From 7d0e51eccd27c8134d1c8afa0bb9ca2fb7716805 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=91=A8=E4=BF=8A=E6=9D=B0?= <9463626+zhou-junjiezjj@user.noreply.gitee.com> Date: Fri, 31 Mar 2023 18:05:56 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9A=E6=97=B6=E5=99=A8=E5=92=8C=E6=8E=A5?= =?UTF-8?q?=E5=8F=A3=E6=95=B0=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hd/logPath_IS_UNDEFINED/2023-03-30.0.log | 0 .../ACS请求ERP/2023-03-30.0.log | 0 .../ACS请求WMS/2023-03-30.0.log | 0 .../AGV请求离开/2023-03-30.0.log | 0 hd/logPath_IS_UNDEFINED/NDC/2023-03-30.0.log | 0 .../WMS下发ACS/2023-03-30.0.log | 0 .../反馈AGV请求/2023-03-30.0.log | 0 .../扫码记录/2023-03-30.0.log | 0 .../查询AGV指令状态/2023-03-30.0.log | 0 .../2023-03-30.0.log | 0 .../自动创建指令/2023-03-30.0.log | 0 .../src/main/java/org/nl/acs/agv/AgvUtil.java | 26 ++ .../nl/acs/agv/rest/ZheDaAgvController.java | 4 + .../org/nl/acs/agv/server/AgvService.java | 11 +- .../acs/agv/server/impl/AgvServiceImpl.java | 381 ++++++++---------- .../service/impl/InstructionServiceImpl.java | 7 + .../quartz/task/QueryAgvTaskStatus.java | 101 +++++ 17 files changed, 314 insertions(+), 216 deletions(-) create mode 100644 hd/logPath_IS_UNDEFINED/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/ACS请求ERP/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/ACS请求WMS/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/AGV请求离开/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/NDC/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/WMS下发ACS/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/反馈AGV请求/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/扫码记录/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/查询AGV指令状态/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/查询仙知AGV指令状态/2023-03-30.0.log create mode 100644 hd/logPath_IS_UNDEFINED/自动创建指令/2023-03-30.0.log create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/agv/AgvUtil.java create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/ZheDaAgvController.java create mode 100644 hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java diff --git a/hd/logPath_IS_UNDEFINED/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/ACS请求ERP/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/ACS请求ERP/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/ACS请求WMS/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/ACS请求WMS/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/AGV请求离开/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/AGV请求离开/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/NDC/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/NDC/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/WMS下发ACS/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/WMS下发ACS/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/反馈AGV请求/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/反馈AGV请求/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/扫码记录/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/扫码记录/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/查询AGV指令状态/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/查询AGV指令状态/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/查询仙知AGV指令状态/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/查询仙知AGV指令状态/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/logPath_IS_UNDEFINED/自动创建指令/2023-03-30.0.log b/hd/logPath_IS_UNDEFINED/自动创建指令/2023-03-30.0.log new file mode 100644 index 0000000..e69de29 diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/AgvUtil.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/AgvUtil.java new file mode 100644 index 0000000..c24981b --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/AgvUtil.java @@ -0,0 +1,26 @@ +package org.nl.acs.agv; + +import java.text.DateFormat; +import java.text.SimpleDateFormat; +import java.util.Calendar; +import java.util.Date; +import java.util.TimeZone; + +public class AgvUtil { + /** + * 获得之后num个天的时间 + * + * @param num + * @return + */ + public static String getNextDay(int num) { + Calendar calendar = Calendar.getInstance(); + calendar.add(Calendar.DAY_OF_MONTH, num); + Date date = calendar.getTime(); + TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai"); + DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'"); + df.setTimeZone(tz); + String nowAsISO = df.format(date); + return nowAsISO; + } +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/ZheDaAgvController.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/ZheDaAgvController.java new file mode 100644 index 0000000..e9e2b8f --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/ZheDaAgvController.java @@ -0,0 +1,4 @@ +package org.nl.acs.agv.rest; + +public class ZheDaAgvController { +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java index 5d789c8..963eb62 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java @@ -10,6 +10,14 @@ import java.util.Map; public interface AgvService { + /** + * 下发指令 + * @param inst 指令对象 + * @return + * @throws Exception + */ + public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception; + /** * 下发agv任务 * @@ -39,6 +47,7 @@ public interface AgvService { void updateAgvFromCache(AgvDto dto); + String process(String jobno, String type, String address, String action, String processingVehicle); /** * 删除magic任务 * @@ -74,7 +83,7 @@ public interface AgvService { * @param processingVehicle * @return */ - public String process(String jobno, String type, String address, String action, String processingVehicle); + /** * Magic AGV 请求离开调用 diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java index c6ee065..7419887 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java @@ -23,6 +23,7 @@ import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceD import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver; import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver; +import org.nl.acs.device_driver.standard_manipulator_stacking_site.StandardManipulatorStackingSiteDeviceDriver; import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver; @@ -38,6 +39,7 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.opc.DeviceType; import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; import org.nl.exception.BadRequestException; import org.nl.logger.BusinessLogger; import org.nl.start.auto.run.NDCSocketConnectionAutoRun; @@ -75,22 +77,22 @@ public class AgvServiceImpl implements AgvService { Map AGVDeviceStatus = new HashMap(); - /** - * 获得之后num个天的时间 - * - * @param num - * @return - */ - public static String getNextDay(int num) { - Calendar calendar = Calendar.getInstance(); - calendar.add(Calendar.DAY_OF_MONTH, num); - Date date = calendar.getTime(); - TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai"); - DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'"); - df.setTimeZone(tz); - String nowAsISO = df.format(date); - return nowAsISO; - } +// /** +// * 获得之后num个天的时间 +// * +// * @param num +// * @return +// */ +// public static String getNextDay(int num) { +// Calendar calendar = Calendar.getInstance(); +// calendar.add(Calendar.DAY_OF_MONTH, num); +// Date date = calendar.getTime(); +// TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai"); +// DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'"); +// df.setTimeZone(tz); +// String nowAsISO = df.format(date); +// return nowAsISO; +// } /** * 返回一个点位操作子任务 @@ -258,6 +260,48 @@ public class AgvServiceImpl implements AgvService { return destinationOrder; } + @Override + public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception { + com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject(); + String start_point_code = inst.getStart_point_code(); + String next_point_code = inst.getNext_point_code(); + //1楼AGV普通任务 + //2楼AGV普通任务 + //2楼AGV起点追加任务 + //2楼AGV终点追加任务 + String task_type = inst.getInstruction_type(); + jo.put("deadline", this.getNextDay(1)); + //判断是否追加任务 + jo.put("complete", "true"); + + jo.put("task_code", inst.getInstruction_code()); + //根据任务，下发指令类型 + com.alibaba.fastjson.JSONArray destinations = new com.alibaba.fastjson.JSONArray(); + destinations.add(destination(start_point_code, "Load", "1", "1")); + destinations.add(destination(next_point_code, "Unload", "1", "1")); + + jo.put("destinations", destinations); + + if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { + String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue(); + + + agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + inst.getInstruction_code(); + log.info("下发agv任务请求:{}", agvurl); + log.info("下发agv任务参数:{}", jo.toString()); + + HttpResponse result = HttpRequest.post(agvurl) + .body(String.valueOf(jo))//表单内容 + .timeout(20000)//超时，毫秒 + .execute(); + log.info("下发agv任务请求反馈:{}", result); + return result; + } else { + return null; + } + } + @Override public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception { JSONArray ja = new JSONArray(); @@ -488,11 +532,14 @@ public class AgvServiceImpl implements AgvService { String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instCode; + agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/query"; - HttpResponse result = HttpRequest.get(agvurl) + HttpResponse result = HttpRequest.post(agvurl) + .body("{}") .timeout(20000)//超时，毫秒 .execute(); + + log.info("查询agv指令数据:{}", result.body()); System.out.println("查询agv指令数据:" + result.body()); return result; @@ -791,233 +838,119 @@ public class AgvServiceImpl implements AgvService { //1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域 @Override - public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) { - log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action); - boolean is_feedback = false; - String str = ""; - String backaddress = address; - if (address.indexOf(".") > 0) { - str = address.substring(address.indexOf("."), address.length()); - address = address.substring(0, address.indexOf(".")); - } else if (address.indexOf("-") > 0) { - address = address.substring(0, address.indexOf("-")); - } - InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); - Instruction inst = instructionService.findByCodeFromCache(jobno); + public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) + { + { + log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action); + //释放AGV资源，继续后续动作 + boolean is_feedback = false; + String str = ""; + String backaddress = address; + if (address.indexOf(".") > 0) { + str = address.substring(address.indexOf(".") + 1, address.length()); + address = address.substring(0, address.indexOf(".")); + } else if (address.indexOf("-") > 0) { + address = address.substring(0, address.indexOf("-")); + } + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + TaskService taskService = SpringContextHolder.getBean("taskServiceImpl"); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); + Instruction inst = instructionService.findByCodeFromCache(jobno); + TaskDto task = taskService.findByCode(inst.getTask_code()); - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); - Device addressdevice = appService.findDeviceByCode(address); - StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; - StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; - SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver; - YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver; - //请求进入 - if ("onEntry".equals(type)) { - - if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device addressdevice = appService.findDeviceByCode(address); + + StandardManipulatorStackingSiteDeviceDriver standardManipulatorStackingSiteDeviceDriver; + //取货的进入前等待和离开等待 + if (action.equals("Load")) { + if ("EntryRequired".equals(type)) { + + // + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){ + is_feedback = true; + } else { + log.info("设备{} 请求取货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) { - specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (addressdevice.getHas_goods() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){ + is_feedback = true; + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (addressdevice.getHas_goods() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (addressdevice.getHas_goods() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + + //放货的进入前等待和离开等待 + if (action.equals("Unload")) { + if ("EntryRequired".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){ + is_feedback = true; + } else { + log.info("设备{} 请求放货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (addressdevice.getHas_goods() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof YzjaSpecialDeviceDriver) { - yzjaSpecialDeviceDriver = (YzjaSpecialDeviceDriver) addressdevice.getDeviceDriver(); - //是否需要人工确认 - String is_unlock = yzjaSpecialDeviceDriver.getIs_unlock(); - - //请求取货 - if ("Load".equals(action)) { - if (is_unlock.equals("true")) { - if (addressdevice.getHas_goods() > 0 && yzjaSpecialDeviceDriver.getManua_confirm() == 2) { - yzjaSpecialDeviceDriver.setManua_confirm(0); - inst.setExecute_status("1"); - is_feedback = true; - } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("1")){ - yzjaSpecialDeviceDriver.setManua_confirm(1); - } - } else { - if (addressdevice.getHas_goods() > 0) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - //请求放货 - } else if ("Unload".equals(action)) { - if (is_unlock.equals("true")) { - if (addressdevice.getHas_goods() == 0 && yzjaSpecialDeviceDriver.getManua_confirm() == 2) { - yzjaSpecialDeviceDriver.setManua_confirm(0); - inst.setExecute_status("3"); - is_feedback = true; - } else if (ObjectUtil.isEmpty(inst.getExecute_status()) || !inst.getExecute_status().equals("3")){ - yzjaSpecialDeviceDriver.setManua_confirm(1); - } - } else { - if (addressdevice.getHas_goods() == 0) { - inst.setExecute_status("3"); + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){ is_feedback = true; + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); } } - } - } - - if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - //请求取货 - if ("Load".equals(action)) { - inst.setExecute_status("1"); - is_feedback = true; - //请求放货 - } else if ("Unload".equals(action)) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - - //取放货完成 - } else if ("onStation".equals(type)) { - - System.out.println("取放货完成"); - if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - } - //放货完成 - } else if ("Unload".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { - inst.setExecute_device_code(address); - inst.setExecute_status("4"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(address); - inst.setExecute_status("4"); - is_feedback = true; + com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject(); + if (is_feedback) { + requestjo.put("task_code", jobno); + requestjo.put("operation", action); + if (type.equals("entryRequired") || type.equals("EntryRequired")) { + requestjo.put("entryRequired", "true"); + } else { + requestjo.put("pauseOnStation", "true"); } + log.info("反馈AGV请求数据:{}", requestjo); + System.out.println("back agv:" + requestjo); - } - if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) { - specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("4"); - is_feedback = true; - } - } - if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("4"); - is_feedback = true; - } - } - } - JSONObject requestjo = new JSONObject(); - JSONArray ja = new JSONArray(); - if (is_feedback) { - String param = ""; - JSONObject jo = new JSONObject(); - if (str.length() > 0) { - backaddress = backaddress + str; - } - if ("onEntry".equals(type)) { - param = "EntryPermitted-" + backaddress + action; - } else if ("onStation".equals(type)) { - param = "ContinueOnStation-" + backaddress + action; - } + String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); + String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - jo.put("key", param); - jo.put("value", "False"); - ja.add(jo); - requestjo.put("properties", ja); - log.info("反馈AGV请求数据:{}", requestjo); - System.out.println("back agv:" + requestjo); + agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact"; - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact"; + HttpResponse result = HttpRequest.post(agvurl) + .body(String.valueOf(requestjo)) + .timeout(20000)//超时，毫秒 + .execute(); + } + return requestjo.toString(); - HttpResponse result = HttpRequest.post(agvurl) - .body(String.valueOf(requestjo)) - .timeout(20000)//超时，毫秒 - .execute(); } - is_feedback = false; - - return requestjo.toString(); - } @Override @@ -2002,6 +1935,24 @@ public class AgvServiceImpl implements AgvService { return ret; } + + /** + * 获得之后num个天的时间 + * + * @param num + * @return + */ + public static String getNextDay(int num) { + Calendar calendar = Calendar.getInstance(); + calendar.add(Calendar.DAY_OF_MONTH, num); + Date date = calendar.getTime(); + TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai"); + DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'"); + df.setTimeZone(tz); + String nowAsISO = df.format(date); + return nowAsISO; + } + public static void main(String[] args) { String address = "L1-01-01"; if (address.indexOf("-") > 0) { diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 7eefe4f..dc1f2f3 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -450,6 +450,13 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu dto.setSend_status("1"); } } + } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "4")) { + HttpResponse result = agvService.sendAgvInstToAgv(dto); + if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) { + dto.setSend_status("2"); + } else { + dto.setSend_status("1"); + } } } } catch (Exception e) { diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java new file mode 100644 index 0000000..0310051 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java @@ -0,0 +1,101 @@ +package org.nl.modules.quartz.task; + +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.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.AgvService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + + +/** + * 查询AGV任务状态 + */ +@Slf4j +@Component +public class QueryAgvTaskStatus { + @Autowired + InstructionService instructionService; + + @Autowired + AgvService agvService; + + + public void run() throws Exception { + try { + HttpResponse response = agvService.queryAgvInstStatus("1"); + //查询AGV指令列表 + JSONArray inst_rows = JSONArray.parseArray(response.body()); + for (int i = 0; i < inst_rows.size(); i++) { + JSONObject inst_jo = inst_rows.getJSONObject(i); + String inst_code = inst_jo.getString("task_code"); + Instruction inst = instructionService.findByCodeFromCache(inst_code); + if (ObjectUtil.isEmpty(inst)) { + continue; + } + //反馈结果状态 + log.info("instcode：" + inst_code + "," + inst_jo.toString()); + + String state = inst_jo.getString("state"); + String vehicle = ""; + //正在执行指令agv车号 + if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { + vehicle = inst_jo.getString("vehicle"); + inst.setCarno(vehicle); + } +// RAW：初始状态 +// ACTIVE：业务订单已激活 +// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行 +// BEING_PROCESSED：业务订单正在被执行 +// WITHDRAWN：业务订单已被撤销 +// FINISHED：业务订单已完成 +// FAILED：业务订单已失败 +// UNROUTABLE：无法规划该业务订单的执行路线 + + //执行中 + if ("BEING_PROCESSED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("1"); + instructionService.update(inst); + } + } else if ("FINISHED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("2"); + instructionService.finish(inst); + } + } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("3"); + instructionService.update(inst); + instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); + } + } + JSONArray ja = inst_jo.getJSONArray("destinations"); + for (int j = 0; j < ja.size(); j++) { + JSONObject jo = ja.getJSONObject(j); + JSONArray pro_rows = jo.getJSONArray("properties"); + //Load 取货动作 Unload放货动作 Wait等待 + String operation = jo.getString("operation"); + String device = jo.getString("locationName"); + for (int k = 0; k < pro_rows.size(); k++) { + JSONObject item = pro_rows.getJSONObject(k); + if ("true".equals(item.get("value"))) { + String param = item.get("key").toString(); + //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 + agvService.process(inst_code, param, device, operation, vehicle); + } + } + } + } + } catch (Exception e) { + + } + + } + +}