POSY", this.getY());
+        String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
+        //agv状态
+        jo.put("STATUS", status_name);
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -229,7 +229,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
     @Override
     public Instruction findByCode(String code) {
         WQLObject wo = WQLObject.getWQLObject("acs_instruction");
-        JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0);
+        JSONObject json = wo.query("instruction_code ='" + code + "'", "create_time").uniqueResult(0);
         if (ObjectUtil.isEmpty(json)) {
             return null;
         }
@@ -945,8 +945,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                 return;
             }
             removeByCodeFromCache(entity.getInstruction_code());
+            TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
+            if (taskDto != null) {
+                taskService.cancel(taskDto.getTask_id());
+            }
         }
-//        this.reload();
     }
 
     @Override
@@ -1002,6 +1005,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             return;
         }
         removeByCodeFromCache(entity.getInstruction_code());
+        TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
+        if (taskDto != null) {
+            taskService.cancel(taskDto.getTask_id());
+        }
     }
 
     @Override
@@ -1059,6 +1066,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         }
 
         removeByCodeFromCache(entity.getInstruction_code());
+        TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
+        if (taskDto != null) {
+            taskService.cancel(taskDto.getTask_id());
+        }
     }
 
     @Override

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -764,9 +764,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 request.put("TASKTYPE", entity.getTask_type());
                 request.put("METHOD", "5");
                 request.put("REQTIME", DateUtil.now());
-                log.info("atrAgvCallback 请求参数:"+request.toString());
+                log.info("atrAgvCallback 请求参数:" + request.toString());
                 String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
-                log.info("atrAgvCallback 返回参数:"+str);
+                log.info("atrAgvCallback 返回参数:" + str);
             } catch (Exception e) {
                 e.printStackTrace();
                 throw new BadRequestException(e.getMessage());
@@ -814,6 +814,33 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 //      }}
 
         removeByCodeFromCache(entity.getTask_code());
+        // 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
+        String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
+        if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
+            TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code());
+            System.out.println(feefbackdto == null);
+            JSONObject feed_jo = new JSONObject();
+            feed_jo.put("task_id", entity.getTask_id());
+            feed_jo.put("task_code", entity.getTask_code());
+            feed_jo.put("task_status", entity.getTask_status());
+            JSONArray ja = new JSONArray();
+            ja.add(feed_jo);
+            try {
+                JSONObject request = new JSONObject();
+                request.put("REQCODE", entity.getExt_task_id());
+                request.put("TASKCODE", entity.getTask_code());
+                request.put("TASKTYPE", entity.getTask_type());
+                request.put("METHOD", "9");
+                request.put("AGVCODE", instructionService.findByCode(entity.getTask_code()) == null ? "" : instructionService.findByCode(entity.getTask_code()).getCarno());
+                request.put("REQTIME", DateUtil.now());
+                log.info("atrAgvCallback 请求参数:" + request.toString());
+                String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
+                log.info("atrAgvCallback 返回参数:" + str);
+            } catch (Exception e) {
+                e.printStackTrace();
+                throw new BadRequestException(e.getMessage());
+            }
+        }
         List<RouteLineDto> shortPathsList =
                 routeLineService.getShortPathLines(
                         entity.getStart_device_code(),

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

@@ -0,0 +1,50 @@
+package org.nl.modules.quartz.task;
+
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceType;
+import org.nl.acs.wsdl.org.tempuri.RTMSAGVSERVICE;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * @author: geng by
+ * @createDate: 2023/5/9
+ */
+@Slf4j
+@Component
+public class AutoFeedAgvStatus {
+
+    @Autowired
+    private DeviceAppService deviceAppService;
+
+    public void run() throws Exception {
+        List<Device> devices = deviceAppService.findDevice(DeviceType.agv);
+        JSONArray data = new JSONArray();
+        if (ObjectUtil.isNotEmpty(devices)) {
+            for (int i = 0; i < devices.size(); i++) {
+                Device device = devices.get(i);
+                Device agvDevice = deviceAppService.findDeviceByCode(device.getDevice_code());
+                if (agvDevice.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+                    AgvNdcOneDeviceDriver agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) agvDevice.getDeviceDriver();
+                    JSONObject jo = agvNdcOneDeviceDriver.getDeviceStatusName();
+                    data.add(jo);
+                }
+            }
+            try {
+                log.info("atrAgvCallback 请求参数:" + data.toJSONString());
+                String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(data.toJSONString());
+                log.info("atrAgvCallback 返回参数:" + str);
+            } catch (Exception e) {
+                log.error("atrAgvCallback,反馈失败:{}", e.getMessage());
+            }
+        }
+    }
+}

acs/nladmin-system/src/main/resources/config/application-dev.yml

@@ -13,11 +13,11 @@ spring:
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
       #      url: jdbc:log4jdbc:mysql://${DB_HOST:10.1.3.91}:${DB_PORT:3306}/${DB_NAME:acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       #      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:huaYan_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
       #      password: ${DB_PWD:P@ssw0rd}
       #      password: ${DB_PWD:Root.123456}
-      password: ${DB_PWD:123456}
+      password: ${DB_PWD:password}
 
       # 初始连接数
       initial-size: 5