wangs
/
weiDaQi
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

1.ndc接口调整 

2.0x03请求取货前向wms获取起始和目标高度，并更新到task
3.下发任务任务类型永远为1
master
pangshenghao 1 year ago
parent
4ad099f874
commit
dba5eadabd
5 changed files with 83 additions and 67 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
  2. 55
      acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
  3. 8
      acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
  4. 77
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
  5. 8
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java

2
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
View File

@ -29,7 +29,7 @@ public interface NDCAgvService {
*/
public void sendAgvInstToNDC(String agv_system_type,Instruction inst) throws Exception;
public byte[] sendAgvOneModeInst(int phase, int index,int result);
public byte[] sendAgvOneModeInst(int phase, int index,int result,int pickup,int release);
public byte[] sendAgvTwoModeInst(int phase, int index,int result);

55
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@ -83,15 +83,16 @@ public class NDCAgvServiceImpl implements NDCAgvService {
int start_height = Integer.parseInt(task.getStart_height());
int next_height = Integer.parseInt(task.getNext_height());
int type;
if (start_height != 0 && next_height != 0) {
type = 1;
} else if (start_height != 0) {
type = 2;
} else if (next_height != 0) {
type = 3;
} else {
type = 4;
}
// if (start_height != 0 && next_height != 0) {
// type = 1;
// } else if (start_height != 0) {
// type = 2;
// } else if (next_height != 0) {
// type = 3;
// } else {
// type = 4;
// }
type = 1;
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@ -107,10 +108,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
byte qhghigh = (byte) IntToHexHigh(start_height);
byte qhglow = (byte) IntToHexLow(start_height);
byte fhghigh = (byte) IntToHexHigh(next_height);
byte fhglow = (byte) IntToHexLow(next_height);
// byte qhghigh = (byte) IntToHexHigh(start_height);
// byte qhglow = (byte) IntToHexLow(start_height);
// byte fhghigh = (byte) IntToHexHigh(next_height);
// byte fhglow = (byte) IntToHexLow(next_height);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
@ -123,27 +124,25 @@ public class NDCAgvServiceImpl implements NDCAgvService {
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
str += "/qhg:" + (start_height);
str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
str += "/fhg:" + (next_height);
str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
// str += "/qhg:" + (start_height);
// str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
// str += "/fhg:" + (next_height);
// str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X0E,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow,
(byte) qhghigh, (byte) qhglow,
(byte) fhghigh, (byte) fhglow
(byte) fhdhigh, (byte) fhdlow
};
log.info("下发AGV作业指令--{}", str1);
log.info("下发agv指令数据{}" ,Bytes2HexString(b));
@ -153,22 +152,28 @@ public class NDCAgvServiceImpl implements NDCAgvService {
}
@Override
public byte[] sendAgvOneModeInst(int phase, int index, int result) {
public byte[] sendAgvOneModeInst(int phase, int index, int result,int pickup,int release) {
if (phase < 0 || index < 0)
return null;
byte indexhigh = (byte) IntToHexHigh(index);
byte indexlow = (byte) IntToHexLow(index);
byte phasehigh = (byte) IntToHexHigh(phase);
byte phaselow = (byte) IntToHexLow(phase);
byte pickuphigh = (byte) IntToHexHigh(pickup);
byte pickuplow = (byte) IntToHexLow(pickup);
byte releasehigh = (byte) IntToHexHigh(release);
byte releaselow = (byte) IntToHexLow(release);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0A,
(byte) 0X00, (byte) 0X0E,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X6D,
(byte) 0X00, (byte) 0X06,
(byte) 0X00, (byte) 0X0A,
(byte) indexhigh, (byte) indexlow,
(byte) 0X01, (byte) 0X14,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow
};

8
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@ -166,7 +166,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
inst.setSend_status("1");
instructionService.update(inst);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
}
//任务完毕
//（无车id及状态）
@ -176,13 +176,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} else {
log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!");
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
log.info("指令号:{},已反馈agv任务完成!");
}
//请求删除任务
//(需要WCS反馈)
else if (phase == 0x30) {
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0);
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0,0,0);
}
//任务删除确认
//(需要WCS反馈)
@ -193,7 +193,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
taskService.cancel(inst.getTask_id());
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
} else {
//上报异常信息

77
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@ -27,6 +27,7 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
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.dto.TaskDto;
import org.nl.acs.task.service.impl.TaskServiceImpl;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
@ -118,7 +119,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
}
//普通站点
@ -173,30 +174,40 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return;
}
TaskDto task =taskService.findById(inst.getTask_id());
int start_height= ObjectUtil.isNotEmpty(task.getStart_height())?Integer.parseInt(task.getStart_height()):0;
int next_height= ObjectUtil.isNotEmpty(task.getNext_height())?Integer.parseInt(task.getNext_height()):0;
// Object reqWms = device.getExtraValue().get("reqWms");
// if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
// JSONArray req = new JSONArray();
// JSONObject map = new JSONObject();
// map.put("vehicle_code", inst.getVehicle_code());
// map.put("status", "1");
// map.put("device_code", inst.getStart_point_code());
// map.put("task_code", inst.getTask_code());
// req.add(map);
// HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
// JSONObject resp = JSONObject.parseObject(httpResponse.body());
// if (resp.getInteger("status") == 200) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
// } else {
// log.warn("指令号:{},acs请求wms取货申请成功,wms不允许agv申请取货,未反馈agv允许取货", inst.getInstruction_code());
// }
// } else {
// log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
// }
// } else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// }
if(!StrUtil.startWith(task.getTask_code(), '-')){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "1");
map.put("device_code", inst.getStart_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
start_height=resp.getInteger("start_height");
next_height=resp.getInteger("next_height");
task.setStart_height(String.valueOf(start_height));
task.setNext_height(String.valueOf(next_height));
taskService.update(task);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms取货申请成功,wms不允许agv申请取货,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
}
//取货完毕
//(需要WCS反馈)
} else if (phase == 0x05) {
@ -245,13 +256,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
log.info("指令号:{},acs反馈wms取货完成成功,wms允许agv取货完成,已反馈agv取货完成", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs反馈wms取货完成成功,wms不允许agv取货完成,未反馈agv取货完成", inst.getInstruction_code());
}
// } else {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
//到达放货点
//(需要WCS反馈)
@ -299,7 +310,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
// JSONObject resp = JSONObject.parseObject(httpResponse.body());
// if (resp.getInteger("status") == 200) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
// } else {
// log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
@ -308,7 +319,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
// }
// } else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
//放货完毕
//(需要WCS反馈)
@ -355,13 +366,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
// } else {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
}
//到达位置点
@ -370,13 +381,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
agvaddr = arr[18] * 256 + arr[19];
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x50) {//进入交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x51) {//离开交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x67) {//agv异常
// if (ikey == 0) {
@ -394,7 +405,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// dto.setError_info(error_message);
// deviceErrorLogService.create(dto);
// }
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
last_error = error;
} else if (phase == 0x70) {
//x坐标

8
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
View File

@ -126,7 +126,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("1");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
agvphase = 0;
index = 0;
inst = null;
@ -141,7 +141,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("2");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;
@ -157,7 +157,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("5");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;
@ -172,7 +172,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("6");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;

Write Preview
Loading…
Cancel
Save