From 17eeeefa9e65cadd453d5c2d206b0d25a3a4389e Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Fri, 5 Jan 2024 20:08:53 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 13 ++- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 66 ++++++++++- .../acs/ext/wms/rest/WmsToAcsController.java | 11 +- .../acs/ext/wms/service/WmsToAcsService.java | 2 + .../wms/service/impl/WmsToAcsServiceImpl.java | 9 ++ .../task/service/impl/TaskServiceImpl.java | 12 +- .../nl/modules/quartz/task/ToAgvDevice.java | 109 ++++++++++-------- 7 files changed, 161 insertions(+), 61 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 6394525..0176048 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 @@ -178,10 +178,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { if (!ObjectUtil.isEmpty(inst)) { instructionService.finish(inst.getInstruction_id()); } else { - log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!", inst.getInstruction_code()); + log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!", ikey); } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},已反馈agv任务完成!", inst.getInstruction_code()); + log.info("指令号:{},已反馈agv任务完成!", ikey); } //进入交通灯区域 else if (phase == 0x50) { @@ -249,8 +249,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { //上报异常信息 //（不需要WCS反馈） - if (phase == 0x67) { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); +// if (phase == 0x67) { +// device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); +// } else { +// device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); +// } + if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 ) { + device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19])); } else { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 693873d..c0bd72c 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -26,6 +26,7 @@ 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; @@ -44,7 +45,7 @@ import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; @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); @@ -59,6 +60,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int weight = 0; String device_code = ""; int phase = 0; + private Instruction instruction; int x = 0; //x坐标 int y = 0; //y坐标 @@ -96,7 +98,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); } if (ikey != 0) { - inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + this.instruction = inst; + } } if (!ObjectUtil.isEmpty(link_inst)) { link_flag = true; @@ -154,6 +159,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); return; } + if (ObjectUtil.isEmpty(device)){ + log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code); + return; + } //校验agv上报站点编号与指令起始点相同 if (ObjectUtil.isEmpty(inst)) { log.info("未找到编号{}对应的指令", ikey); @@ -218,6 +227,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); return; } + if (ObjectUtil.isEmpty(device)){ + log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code); + return; + } //校验agv上报站点编号与指令起始点相同 if (ObjectUtil.isEmpty(inst)) { log.info("未找到关联编号{}对应的指令", ikey); @@ -281,6 +294,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info(agvaddr + "对应设备号为空!"); return; } + if (ObjectUtil.isEmpty(device)){ + log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code); + return; + } //校验agv上报站点编号与指令起始点相同 if (ObjectUtil.isEmpty(inst)) { log.info("未找到关联编号{}对应的指令", ikey); @@ -345,6 +362,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.info(agvaddr + "对应设备号为空!"); return; } + if (ObjectUtil.isEmpty(device)){ + log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code); + return; + } //校验agv上报站点编号与指令起始点相同 if (ObjectUtil.isEmpty(inst)) { log.info("未找到编号{}对应的指令", ikey); @@ -388,6 +409,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agvaddr_copy = agvaddr; data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x70) { + //x坐标 + x = ikey; + } else if (phase == 0x71) { + //y坐标 + y = ikey; + } else if (phase == 0x72) { + //车辆角度 + angle = ikey; + } else if (phase == 0x73) { + //agv电量 + electric_qty = ikey; + } else if (phase == 0x74) { + //三色灯状态 + status = ikey; + last_status = status; } if (!ObjectUtil.isEmpty(data)) { @@ -399,4 +436,29 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } + @Override + public JSONObject getDeviceStatusName() throws Exception { + JSONObject jo = new JSONObject(); + //agv编码 + jo.put("device_code", this.getDevice().getDevice_code()); + String status_name = this.status == 1 ? "UNAVAILABLE" : this.status == 2 ? "EXECUTING" : this.status == 4 ? "IDLE" : this.status == 5 ? "CHARGING" : this.status == 6 ? "ERROR" : "UNKNOWN"; + //agv状态 + jo.put("device_status", status_name); + //电量 + jo.put("electricity", this.getElectric_qty()); + //任务号 + jo.put("transportOrder", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code()); + //x坐标 + jo.put("positionX", this.getX()); + //y坐标 + jo.put("positionY", this.getY()); + //角度 + jo.put("positionAngle", this.getAngle()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java index d44ee5d..b3c4f19 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java @@ -16,10 +16,7 @@ import org.nl.modules.logging.InterfaceLogType; import org.nl.modules.logging.annotation.Log; import org.springframework.http.HttpStatus; import org.springframework.http.ResponseEntity; -import org.springframework.web.bind.annotation.PostMapping; -import org.springframework.web.bind.annotation.RequestBody; -import org.springframework.web.bind.annotation.RequestMapping; -import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.bind.annotation.*; import java.util.List; @@ -98,4 +95,10 @@ public class WmsToAcsController { return new ResponseEntity<>(wmstoacsService.putPlusPullAction(whereJson), HttpStatus.OK); } + + @GetMapping("/test") + @SaIgnore + public ResponseEntity test(){ + return new ResponseEntity<>(wmstoacsService.test(), HttpStatus.OK); + } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java index e86d747..873bc37 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java @@ -82,5 +82,7 @@ public interface WmsToAcsService { */ Map putPlusPullAction(String whereJson); + Map test(); + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index ecc9b90..47016f1 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -450,6 +450,15 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { } } + @Override + public Map test() { + System.out.println("进来了......"); + Map map = new HashMap<>(); + map.put("a","a"); + map.put("b","b"); + return map; + } + @Override public CreateTaskResponse crateTask(List reqs) { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index e5f42b2..42f5660 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -965,11 +965,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code()); - String type = shortPathsList.get(0).getType(); - // != 0 为agv任务 - if (!StrUtil.equals(type, "0")) { - if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) { - agvService.markComplete(entity.getTask_code()); + if (ObjectUtil.isNotEmpty(shortPathsList)){ + String type = shortPathsList.get(0).getType(); + // != 0 为agv任务 + if (!StrUtil.equals(type, "0")) { + if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) { + agvService.markComplete(entity.getTask_code()); + } } } } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java index 76f136c..5c1331f 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java @@ -1,18 +1,19 @@ 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.agv.server.AgvService; -import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.modules.mnt.websocket.MsgType; -import org.nl.modules.mnt.websocket.SocketMsg; -import org.nl.modules.mnt.websocket.WebSocketServer; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceType; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; -import java.util.Map; +import java.util.List; /** * 查询AGV设备状态 @@ -25,52 +26,68 @@ public class ToAgvDevice { AcsToWmsService acsToWmsService; @Autowired AgvService agvService; + @Autowired + DeviceAppService deviceAppService; public void run() throws Exception { - JSONObject json = new JSONObject(); - Map agv_map = agvService.findAllAgvFromCache(); - - JSONArray agv_rows = new JSONArray(); - JSONObject row = new JSONObject(); - - for (AgvDto agvDto : agv_map.values()) { - row.put("device_code", agvDto.getName()); - row.put("energyLevel", agvDto.getEnergyLevel()); - if (agvDto.getState().equals("UNKNOWN")) { - row.put("status_name", "有任务"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("UNAVAILABLE")) { - row.put("status_name", "网络异常"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("ERROR")) { - row.put("status_name", "机器错误"); - row.put("flag", "1"); + JSONArray list = new JSONArray(); + List devices = deviceAppService.findDevice(DeviceType.agv); + if (ObjectUtil.isNotEmpty(devices)){ + for (int i = 0; i < devices.size(); i++) { + Device device = devices.get(i); + if (device != null && device.getDeviceDriver() instanceof DeviceStageMonitor){ + DeviceStageMonitor monitorService = (DeviceStageMonitor) device.getDeviceDriver(); + JSONObject deviceStatusName = monitorService.getDeviceStatusName(); + list.add(deviceStatusName); + } } - if (agvDto.getState().equals("IDLE")) { - row.put("status_name", "空闲"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("EXECUTING")) { - row.put("status_name", "运行中"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("CHARGING")) { - row.put("status_name", "充电中"); - row.put("flag", "0"); - } - row.put("transportOrder", agvDto.getTransportOrder()); - row.put("positionX", agvDto.getPositionX()); - row.put("positionY", agvDto.getPositionY()); - row.put("positionAngle", agvDto.getPositionAngle()); - agv_rows.add(row); } - json.put("agv_rows", agv_rows); - SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO); - WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data"); + acsToWmsService.feedbackAgv(list); + + +// JSONObject json = new JSONObject(); +// Map agv_map = agvService.findAllAgvFromCache(); +// +// JSONArray agv_rows = new JSONArray(); +// JSONObject row = new JSONObject(); +// +// for (AgvDto agvDto : agv_map.values()) { +// row.put("device_code", agvDto.getName()); +// row.put("energyLevel", agvDto.getEnergyLevel()); +// if (agvDto.getState().equals("UNKNOWN")) { +// row.put("status_name", "有任务"); +// row.put("flag", "1"); +// } +// if (agvDto.getState().equals("UNAVAILABLE")) { +// row.put("status_name", "网络异常"); +// row.put("flag", "1"); +// } +// if (agvDto.getState().equals("ERROR")) { +// row.put("status_name", "机器错误"); +// row.put("flag", "1"); +// } +// if (agvDto.getState().equals("IDLE")) { +// row.put("status_name", "空闲"); +// row.put("flag", "0"); +// } +// if (agvDto.getState().equals("EXECUTING")) { +// row.put("status_name", "运行中"); +// row.put("flag", "0"); +// } +// if (agvDto.getState().equals("CHARGING")) { +// row.put("status_name", "充电中"); +// row.put("flag", "0"); +// } +// row.put("transportOrder", agvDto.getTransportOrder()); +// row.put("positionX", agvDto.getPositionX()); +// row.put("positionY", agvDto.getPositionY()); +// row.put("positionAngle", agvDto.getPositionAngle()); +// agv_rows.add(row); +// } +// json.put("agv_rows", agv_rows); +// SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO); +// WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data"); - // acsToWmsService.feedbackAgv(row); } }