From a33fe65de1a5c04b1c1128d6601c01faa859d3af Mon Sep 17 00:00:00 2001 From: psh Date: Mon, 11 Sep 2023 16:22:58 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E5=8F=96=E6=B6=88/=E6=95=85?= =?UTF-8?q?=E9=9A=9C=E5=8F=8D=E9=A6=88/=E4=BD=8D=E7=BD=AE=E5=8F=8D?= =?UTF-8?q?=E9=A6=88=E6=8E=A5=E5=8F=A3=E5=AE=9E=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 2 +- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 42 +- .../org/nl/acs/ext/wms/data/DeviceMotion.java | 47 ++ .../acs/ext/wms/data/JDCancelTaskRequest.java | 51 ++ .../ext/wms/data/JDCancelTaskResponse.java | 30 + .../acs/ext/wms/data/JDChangeTaskRequest.java | 57 ++ .../ext/wms/data/JDChangeTaskResponse.java | 30 + .../nl/acs/ext/wms/data/JDFaultRequest.java | 57 ++ .../nl/acs/ext/wms/data/JDFaultResponse.java | 30 + .../acs/ext/wms/data/JDFeedbackRequest.java | 25 + .../java/org/nl/acs/ext/wms/data/Payload.java | 94 +++ .../org/nl/acs/ext/wms/data/TaskList.java | 48 ++ .../acs/ext/wms/rest/JDToAcsController.java | 18 + .../acs/ext/wms/service/JDToAcsService.java | 67 +- .../wms/service/impl/JDToAcsServiceImpl.java | 676 ++++++------------ .../org/nl/acs/opc/DeviceAppServiceImpl.java | 10 +- .../common/utils/enums/DeviceStatusEnum.java | 36 + .../nl/modules/quartz/task/ToAgvDevice.java | 106 +-- .../main/resources/config/application-dev.yml | 5 +- 19 files changed, 847 insertions(+), 584 deletions(-) create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/DeviceMotion.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskRequest.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskResponse.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskRequest.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskResponse.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultRequest.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultResponse.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFeedbackRequest.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/Payload.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/TaskList.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/modules/common/utils/enums/DeviceStatusEnum.java 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 10871ed..e070e86 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 @@ -216,7 +216,7 @@ 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 == 0x74) { device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); } 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 eed8e57..feac4b4 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 @@ -18,7 +18,9 @@ import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDevic import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; +import org.nl.acs.ext.wms.data.JDFaultRequest; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.JDToAcsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; @@ -30,6 +32,7 @@ import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.impl.TaskServiceImpl; +import org.nl.modules.common.utils.enums.DeviceStatusEnum; import org.nl.modules.system.service.ParamService; import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.wql.util.SpringContextHolder; @@ -55,6 +58,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + JDToAcsService jdToAcsService=SpringContextHolder.getBean(JDToAcsService.class); int agvaddr = 0; int agvaddr_copy = 0; int weight = 0; @@ -75,6 +79,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int last_status = 0; int last_error = 0; + int goods =0; + + //0-初始；1-取货中；2-取货完成；3-放货中；4-放货完成 + int inst_status = 0; + + Instruction global_inst = null; + @LokiLog(type = LokiLogType.ACS_TO_LMS) public synchronized void processSocket(int[] arr) throws Exception { device_code = this.getDeviceCode(); @@ -98,6 +109,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } if (ikey != 0) { inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + global_inst=inst; // if (ObjectUtil.isEmpty(inst)) { // inst = instructionService.findByCode(String.valueOf(ikey)); // } @@ -112,6 +124,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic String device_code = null; if (phase == 0x67) { + error= ikey; //故障信息 if (arr[18] * 256 + arr[19] == 0) { @@ -141,6 +154,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic map.put("deviceNo",inst.getCarno()); // req.add(map); HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(map); + inst_status=0; //到达取货点 //(需要WCS反馈) } else if (phase == 0x03) { @@ -179,6 +193,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic return; } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + inst_status=1; //取货完毕 //(需要WCS反馈) } else if (phase == 0x05) { @@ -242,6 +257,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.warn("指令号:{},acs反馈wms取货完成离开失败，连接被拒绝,未反馈agv取货完成离开", inst.getInstruction_code()); } } + goods=1; + inst_status=2; //到达放货点 //(需要WCS反馈) } else if (phase == 0x07) { @@ -277,7 +294,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - + inst_status=3; //放货完毕 //(需要WCS反馈) } else if (phase == 0x09) { @@ -338,7 +355,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic log.warn("指令号:{},acs请求wms放货完成离开失败，连接被拒绝,未反馈agv放货完成离开", inst.getInstruction_code()); } } - + goods=0; + inst_status=4; } //到达位置点 //(需要WCS反馈) @@ -354,6 +372,26 @@ 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 == 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) { + status = ikey; + JDFaultRequest jdFaultRequest=new JDFaultRequest(); + jdFaultRequest.setUuid(IdUtil.simpleUUID()); + jdFaultRequest.setStatus(ikey==2?"0":"2"); + jdFaultRequest.setFaultType(DeviceStatusEnum.getEnumValue(ikey).getDesc()); + jdFaultRequest.setDesc(DeviceStatusEnum.getEnumValue(ikey).getDesc()); + jdToAcsService.feedbackDeviceFault(jdFaultRequest); } if (!ObjectUtil.isEmpty(data)) { logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/DeviceMotion.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/DeviceMotion.java new file mode 100644 index 0000000..131dd64 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/DeviceMotion.java @@ -0,0 +1,47 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class DeviceMotion{ + + + /** + * 车头方向 + */ + private String direction; + + /** + * 逻辑位置 Z + */ + private String logicalZ; + + /** + * 逻辑位置 X + */ + private String logicalX; + + /** + * 逻辑位置 Y + */ + private String logicalY; + + /** + * 水平速度 + */ + private Double speedH; + + /** + * 垂直速度 + */ + private Double speedV; + + /** + * 当前行程点 + */ + private String planPath; + + + + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskRequest.java new file mode 100644 index 0000000..a8a2e68 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskRequest.java @@ -0,0 +1,51 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDCancelTaskRequest extends BaseRequest { + + + /** + * 场景编号 + */ + private String scenarioNo; + + + /** + * 防重码 + */ + String uuid; + + /** + * 当前时间 + */ + Long currentTime; + + /** + * 任务号 + */ + String taskNo; + + /** + * 容器号 + */ + String containerNo; + + /** + * 备注 + */ + String remark; + + @Override + public String toString() { + return "JDCancelTaskRequest{" + + "scenarioNo='" + scenarioNo + '\'' + + ", uuid='" + uuid + '\'' + + ", currentTime=" + currentTime + + ", taskNo='" + taskNo + '\'' + + ", containerNo='" + containerNo + '\'' + + ", remark='" + remark + '\'' + + '}'; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskResponse.java new file mode 100644 index 0000000..92980a3 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDCancelTaskResponse.java @@ -0,0 +1,30 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDCancelTaskResponse extends BaseRequest { + + + /** + * 是否成功 + */ + private Boolean result=true; + + + /** + * 异常码 + */ + Integer code=200; + + /** + * 异常消息 + */ + String message="取消任务成功"; + + /** + * 数据对象 + */ + Object data; + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskRequest.java new file mode 100644 index 0000000..b368709 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskRequest.java @@ -0,0 +1,57 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDChangeTaskRequest extends BaseRequest { + + + /** + * 场景编号 + */ + private String scenarioNo; + + + /** + * 防重码 + */ + String uuid; + + /** + * 当前时间 + */ + Long currentTime; + + /** + * 任务号 + */ + String taskNo; + + /** + * 容器号 + */ + String containerNo; + + /** + * 优先级 + */ + Integer priority; + + /** + * 备注 + */ + String remark; + + @Override + public String toString() { + return "JDChangeTaskRequest{" + + "scenarioNo='" + scenarioNo + '\'' + + ", uuid='" + uuid + '\'' + + ", currentTime=" + currentTime + + ", taskNo='" + taskNo + '\'' + + ", containerNo='" + containerNo + '\'' + + ", priority=" + priority + + ", remark='" + remark + '\'' + + '}'; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskResponse.java new file mode 100644 index 0000000..952b1ad --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDChangeTaskResponse.java @@ -0,0 +1,30 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDChangeTaskResponse extends BaseRequest { + + + /** + * 是否成功 + */ + private Boolean result=true; + + + /** + * 异常码 + */ + Integer code=200; + + /** + * 异常消息 + */ + String message="取消任务成功"; + + /** + * 数据对象 + */ + Object data; + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultRequest.java new file mode 100644 index 0000000..770478c --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultRequest.java @@ -0,0 +1,57 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDFaultRequest extends BaseRequest { + + + /** + * 场景编号 + */ + private String scenarioNo; + + + /** + * 防重码 + */ + String uuid; + + /** + * 故障类型 + */ + String faultType; + + /** + * 故障对象 + */ + String faultNo; + + /** + * 故障状态 + */ + String status; + + /** + * 故障描述 + */ + String desc; + + /** + * 当前位置 + */ + String location; + + @Override + public String toString() { + return "JDFaultRequest{" + + "scenarioNo='" + scenarioNo + '\'' + + ", uuid='" + uuid + '\'' + + ", faultType=" + faultType + + ", faultNo='" + faultNo + '\'' + + ", status='" + status + '\'' + + ", desc='" + desc + '\'' + + ", location='" + location + '\'' + + '}'; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultResponse.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultResponse.java new file mode 100644 index 0000000..f1ae47d --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFaultResponse.java @@ -0,0 +1,30 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class JDFaultResponse extends BaseRequest { + + + /** + * 是否成功 + */ + private Boolean result=true; + + + /** + * 异常码 + */ + Integer code=200; + + /** + * 异常消息 + */ + String message="操作成功"; + + /** + * 数据对象 + */ + Object data; + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFeedbackRequest.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFeedbackRequest.java new file mode 100644 index 0000000..3f2be98 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/JDFeedbackRequest.java @@ -0,0 +1,25 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +import java.util.List; + +@Data +public class JDFeedbackRequest{ + + + /** + * 调用码 + */ + private String callCode; + + private List payload; + + @Override + public String toString() { + return "JDFeedbackRequest{" + + "callCode='" + callCode + '\'' + + ", payload=" + payload + + '}'; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/Payload.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/Payload.java new file mode 100644 index 0000000..988fa0a --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/Payload.java @@ -0,0 +1,94 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +import java.util.List; + +@Data +public class Payload{ + + + /** + * 设备类型 + */ + private String deviceType; + + /** + * 设备代码 + */ + private String deviceNo; + + /** + * 当前时间 + */ + private Long currentTime; + + /** + * 工作模式 + */ + private String workMode; + + /** + * 工作状态 + */ + private String workStatus; + + /** + * 故障状态 + */ + private String faultStatus; + + /** + * 故障码 + */ + private String faultCodes; + + /** + * 通讯状态 + */ + private String connectStatus; + + /** + * 是否载货 + */ + private String existGoods; + + /** + * 充电状态 + */ + private String charging; + + /** + * 电池电量 + */ + private String battery; + + /** + * 运动信息 + */ + private DeviceMotion deviceMotion; + + /** + * 任务信息 + */ + private List taskList; + + @Override + public String toString() { + return "Payload{" + + "deviceType='" + deviceType + '\'' + + ", deviceNo='" + deviceNo + '\'' + + ", currentTime=" + currentTime + + ", workMode='" + workMode + '\'' + + ", workStatus='" + workStatus + '\'' + + ", faultStatus='" + faultStatus + '\'' + + ", faultCodes='" + faultCodes + '\'' + + ", connectStatus='" + connectStatus + '\'' + + ", existGoods='" + existGoods + '\'' + + ", charging='" + charging + '\'' + + ", battery='" + battery + '\'' + + ", deviceMotion=" + deviceMotion + + ", taskList=" + taskList + + '}'; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/TaskList.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/TaskList.java new file mode 100644 index 0000000..8b12fbe --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/TaskList.java @@ -0,0 +1,48 @@ +package org.nl.acs.ext.wms.data; + +import lombok.Data; + +@Data +public class TaskList { + + + /** + * 容器编号 + */ + private String containerNo; + + /** + * 是否载货 + */ + private String existGoods; + + /** + * 位置序号 + */ + private String sequence; + + /** + * 地图号 + */ + private String mapNo; + + /** + * 起始位 + */ + private String fromPoint; + + /** + * 目标位 + */ + private String toPoint; + + /** + * 任务状态 + */ + private String taskStatus; + + + + + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/JDToAcsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/JDToAcsController.java index 1797995..0873036 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/JDToAcsController.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/JDToAcsController.java @@ -10,6 +10,8 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.ext.wms.data.CancelTaskRequest; import org.nl.acs.ext.wms.data.CreateTaskRequest; +import org.nl.acs.ext.wms.data.JDCancelTaskRequest; +import org.nl.acs.ext.wms.data.JDChangeTaskRequest; import org.nl.acs.ext.wms.data.JDCreateTaskRequest; import org.nl.acs.ext.wms.service.JDToAcsService; import org.nl.acs.ext.wms.service.WmsToAcsService; @@ -44,5 +46,21 @@ public class JDToAcsController { return new ResponseEntity<>(jDtoacsService.crateTask(reqs), HttpStatus.OK); } + @PostMapping("/task_cancel") + @Log(value = "ACS接收WMS任务取消",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS) + @ApiOperation("接收WMS任务取消") + @SaIgnore + public ResponseEntity cancelFromWms(@RequestBody JDCancelTaskRequest reqs) { + return new ResponseEntity<>(jDtoacsService.cancelFromWms(reqs), HttpStatus.OK); + } + + @PostMapping("/task_priority_change") + @Log(value = "任务优先级变更",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS) + @ApiOperation("任务优先级变更") + @SaIgnore + public ResponseEntity changeFromWms(@RequestBody JDChangeTaskRequest reqs) { + return new ResponseEntity<>(jDtoacsService.changeFromWms(reqs), HttpStatus.OK); + } + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/JDToAcsService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/JDToAcsService.java index 09afe7e..d34bc41 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/JDToAcsService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/JDToAcsService.java @@ -1,13 +1,22 @@ package org.nl.acs.ext.wms.service; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import org.nl.acs.ext.wms.data.CancelTaskRequest; import org.nl.acs.ext.wms.data.CancelTaskResponse; import org.nl.acs.ext.wms.data.CreateTaskRequest; import org.nl.acs.ext.wms.data.CreateTaskResponse; +import org.nl.acs.ext.wms.data.JDCancelTaskRequest; +import org.nl.acs.ext.wms.data.JDCancelTaskResponse; +import org.nl.acs.ext.wms.data.JDChangeTaskRequest; +import org.nl.acs.ext.wms.data.JDChangeTaskResponse; import org.nl.acs.ext.wms.data.JDCreateTaskRequest; import org.nl.acs.ext.wms.data.JDCreateTaskResponse; +import org.nl.acs.ext.wms.data.JDFaultRequest; +import org.nl.acs.ext.wms.data.JDFaultResponse; +import org.nl.acs.ext.wms.data.JDFeedbackRequest; import org.nl.acs.ext.wms.data.PutActionResponse; import java.util.List; @@ -28,64 +37,22 @@ public interface JDToAcsService { * * @param reqs 条件 */ - CancelTaskResponse cancelFromWms(List reqs) throws Exception; + JDCancelTaskResponse cancelFromWms(JDCancelTaskRequest reqs); /** - * 修改设置有无货属性 + * 更改优先级 * - * @param jsonObject 条件 - * @return Map - */ - Map updateDeviceGoodsFromWms(String jsonObject); - - /** - * 区域控制 - * - * @param jsonObject 条件 - * @return Map + * @param reqs 条件 */ - Map areaControl(JSONObject jsonObject); + JDChangeTaskResponse changeFromWms(JDChangeTaskRequest reqs); - /** - * 下发动作 - * - * @param jsonObject 条件 - * @return Map - */ - PutActionResponse putAction(String jsonObject) throws Exception; + void feedbackDeviceFault(JDFaultRequest reqs); /** - * 查询设备状态 + * 反馈AGV设备信息 * - * @param jsonObject 条件 - * @return Map - */ - Map queryDevice(String jsonObject) throws Exception; - - /** - * 查询设备DB值 - * @param whereJson - * @return - */ - Map queryDeviceDBValue(String whereJson); - - - - /** - * ACS系统在获取空的托盘号 - * @param whereJson + * @param from * @return */ - Map querydevice(String whereJson); - - - /** - * 下发插拔轴动作 - * - * @param whereJson 条件 - * @return Map - */ - Map putPlusPullAction(String whereJson); - - + HttpResponse feedbackAgv(JDFeedbackRequest jdFeedbackRequest); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java index 29938ee..5445f50 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/JDToAcsServiceImpl.java @@ -3,6 +3,8 @@ package org.nl.acs.ext.wms.service.impl; import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; +import cn.hutool.http.HttpRequest; +import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; @@ -10,20 +12,32 @@ import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; import org.nl.acs.common.IDriverService; +import org.nl.acs.device.address.service.AddressService; +import org.nl.acs.device.address.service.dto.AddressDto; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.basedriver.hongxiang_conveyor.HongXiangStationDeviceDriver; import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.plug_pull_device_site.PlugPullDeviceSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver; +import org.nl.acs.ext.wms.AcsUtil; +import org.nl.acs.ext.wms.RespUtil; import org.nl.acs.ext.wms.data.CancelTaskRequest; import org.nl.acs.ext.wms.data.CancelTaskResponse; import org.nl.acs.ext.wms.data.CreateTaskRequest; import org.nl.acs.ext.wms.data.CreateTaskResponse; +import org.nl.acs.ext.wms.data.JDCancelTaskRequest; +import org.nl.acs.ext.wms.data.JDCancelTaskResponse; +import org.nl.acs.ext.wms.data.JDChangeTaskRequest; +import org.nl.acs.ext.wms.data.JDChangeTaskResponse; import org.nl.acs.ext.wms.data.JDCreateTaskRequest; import org.nl.acs.ext.wms.data.JDCreateTaskResponse; +import org.nl.acs.ext.wms.data.JDFaultRequest; +import org.nl.acs.ext.wms.data.JDFaultResponse; +import org.nl.acs.ext.wms.data.JDFeedbackRequest; import org.nl.acs.ext.wms.data.JsonUtl; import org.nl.acs.ext.wms.data.PutActionRequest; import org.nl.acs.ext.wms.data.PutActionResponse; +import org.nl.acs.ext.wms.liKuData.OutStoreResponse; import org.nl.acs.ext.wms.service.AcsToLiKuService; import org.nl.acs.ext.wms.service.JDToAcsService; import org.nl.acs.ext.wms.service.WmsToAcsService; @@ -41,10 +55,12 @@ import org.nl.modules.wql.core.bean.WQLObject; import org.nl.modules.wql.exception.WDKException; import org.nl.modules.wql.util.SpringContextHolder; import org.slf4j.MDC; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.context.ApplicationContext; import org.springframework.http.HttpStatus; import org.springframework.stereotype.Service; +import javax.annotation.Resource; import java.util.ArrayList; import java.util.HashMap; import java.util.List; @@ -55,526 +71,242 @@ import java.util.Map; @Slf4j public class JDToAcsServiceImpl implements JDToAcsService { - private final ApplicationContext applicationContext; + @Resource + private TaskService taskService; - private final InstructionService InstructionService; - private final TaskService taskService; - private final DeviceService deviceService; - private final DeviceAppService deviceAppService; - private final RouteLineService routeLineService; - private final AcsToLiKuService acsToLiKuService; + @Resource + private InstructionService instructionService; + + @Resource + private ParamService paramService; + + @Resource + private AddressService addressService; private String log_file_type = "log_file_type"; private String log_type = "LMS请求ACS"; @Override - public CancelTaskResponse cancelFromWms(List reqs) throws Exception { - ParamService paramService = SpringContextHolder.getBean(ParamService.class); - InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class); - CancelTaskResponse response = new CancelTaskResponse(); - JSONArray errArr = new JSONArray(); - for (int i = 0; i < reqs.size(); i++) { - CancelTaskRequest request = reqs.get(i); - String task_code = request.getTask_code(); - String vehicle_code = request.getVehicle_code(); - Map params = request.getParams(); + public JDCreateTaskResponse crateTask(JDCreateTaskRequest reqs) { + try { + MDC.put(log_file_type, log_type); + log.info("crateTask-----输入参数{}", reqs); + JDCreateTaskResponse response = new JDCreateTaskResponse(); + JSONArray errArr = new JSONArray(); + String task_code = reqs.getTaskNo(); + String start_device_code = reqs.getCarryTask().getFromPoint(); + String next_device_code = reqs.getCarryTask().getToPoint(); + String priority = reqs.getPriority(); + String vehicle_code = reqs.getCarryTask().getContainerNo(); +// String vehicle_type = req.getVehicle_type(); + String task_type = "1"; +// String remark = req.getRemark(); +// Map params = req.getParams(); + + String start_point_code = ""; + String next_point_code = ""; if (StrUtil.isEmpty(task_code)) { - throw new WDKException("任务号不能为空"); + response.setMessage("任务号不能为空"); + return response; } - TaskDto taskDto = taskService.findByCodeFromCache(task_code); - String cancelTaskCheck = paramService.findByCode(AcsConfig.CANCELTASKCHECK).getValue(); - if (StrUtil.equals(cancelTaskCheck, "1")) { - taskService.cancelNoSendWms(taskDto.getTask_id()); - } else if (StrUtil.equals(cancelTaskCheck, "0")) { - Instruction inst = instructionService.findByTaskcode(task_code); - if (inst == null) { - taskService.cancelNoSendWms(taskDto.getTask_id()); - } else { - throw new RuntimeException("指令正在执行中,操作失败!"); - } + if (StrUtil.isEmpty(start_device_code)) { + response.setMessage("起点不能为空"); + return response; + } + if (StrUtil.isEmpty(next_device_code)) { + response.setMessage("终点不能为空"); + return response; + } + JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_device_code + "'").uniqueResult(0); + if (!ObjectUtil.isEmpty(start_device_json)) { + start_point_code = (String) start_device_json.get("parent_storage_code") == null ? start_device_code : (String) start_device_json.get("storage_code"); + } + JSONObject next_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + next_device_code + "'").uniqueResult(0); + if (!ObjectUtil.isEmpty(next_device_json)) { + next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code"); + } + if (StrUtil.isNotEmpty(start_point_code) && start_point_code.indexOf("-") > 0) { + String str[] = start_point_code.split("-"); + start_device_code = str[0]; + } else { + start_device_code = start_point_code; } - } + if (StrUtil.isNotEmpty(next_point_code) && next_point_code.indexOf("-") > 0) { + String str[] = next_point_code.split("-"); + next_device_code = str[0]; + } else { + next_device_code = next_point_code; + } - if (ObjectUtil.isEmpty(errArr)) { - response.setStatus(200); - } else { - response.setStatus(400); - } - response.setMessage("success"); - response.setErrArr(errArr); - log.info("cancelFromWms--------------:输出参数：" + response); + String route_plan_code = ""; - return response; - } + if (StrUtil.isEmpty(route_plan_code)) { + route_plan_code = "normal"; + } + TaskDto taskDto = taskService.findByCodeFromCache(task_code); + if (taskDto != null) { + response.setMessage("不能存在相同的任务号"); + return response; + } + if (!StrUtil.isEmpty(vehicle_code)) { + TaskDto vehicle_dto = taskService.findByContainer(vehicle_code); + if (vehicle_dto != null) { + response.setMessage("不能存在相同的托盘号"); + return response; + } + } - @Override - public Map updateDeviceGoodsFromWms(String param) { - JSONArray datas = JSONArray.parseArray(param); - log.info("updateDeviceGoodsFromWms--------------:输入参数" + datas.toString()); - for (int i = 0; i < datas.size(); i++) { - JSONObject data = datas.getJSONObject(i); - String device_code = data.getString("point_code"); - String has_goods = data.getString("has_goods"); + if (StrUtil.isEmpty(start_point_code)) { + response.setMessage(reqs.getCarryTask().getFromPoint() + " 该设备号未找到对应点位"); + return response; + } + if (StrUtil.isEmpty(next_point_code)) { + response.setMessage(reqs.getCarryTask().getToPoint() + " 该设备号未找到对应点位"); + return response; + } JSONObject jo = new JSONObject(); - jo.put("device_code", device_code); - jo.put("hasGoodStatus", has_goods); - deviceService.changeDeviceStatus(jo); - - } - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.OK); - resultJson.put("message", "操作成功"); - resultJson.put("data", new JSONObject()); - log.info("updateDeviceGoodsFromWms--------------:输出参数" + resultJson.toString()); - return resultJson; - } - - @Override - public Map areaControl(JSONObject form) { - String device_code = form.getString("device_code"); - String type = form.getString("type"); - - Device device = deviceAppService.findDeviceByCode(device_code); - - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.OK); - resultJson.put("message", "操作成功"); - resultJson.put("data", new JSONObject()); - log.info("updateDeviceGoodsFromWms--------------:输出参数" + resultJson.toString()); - return resultJson; - } - - @Override - public PutActionResponse putAction(String jsonObject) throws Exception { - try { - MDC.put(log_file_type, log_type); - log.info("putAction--------------:输出参数" + jsonObject); - JSONArray datas = JSONArray.parseArray(jsonObject); - PutActionResponse response = new PutActionResponse(); - JSONArray errArr = new JSONArray(); - for (int i = 0; i < datas.size(); i++) { - String data = datas.get(i).toString(); - PutActionRequest request = JsonUtl.format(data, PutActionRequest.class); - String device_code = request.getDevice_code(); - String code = request.getCode(); - String value = request.getValue(); - Device device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device)) { - throw new Exception("未找到对应设备:" + device_code); - } - HongXiangStationDeviceDriver hongXiangStationDeviceDriver; - PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver; - if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) { - hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver(); - hongXiangStationDeviceDriver.writing(code, value); - } - + jo.put("task_code", task_code); + jo.put("task_id", IdUtil.simpleUUID()); + jo.put("start_point_code", start_point_code); + jo.put("next_point_code", next_point_code); + jo.put("start_parent_code", start_point_code); + jo.put("next_parent_code", next_point_code); + jo.put("start_device_code", start_device_code); + jo.put("next_device_code", next_device_code); + jo.put("priority", priority); + jo.put("vehicle_code", vehicle_code); +// jo.put("vehicle_type", vehicle_type); + jo.put("agv_system_type", "1"); +// jo.put("remark", remark); +// jo.put("params", params); + jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type)); + TaskDto task_dto = jo.toJavaObject(TaskDto.class); + try { + taskService.create(task_dto); + } catch (Exception e) { + log.error("操作失败{}", e, e.getMessage()); + response.setMessage("操作失败"); + return response; + } + if (ObjectUtil.isEmpty(errArr)) { + response.setCode(200); + response.setResult("true"); + response.setMessage("操作成功"); + } else { + response.setMessage("操作失败"); } - response.setStatus(200); - response.setMessage("success"); - log.info("putAction--------------:输出参数：" + response); + log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response)); return response; } finally { MDC.remove(log_file_type); } - } @Override - public Map queryDevice(String jsonObject) throws Exception { + public JDCancelTaskResponse cancelFromWms(JDCancelTaskRequest reqs) { + JDCancelTaskResponse response = new JDCancelTaskResponse(); + log.info("cancelFromWms--------------:输入参数：" + reqs); + String task_code = reqs.getTaskNo(); + if (StrUtil.isEmpty(task_code)) { + throw new WDKException("任务号不能为空"); + } try { - MDC.put(log_file_type, log_type); -// log.info("queryDevice--------------:输入参数" + jsonObject.toString()); - JSONArray backja = new JSONArray(); - JSONArray datas = JSONArray.parseArray(jsonObject); - - //AGV烘箱对接位 - HongXiangStationDeviceDriver hongXiangStationDeviceDriver; - //烘箱工位 - HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver; - //货梯对接线-带扫码器 - StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver; - - if (datas.size() == 0) { - throw new BadRequestException("缺少输入参数！"); - } - - for (int i = 0; i < datas.size(); i++) { - JSONObject jo = new JSONObject(); - JSONObject data = datas.getJSONObject(i); - String parent_device_code = data.getString("device_code"); - String device_code = ""; - JSONObject device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + parent_device_code + "'").uniqueResult(0); - if (!ObjectUtil.isEmpty(device_json)) { - device_code = (String) device_json.get("parent_storage_code") == null ? parent_device_code : (String) device_json.get("storage_code"); - } - Device device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device)) { - throw new Exception("未找到对应设备:" + parent_device_code); - } - - if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) { - hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver(); - jo.put("device_code", parent_device_code); - jo.put("mode", hongXiangStationDeviceDriver.getMode()); - jo.put("move", hongXiangStationDeviceDriver.getMove()); - - } else if (device.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) device.getDeviceDriver(); - jo.put("device_code", parent_device_code); - jo.put("mode", hongXiangConveyorDeviceDriver.getMode()); - jo.put("move", hongXiangConveyorDeviceDriver.getMove()); - jo.put("countdown_house", hongXiangConveyorDeviceDriver.getCountdown_house()); - jo.put("countdown_min", hongXiangConveyorDeviceDriver.getCountdown_min()); - jo.put("countdown_sec", hongXiangConveyorDeviceDriver.getCountdown_sec()); - //温度需要除以10 - jo.put("temperature", hongXiangConveyorDeviceDriver.getTemperature() / 10); - jo.put("door", hongXiangConveyorDeviceDriver.getDoor()); - jo.put("finish", hongXiangConveyorDeviceDriver.getFinish()); - jo.put("task", hongXiangConveyorDeviceDriver.getTask()); - jo.put("error", hongXiangConveyorDeviceDriver.getError()); - } else if (device.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) { - standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) device.getDeviceDriver(); - jo.put("device_code", parent_device_code); - jo.put("move", standardCoveyorControlWithScannerDeviceDriver.getMove()); - jo.put("action", standardCoveyorControlWithScannerDeviceDriver.getAction()); - jo.put("error", standardCoveyorControlWithScannerDeviceDriver.getError()); - } else { - jo.put("device_code", parent_device_code); + TaskDto taskDto = taskService.findByCodeFromCache(task_code); + if (taskDto == null) { + log.info("任务已完成或取消"); + } else { + Instruction inst = instructionService.findByTaskcode(task_code); + if (inst != null) { + instructionService.cancel(inst.getInstruction_id()); } - backja.add(jo); + taskService.cancelNoSendWms(taskDto.getTask_id()); } - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.OK.value()); - resultJson.put("message", "操作成功"); - resultJson.put("data", backja); -// log.info("queryDevice--------------:输出参数" + resultJson.toString()); - return resultJson; - - } finally { - MDC.remove(log_file_type); + }catch (Exception e){ + log.error("取消任务失败{}",e,e.getMessage()); + response.setResult(false); + response.setCode(400); + response.setMessage("`取消任务失败"); } - + log.info("cancelFromWms--------------:输出参数：" + response); + return response; } - + //todo 暂不做 @Override - public Map queryDeviceDBValue(String whereJson) { - JSONArray datas = JSONArray.parseArray(whereJson); - log.info("orderStatusUpdate--------------:输入参数" + datas.toString()); - JSONObject map = new JSONObject(); - if (datas.size() > 0) { - for (int i = 0; i < datas.size(); i++) { - JSONObject jsonObject = datas.getJSONObject(i); - String device_code = jsonObject.getString("device_code"); - String dbName = jsonObject.getString("DB"); - Device device = deviceAppService.findDeviceByCode(device_code); - List extra = device.getExtra(); - for (int j = 0; j < extra.size(); j++) { - DeviceExtraManageDto deviceExtraManageDto = extra.get(j); - String deviceCode = deviceExtraManageDto.getDevice_code(); - String extra_name = deviceExtraManageDto.getExtra_name(); - if (deviceCode.equals(device_code) && extra_name.equals(dbName)) { - String extra_code = deviceExtraManageDto.getExtra_code(); - String[] split = extra_code.split("\\."); - extra_code = split[split.length - 1]; - extra_code = extra_code.substring(0, 1).toUpperCase() + extra_code.substring(1); - IDriverService driverService = applicationContext.getBean(device.getDeviceDriverDefination().getDriverCode(), IDriverService.class); - Integer dbValue = driverService.getDbValue(device, extra_code); - map.put(dbName, dbValue); - break; - } - } - } + public JDChangeTaskResponse changeFromWms(JDChangeTaskRequest reqs) { + JDChangeTaskResponse response = new JDChangeTaskResponse(); + log.info("changeFromWms--------------:输入参数：" + reqs); + String task_code = reqs.getTaskNo(); + if (StrUtil.isEmpty(task_code)) { + throw new WDKException("任务号不能为空"); + } + try { +// TaskDto taskDto = taskService.findByCodeFromCache(task_code); +// taskDto.setPriority(String.valueOf(reqs.getPriority())); +// taskService.update(taskDto); +// //todo 更改优先级到NDC + }catch (Exception e){ + log.error("取消任务失败{}",e,e.getMessage()); + response.setResult(false); + response.setCode(400); + response.setMessage("`取消任务失败"); } - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.OK); - resultJson.put("message", "操作成功"); - resultJson.put("data", map); - return resultJson; - } - @Override - public Map querydevice(String whereJson) { - return null; + log.info("changeFromWms--------------:输出参数：" + response); + return response; } - @Override - public Map putPlusPullAction(String param) { - try { - MDC.put(log_file_type, log_type); - log.info("putPlusPullAction-----输入参数{}", param); - JSONObject jo = JSON.parseObject(param); - String device_code = jo.getString("device_code"); - String size = jo.getString("size"); - String type = jo.getString("type"); - Device device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device)) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "未找到对应的设备:" + device_code); - return resultJson; - } - PlugPullDeviceSiteDeviceDriver plugPullDeviceSiteDeviceDriver; - if (device.getDeviceDriver() instanceof PlugPullDeviceSiteDeviceDriver) { - plugPullDeviceSiteDeviceDriver = (PlugPullDeviceSiteDeviceDriver) device.getDeviceDriver(); - // 0 穿轴 1拔轴 - if (StrUtil.equals(type, "1")) { - - if (plugPullDeviceSiteDeviceDriver.getMode() == 1) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求拔轴，当前设备工作模式未自动"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getAction() == 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求拔轴，当前设备未全自动"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getStatus() != 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求拔轴，当前设备未待机"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getControl() != 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求拔轴，当前设备未远程控制"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getMove() != 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求拔轴，当前设备有轴"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getMode() == 0 && plugPullDeviceSiteDeviceDriver.getAction() == 1 - && plugPullDeviceSiteDeviceDriver.getStatus() == 0 && plugPullDeviceSiteDeviceDriver.getMove() == 0 - && plugPullDeviceSiteDeviceDriver.getControl() == 0) { - - List list = new ArrayList(); - Map map = new HashMap(); - map.put("code", "to_size"); - map.put("value", size); - list.add(map); - Map map2 = new HashMap(); - map2.put("code", "to_type"); - map2.put("value", type); - list.add(map2); - Map map3 = new HashMap(); - map3.put("code", "to_command"); - map3.put("value", "1"); - list.add(map3); - plugPullDeviceSiteDeviceDriver.writing(list); - - } else { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "当前设备状态不满足下发条件"); - return resultJson; - } - - } else if (StrUtil.equals(type, "0")) { + public void feedbackDeviceFault(JDFaultRequest reqs) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); - if (plugPullDeviceSiteDeviceDriver.getMode() == 1) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求插轴，当前设备工作模式未自动"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getAction() == 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求插轴，当前设备未全自动"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getStatus() != 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求插轴，当前设备未待机"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getControl() != 0) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求插轴，当前设备未远程控制"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getMove() != 1) { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "请求插轴，当前设备没有轴"); - return resultJson; - } - if (plugPullDeviceSiteDeviceDriver.getMode() == 0 && plugPullDeviceSiteDeviceDriver.getAction() == 1 - && plugPullDeviceSiteDeviceDriver.getStatus() == 0 && plugPullDeviceSiteDeviceDriver.getMove() == 1 - && plugPullDeviceSiteDeviceDriver.getControl() == 0) { + AddressDto addressDto = addressService.findByCode("feedbackDeviceFault"); + String methods_url = addressDto.getMethods_url(); + String url = wmsUrl + methods_url; + HttpResponse result = null; + log.info("feedbackDeviceFault----请求参数{}", reqs); - List list = new ArrayList(); - Map map = new HashMap(); - map.put("code", "to_size"); - map.put("value", size); - list.add(map); - Map map2 = new HashMap(); - map2.put("code", "to_type"); - map2.put("value", type); - list.add(map2); - Map map3 = new HashMap(); - map3.put("code", "to_command"); - map3.put("value", "1"); - list.add(map3); - plugPullDeviceSiteDeviceDriver.writing(list); - - } else { - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.BAD_REQUEST.value()); - resultJson.put("message", "当前设备状态不满足下发条件"); - return resultJson; - } - } - } - - JSONObject resultJson = new JSONObject(); - resultJson.put("status", HttpStatus.OK.value()); - resultJson.put("message", "操作成功"); - log.info("putPlusPullAction--------------:输出参数" + resultJson.toString()); - return resultJson; - - } finally { - MDC.remove(log_file_type); + try { + result = HttpRequest.post(url) + .body(JSONObject.toJSONString(reqs)) + .execute(); + System.out.println(result); + log.info("feedbackDeviceFault----返回参数{}", result); + } catch (Exception e) { + String msg = e.getMessage(); + //网络不通 + //System.out.println(msg); } } - @Override - public JDCreateTaskResponse crateTask(JDCreateTaskRequest reqs) { - try { - MDC.put(log_file_type, log_type); - log.info("crateTask-----输入参数{}", reqs); - JDCreateTaskResponse response = new JDCreateTaskResponse(); - JSONArray errArr = new JSONArray(); - String task_code = reqs.getTaskNo(); - String start_device_code = reqs.getCarryTask().getFromPoint(); - String next_device_code = reqs.getCarryTask().getToPoint(); - String priority = reqs.getPriority(); - String vehicle_code = reqs.getCarryTask().getContainerNo(); -// String vehicle_type = req.getVehicle_type(); - String task_type = "1"; -// String remark = req.getRemark(); -// Map params = req.getParams(); + public HttpResponse feedbackAgv(JDFeedbackRequest jdFeedbackRequest) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); - String start_point_code = ""; - String next_point_code = ""; - if (StrUtil.isEmpty(task_code)) { - response.setMessage("任务号不能为空"); - return response; - } - if (StrUtil.isEmpty(start_device_code)) { - response.setMessage("起点不能为空"); - return response; - } - if (StrUtil.isEmpty(next_device_code)) { - response.setMessage("终点不能为空"); - return response; - } - JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_device_code + "'").uniqueResult(0); - if (!ObjectUtil.isEmpty(start_device_json)) { - start_point_code = (String) start_device_json.get("parent_storage_code") == null ? start_device_code : (String) start_device_json.get("storage_code"); - } - JSONObject next_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + next_device_code + "'").uniqueResult(0); - if (!ObjectUtil.isEmpty(next_device_json)) { - next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code"); - } - if (StrUtil.isNotEmpty(start_point_code) && start_point_code.indexOf("-") > 0) { - String str[] = start_point_code.split("-"); - start_device_code = str[0]; - } else { - start_device_code = start_point_code; - } - - if (StrUtil.isNotEmpty(next_point_code) && next_point_code.indexOf("-") > 0) { - String str[] = next_point_code.split("-"); - next_device_code = str[0]; - } else { - next_device_code = next_point_code; - } - - String route_plan_code = ""; - - if (StrUtil.isEmpty(route_plan_code)) { - route_plan_code = "normal"; - } - TaskDto taskDto = taskService.findByCodeFromCache(task_code); - if (taskDto != null) { - response.setMessage("不能存在相同的任务号"); - return response; - } - if (!StrUtil.isEmpty(vehicle_code)) { - TaskDto vehicle_dto = taskService.findByContainer(vehicle_code); - if (vehicle_dto != null) { - response.setMessage("不能存在相同的托盘号"); - return response; - } - } - - if (StrUtil.isEmpty(start_point_code)) { - response.setMessage(reqs.getCarryTask().getFromPoint() + " 该设备号未找到对应点位"); - return response; - } - if (StrUtil.isEmpty(next_point_code)) { - response.setMessage(reqs.getCarryTask().getToPoint() + " 该设备号未找到对应点位"); - return response; - } + AddressDto addressDto = addressService.findByCode("feedbackAgv"); + String methods_url = addressDto.getMethods_url(); + String url = wmsUrl + methods_url; + HttpResponse result = null; + log.info("feedbackAgv----请求参数{}", jdFeedbackRequest); - JSONObject jo = new JSONObject(); - jo.put("task_code", task_code); - jo.put("task_id", IdUtil.simpleUUID()); - jo.put("start_point_code", start_point_code); - jo.put("next_point_code", next_point_code); - jo.put("start_parent_code", start_point_code); - jo.put("next_parent_code", next_point_code); - jo.put("start_device_code", start_device_code); - jo.put("next_device_code", next_device_code); - jo.put("priority", priority); - jo.put("vehicle_code", vehicle_code); -// jo.put("vehicle_type", vehicle_type); - jo.put("agv_system_type", "1"); -// jo.put("remark", remark); -// jo.put("params", params); - jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type)); - - TaskDto task_dto = jo.toJavaObject(TaskDto.class); - try { - taskService.create(task_dto); - } catch (Exception e) { - log.error("操作失败{}",e,e.getMessage()); - response.setMessage("操作失败"); - return response; - } - if (ObjectUtil.isEmpty(errArr)) { - response.setCode(200); - response.setResult("true"); - response.setMessage("操作成功"); - } else { - response.setMessage("操作失败"); - } - log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response)); - return response; - } finally { - MDC.remove(log_file_type); + try { + result = HttpRequest.post(url) + .body(JSONObject.toJSONString(jdFeedbackRequest)) + .execute(); + System.out.println(result); + log.info("feedbackAgv----返回参数{}", result); + } catch (Exception e) { + String msg = e.getMessage(); + //网络不通 + //System.out.println(msg); } - - + return result; } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java index 7f1d710..5c0668a 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java @@ -263,15 +263,7 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn @Override public List findDeviceByType(DeviceType deviceType) { - List list = this.findDevice(deviceType); - Map map = new HashMap(); - Iterator var4 = list.iterator(); - - while (var4.hasNext()) { - Device device = (Device) var4.next(); - list.add(device); - } - return list; + return this.findDevice(deviceType); } diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/common/utils/enums/DeviceStatusEnum.java b/acs/nladmin-system/src/main/java/org/nl/modules/common/utils/enums/DeviceStatusEnum.java new file mode 100644 index 0000000..6aa124b --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/modules/common/utils/enums/DeviceStatusEnum.java @@ -0,0 +1,36 @@ +package org.nl.modules.common.utils.enums; + +import lombok.Getter; + +import java.util.Arrays; + +@Getter +public enum DeviceStatusEnum { + T1("关机", 1), + T2("运行中", 2), + T3("交通管制", 3), + T4("任务等待", 4), + T5("充电中", 5), + T6("故障中", 6), + T7("低电量", 7); + + DeviceStatusEnum(String desc, Integer value) { + this.desc = desc; + this.value = value; + } + + private String desc; + private Integer value; + + + /** + * 根据key得到枚举value + * Lambda表达式 + */ + + public static DeviceStatusEnum getEnumValue(Integer value) { + return Arrays.asList(DeviceStatusEnum.values()).stream() + .filter(obj -> obj.value.equals(value)) + .findFirst().orElse(null); + } +} 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..e4bcf88 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 +1,26 @@ package org.nl.modules.quartz.task; +import cn.hutool.core.date.DateUtil; 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.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.ext.wms.data.DeviceMotion; +import org.nl.acs.ext.wms.data.JDFeedbackRequest; +import org.nl.acs.ext.wms.data.Payload; +import org.nl.acs.ext.wms.data.TaskList; 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.ext.wms.service.JDToAcsService; +import org.nl.acs.instruction.service.dto.Instruction; +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.ArrayList; +import java.util.List; /** * 查询AGV设备状态 @@ -22,55 +30,57 @@ import java.util.Map; public class ToAgvDevice { @Autowired - AcsToWmsService acsToWmsService; + JDToAcsService jdToAcsService; @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"); + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + JDFeedbackRequest jdFeedbackRequest=new JDFeedbackRequest(); + jdFeedbackRequest.setCallCode(""); + try { + List deviceList = deviceAppService.findDeviceByType(DeviceType.agv); + List payloadList=new ArrayList<>(); + for(Device device:deviceList) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + Payload payload=new Payload(); + payload.setDeviceType("30"); + payload.setDeviceNo(agvNdcOneDeviceDriver.getDevice_code()); + payload.setCurrentTime(DateUtil.current()); + payload.setWorkMode("1"); + payload.setWorkStatus("1"); + payload.setFaultStatus(agvNdcOneDeviceDriver.getStatus()!=2?"1":"0"); + payload.setFaultStatus(String.valueOf(agvNdcOneDeviceDriver.getError())); + payload.setConnectStatus(agvNdcOneDeviceDriver.isStop()==false?"0":"1"); + payload.setExistGoods(String.valueOf(agvNdcOneDeviceDriver.getGoods())); + payload.setCharging(agvNdcOneDeviceDriver.getError()==64?"1":"0"); + payload.setBattery(String.valueOf(agvNdcOneDeviceDriver.getElectric_qty())); + DeviceMotion deviceMotion=new DeviceMotion(); + deviceMotion.setDirection(String.valueOf(agvNdcOneDeviceDriver.getAngle())); + deviceMotion.setLogicalY(String.valueOf(agvNdcOneDeviceDriver.getX())); + deviceMotion.setLogicalY(String.valueOf(agvNdcOneDeviceDriver.getY())); + payload.setDeviceMotion(deviceMotion); + List taskLists=new ArrayList<>(); + TaskList taskList=new TaskList(); + Instruction inst=agvNdcOneDeviceDriver.getGlobal_inst(); + taskList.setContainerNo(inst!=null?inst.getTask_code():""); + taskList.setMapNo("0"); + taskList.setFromPoint(inst!=null?inst.getStart_point_code():""); + taskList.setToPoint(inst!=null?inst.getNext_point_code():""); + taskList.setTaskStatus(String.valueOf(agvNdcOneDeviceDriver.getInst_status())); + taskLists.add(taskList); + payload.setTaskList(taskLists); + payloadList.add(payload); + } } - 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); + jdFeedbackRequest.setPayload(payloadList); + }catch (Exception e){ + System.out.println(e.getMessage()); } - json.put("agv_rows", agv_rows); - SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO); - WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data"); - - // acsToWmsService.feedbackAgv(row); + jdToAcsService.feedbackAgv(jdFeedbackRequest); } } diff --git a/acs/nladmin-system/src/main/resources/config/application-dev.yml b/acs/nladmin-system/src/main/resources/config/application-dev.yml index dcc19e4..f942e99 100644 --- a/acs/nladmin-system/src/main/resources/config/application-dev.yml +++ b/acs/nladmin-system/src/main/resources/config/application-dev.yml @@ -12,11 +12,12 @@ spring: db-type: com.alibaba.druid.pool.DruidDataSource 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:shiyaozhongchen_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true + url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:shiyaozhongchen_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:wzgj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true username: ${DB_USER:root} # password: ${DB_PWD:P@ssw0rd} - password: ${DB_PWD:Root.123456} +# password: ${DB_PWD:Root.123456} + password: ${DB_PWD:123456} # password: ${DB_PWD:password} # 初始连接数