From 747e9120b3173531283fb69b212fc5f0a4ce8de6 Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Sun, 25 Aug 2024 15:34:47 +0800 Subject: [PATCH] =?UTF-8?q?add:=20=E5=8F=98=E5=8A=A8=E5=BC=80=E5=8F=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- acs/nladmin-system/pom.xml | 34 +++++- .../org/nl/acs/agv/server/AgvWaitUtil.java | 16 ++- .../agv_conveyor/AgvConveyorDeviceDriver.java | 103 +++++++++++++----- .../basedriver/agv_conveyor/ItemProtocol.java | 16 +-- .../org/nl/acs/task/service/TaskService.java | 7 ++ .../task/service/impl/TaskServiceImpl.java | 25 +++-- acs/nladmin-ui/public/config.js | 2 +- .../views/acs/device/driver/agv_conveyor.vue | 44 +++----- 8 files changed, 171 insertions(+), 76 deletions(-) diff --git a/acs/nladmin-system/pom.xml b/acs/nladmin-system/pom.xml index 2095112..aec1a03 100644 --- a/acs/nladmin-system/pom.xml +++ b/acs/nladmin-system/pom.xml @@ -57,6 +57,12 @@ org.openscada.jinterop.deps 1.5.0 + + + org.bouncycastle + bcprov-jdk15on + 1.54 + org.openscada.utgard org.openscada.opc.dcom @@ -415,7 +421,33 @@ ik-analyzer ${lucene.version} - + + commons-io + commons-io + 2.8.0 + + + org.openscada.jinterop + org.openscada.jinterop.core + 2.1.8 + + + org.bouncycastle + bcprov-jdk15on + + + + + org.openscada.jinterop + org.openscada.jinterop.deps + 1.5.0 + + + org.bouncycastle + bcprov-jdk15on + + + org.apache.lucene diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java index 6e8a9a9..3025d02 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java @@ -1,5 +1,6 @@ package org.nl.acs.agv.server; +import cn.hutool.core.map.MapUtil; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import com.alibaba.fastjson.JSONObject; @@ -14,6 +15,7 @@ import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.modules.common.exception.BadRequestException; +import org.nl.modules.wql.core.bean.WQLObject; import org.springframework.stereotype.Service; /** @@ -127,6 +129,7 @@ public class AgvWaitUtil { AgvConveyorDeviceDriver driver = (AgvConveyorDeviceDriver) executeDevice.getDeviceDriver(); if ("down".equals(task.getExecute_message())) { driver.writing("to_down_finished", 1); + this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "下料完成"); } } } @@ -308,6 +311,16 @@ public class AgvWaitUtil { // 普通站点驱动 String message = "允许AGV放货后离开。"; this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", message); + //人工放货位到缓存区需要将货位信息写入缓存区 + if (task.getStart_device_code().startsWith("R_")&& deviceCode.endsWith("CH_")){ + WQLObject wo = WQLObject.getWQLObject("acs_device_runpoint"); + JSONObject json = wo.query("device_code ='" + task.getStart_device_code() + "'").uniqueResult(0); + if (MapUtil.isNotEmpty(json)) { + JSONObject rpUpdate = new JSONObject(); + rpUpdate.put("material_type", json.get("material_type")); + WQLObject.getWQLObject("acs_device_runpoint").update(rpUpdate, "device_code = '" + deviceCode + "'"); + } + } // agv上料完成后写信号 String executeCode = task.getExecute_code(); if (StrUtil.isNotEmpty(executeCode)) { @@ -316,9 +329,10 @@ public class AgvWaitUtil { AgvConveyorDeviceDriver driver = (AgvConveyorDeviceDriver) executeDevice.getDeviceDriver(); if ("up".equals(task.getExecute_message())) { driver.writing("to_up_finished", 1); + this.deviceExecuteLogService.deviceExecuteLog(deviceCode, "", "", "上料完成"); } - } + } flag = true; } else { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/AgvConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/AgvConveyorDeviceDriver.java index bb73128..9a0c87b 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/AgvConveyorDeviceDriver.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/AgvConveyorDeviceDriver.java @@ -71,11 +71,14 @@ public class AgvConveyorDeviceDriver extends AbstractOpcDeviceDriver implements int heartbeat = 0; int error = 0; int task = 0; - String on_off_site; - String tray_Information; + int on_off_site; + int tray_Information; int down_request; int up_request; + String on_off_site_str; + String tray_Information_str; + Boolean isonline = true; Boolean iserror = false; @@ -99,12 +102,12 @@ public class AgvConveyorDeviceDriver extends AbstractOpcDeviceDriver implements String message = null; device_code = this.getDeviceCode(); - heartbeat = this.itemProtocol.getItem_heartbeat(); on_off_site = this.itemProtocol.getItem_on_off_site(); tray_Information = this.itemProtocol.getItem_tray_Information(); down_request = this.itemProtocol.getItem_down_request(); up_request = this.itemProtocol.getItem_up_request(); - + on_off_site_str = String.valueOf(on_off_site); + tray_Information_str = String.valueOf(tray_Information); @@ -116,10 +119,12 @@ public class AgvConveyorDeviceDriver extends AbstractOpcDeviceDriver implements this.setIsonline(false); this.setIserror(true); //未联机 + logServer.deviceExecuteLog(this.device_code, "", "", "未联机"); + } else { this.setIsonline(true); this.setIserror(false); - if ((down_request == 1 || up_request == 1) && StringUtils.isNoneEmpty(on_off_site)){ + if ((down_request == 1 || up_request == 1) && StringUtils.isNoneEmpty(on_off_site_str)){ task_apply(); } } @@ -135,42 +140,88 @@ public class AgvConveyorDeviceDriver extends AbstractOpcDeviceDriver implements } else { this.instruction_require_time = date; WQLObject wo = WQLObject.getWQLObject("acs_device_runpoint"); - JSONObject json = wo.query("device_code ='" + on_off_site + "'").uniqueResult(0); - if (MapUtil.isNotEmpty(json) && "0".equals(json.get("hasgoods"))){ - logServer.deviceExecuteLog(this.device_code, "", "", on_off_site + "无上下料货物"); - return false; - } + //上料设备 + List putDeviceCodeList = this.getExtraDeviceCodes("put_device_code"); + //下料设备 + List getDeviceCodeList = this.getExtraDeviceCodes("get_device_code"); + //请求下料 if (down_request == 1){ - List routeLineDtos = routeLineService.getsByCode(on_off_site,"normal"); - if (CollUtil.isEmpty(routeLineDtos) || routeLineDtos.size() < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "没有"+ on_off_site + "的路由"); + String nextCode = null; + //下料点要有货，终点要无货 + JSONObject json = wo.query("device_code ='" + on_off_site_str + "'").uniqueResult(0); + if (MapUtil.isNotEmpty(json) && "0".equals(json.get("hasgoods"))){ + logServer.deviceExecuteLog(this.device_code, "", "", on_off_site_str + "下料点无货物"); return false; } - RouteLineDto routeLineDto = routeLineDtos.get(0); + if (CollUtil.isNotEmpty(getDeviceCodeList)){ + //查找无货的防货点 + for (String deviceCode : getDeviceCodeList) { + JSONObject jsonEnd = wo.query("device_code ='" + deviceCode + "'").uniqueResult(0); + if (MapUtil.isNotEmpty(jsonEnd) && "0".equals(jsonEnd.get("hasgoods"))){ + nextCode = deviceCode; + break; + } + } + } + + if (nextCode == null){ + logServer.deviceExecuteLog(this.device_code, "", "", "终点货物占满"); + return false; + } + List taskDtos = taskserver.queryTaskByDeviceCodeAndStatus(on_off_site_str); + if (CollUtil.isNotEmpty(taskDtos)){ + logServer.deviceExecuteLog(this.device_code, "", "", "已存在"+on_off_site_str+"为起点就绪或执行的任务"); + return false; + } + TaskDto taskDto = new TaskDto(); - taskDto.setStart_device_code(on_off_site); - taskDto.setNext_device_code(routeLineDto.getNext_device_code()); - taskDto.setStart_point_code(on_off_site); - taskDto.setNext_point_code(routeLineDto.getNext_device_code()); + taskDto.setStart_device_code(on_off_site_str); + taskDto.setNext_device_code(nextCode); + taskDto.setStart_point_code(on_off_site_str); + taskDto.setNext_point_code(nextCode); taskDto.setExecute_code(this.device_code); taskDto.setExecute_message("down"); + taskDto.setTask_type("3"); taskserver.create(taskDto); } //请求上料 if (up_request == 1){ - List routeLineDtos = routeLineService.getPathLinesByCode(on_off_site,"normal"); - if (CollUtil.isEmpty(routeLineDtos) || routeLineDtos.size() < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "没有"+ on_off_site + "的路由"); + String startCode = null; + //起点要有货，上料点要无货 + JSONObject json = wo.query("device_code ='" + on_off_site_str + "'").uniqueResult(0); + if (MapUtil.isNotEmpty(json) && "1".equals(json.get("hasgoods"))){ + logServer.deviceExecuteLog(this.device_code, "", "", on_off_site_str + "上料点存在货物"); + return false; + } + + if (CollUtil.isNotEmpty(putDeviceCodeList)){ + //查找无货的防货点 + for (String deviceCode : putDeviceCodeList) { + JSONObject jsonStar = wo.query("device_code ='" + deviceCode + "'").uniqueResult(0); + if (MapUtil.isNotEmpty(jsonStar) && "1".equals(jsonStar.get("hasgoods")) && tray_Information_str.equals(jsonStar.get("material_type"))){ + startCode = deviceCode; + break; + } + } + } + if (startCode == null){ + logServer.deviceExecuteLog(this.device_code, "", "", "起点无货物可取或者物料类型不匹配"); + return false; + } + List taskDtos = taskserver.queryTaskByEndDeviceCodeAndStatus(on_off_site_str); + if (CollUtil.isNotEmpty(taskDtos)){ + logServer.deviceExecuteLog(this.device_code, "", "", "已存在"+startCode+"为终点就绪或执行的任务"); + return false; } - RouteLineDto routeLineDto = routeLineDtos.get(0); TaskDto taskDto = new TaskDto(); - taskDto.setStart_device_code(routeLineDto.getDevice_code()); - taskDto.setNext_device_code(on_off_site); - taskDto.setStart_point_code(routeLineDto.getDevice_code()); - taskDto.setNext_point_code(on_off_site); + taskDto.setStart_device_code(startCode); + taskDto.setNext_device_code(on_off_site_str); + taskDto.setStart_point_code(startCode); + taskDto.setNext_point_code(on_off_site_str); taskDto.setExecute_code(this.device_code); taskDto.setExecute_message("up"); + taskDto.setTask_type("3"); taskserver.create(taskDto); } return true; diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/ItemProtocol.java index f830602..97f104f 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/ItemProtocol.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv_conveyor/ItemProtocol.java @@ -13,12 +13,11 @@ import java.util.List; @Setter public class ItemProtocol { - public static String item_heartbeat = "heartbeat"; public static String item_on_off_site = "on_off_site"; public static String item_tray_Information = "tray_Information"; public static String item_down_request = "down_request"; public static String item_up_request = "up_request"; - public static String item_to_up_finished = "to_up_finished "; + public static String item_to_up_finished = "to_up_finished"; public static String item_to_down_finished = "to_down_finished"; @@ -29,16 +28,14 @@ public class ItemProtocol { this.driver = driver; } - public int getItem_heartbeat() { - return this.getOpcIntegerValue(item_heartbeat); - } - public String getItem_on_off_site() { - return this.getOpcStringValue(item_on_off_site); + + public int getItem_on_off_site() { + return this.getOpcIntegerValue(item_on_off_site); } - public String getItem_tray_Information() { - return this.getOpcStringValue(item_tray_Information); + public int getItem_tray_Information() { + return this.getOpcIntegerValue(item_tray_Information); } public int getItem_down_request() { @@ -75,7 +72,6 @@ public class ItemProtocol { public static List getReadableItemDtos() { ArrayList list = new ArrayList(); - list.add(new ItemDTO(item_heartbeat, "心跳", "VW0")); list.add(new ItemDTO(item_on_off_site, "上下站点", "VW2")); list.add(new ItemDTO(item_tray_Information, "料盘信息", "VW4")); list.add(new ItemDTO(item_down_request, "下料请求", "VW6")); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java index 8c4f08b..ccfacb2 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java @@ -242,4 +242,11 @@ public interface TaskService { */ List queryTaskByDeviceCodeAndStatus(String device_code); + /** + * 根据终点设备号和任务状态查询 + * @param device_code + * @return + */ + List queryTaskByEndDeviceCodeAndStatus(String device_code); + } 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 51bd979..f8c2840 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 @@ -728,10 +728,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { rpUpdate.put("update_time", DateUtil.now()); String device_code3 = ""; String device_code4 = ""; - if (device3 != null){ + if (device3 != null) { device_code3 = device3.getDevice_code(); } - if (device4 != null){ + if (device4 != null) { device_code4 = device4.getDevice_code(); } WQLObject.getWQLObject("acs_device_runpoint").update(rpUpdate, "device_code IN ('" + device1.getDevice_code() + "', '" + device2.getDevice_code() + "', '" + device_code3 + "', '" + device_code4 + "')"); @@ -1226,11 +1226,22 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { Iterator iterator = tasks.iterator(); while (iterator.hasNext()) { TaskDto task = iterator.next(); - if (task.getStart_device_code().equals(device_code) && StrUtil.equals(task.getTask_status(), "1")) { - Instruction instruction = instructionService.findByTaskcodeAndStatus(task.getTask_code()); - if (ObjectUtil.isNotEmpty(instruction)) { - list.add(task); - } + if (task.getStart_device_code().equals(device_code) && (StrUtil.equals(task.getTask_status(), "1") || StrUtil.equals(task.getTask_status(), "0"))) { + list.add(task); + } + } + return list; + } + + + @Override + public List queryTaskByEndDeviceCodeAndStatus(String device_code) { + List list = new ArrayList<>(); + Iterator iterator = tasks.iterator(); + while (iterator.hasNext()) { + TaskDto task = iterator.next(); + if (task.getNext_device_code().equals(device_code) && (StrUtil.equals(task.getTask_status(), "1") || StrUtil.equals(task.getTask_status(), "0"))) { + list.add(task); } } return list; diff --git a/acs/nladmin-ui/public/config.js b/acs/nladmin-ui/public/config.js index 56d6c09..07f88d9 100644 --- a/acs/nladmin-ui/public/config.js +++ b/acs/nladmin-ui/public/config.js @@ -3,7 +3,7 @@ window.g = { VUE_APP_BASE_API: 'http://127.0.0.1:8010' }, prod: { - VUE_APP_BASE_API: 'http://10.93.41.198:8010' + VUE_APP_BASE_API: 'http://188.188.69.101:8010' } diff --git a/acs/nladmin-ui/src/views/acs/device/driver/agv_conveyor.vue b/acs/nladmin-ui/src/views/acs/device/driver/agv_conveyor.vue index 7db5a97..61ece3d 100644 --- a/acs/nladmin-ui/src/views/acs/device/driver/agv_conveyor.vue +++ b/acs/nladmin-ui/src/views/acs/device/driver/agv_conveyor.vue @@ -67,17 +67,14 @@ - - - - - - - + + + - - + + @@ -107,23 +105,7 @@ - - - - - - - - - - - - - - - - - + @@ -294,7 +276,9 @@ export default { manual_create_task: true, is_pickup: true, is_release: true, - link_device_code: '' + link_device_code: '', + get_device_code: [], + put_device_code: [] }, rules: {} }