add 反馈设备状态

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

@@ -65,7 +65,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             };
             log.info("下发删除AGV指令--{}", Bytes2HexString(b));
 
-//                NDCSocketConnectionAutoRun.write(b);
+            OneNDCSocketConnectionAutoRun.write(b);
             System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
         }
 
@@ -146,6 +146,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                     (byte) fhghigh, (byte) fhglow
             };
             log.info("下发AGV作业指令--{}", str1);
+            log.info("下发agv指令数据{}" ,Bytes2HexString(b));
             OneNDCSocketConnectionAutoRun.write(b);
             System.out.println("下发agv指令数据:" + Bytes2HexString(b));
         }
@@ -167,7 +168,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                 (byte) 0X00, (byte) 0X6D,
                 (byte) 0X00, (byte) 0X06,
                 (byte) indexhigh, (byte) indexlow,
-                (byte) 0X01, (byte) 0X12,
+                (byte) 0X01, (byte) 0X14,
                 (byte) phasehigh, (byte) phaselow
         };
 

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

@@ -187,8 +187,8 @@ 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 == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 ) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
                         } else {
                             device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
                         }

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

@@ -379,6 +379,39 @@ 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 == 0x67) {//agv异常
+//            if (ikey == 0) {
+//                this.setErrorInfo(ikey, "0", "正常");
+//            } else {
+//                Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
+//                String code = error.get("code");
+//                String info = error.get("info");
+//                this.setErrorInfo(ikey, code, info);
+//            }
+//            if (error != last_error) {
+//                DeviceErrorLogDto dto = new DeviceErrorLogDto();
+//                dto.setDevice_code(this.getDevice().getDevice_code());
+//                dto.setError_code(String.valueOf(error_code));
+//                dto.setError_info(error_message);
+//                deviceErrorLogService.create(dto);
+//            }
+            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            last_error = error;
+        } else if (phase == 0x70) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x71) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x72) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x73) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x74) {
+            //三色灯状态
+            status = ikey;
         }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -360,22 +360,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
             if (ObjectUtil.isEmpty(route)) {
                 throw new BadRequestException("未查询到相关路由！");
             }
-            if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
-                // 0为输送、立库任务  1 1楼叉车系统  2 2楼1区域AGV系统 3 2楼2区域AGV系统
-                if (!StrUtil.equals(task.getAgv_system_type(), "0")
-                        && ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
             NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
             ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
-                } else {
+
-                    // Boolean result =  createLkInst(task.getStorage_task_type(),dto);
+
-                    Resp resp = acsToLiKuService.sendInst(task.getStorage_task_type(), dto);
-                    if (StrUtil.equals(resp.result, "true")) {
-                        dto.setSend_status("1");
-                    } else {
-                        dto.setSend_status("2");
-                    }
-                }
-            }
         } catch (Exception e) {
             dto.setSend_status("2");
             e.printStackTrace();

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -445,6 +445,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
             task_code = CodeUtil.getNewCode("TASK_NO");
             task_code = "-" + task_code;
         }
+        if(ObjectUtil.isEmpty(dto.getStart_height())){
+            dto.setStart_height("0");
+        }
+        if(ObjectUtil.isEmpty(dto.getNext_height())){
+            dto.setNext_height("0");
+        }
         String start_point_code = dto.getStart_point_code();
         String next_point_code = dto.getNext_point_code();
         String start_device_code = dto.getStart_device_code();
@@ -492,15 +498,6 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
             }
 
             if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
-                //                if (nextdevice.getDeviceDriver() instanceof
-                // StandardOrdinarySiteDeviceDriver) {
-                //                    standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver)
-                // nextdevice.getDeviceDriver();
-                //                    if (nextdevice.getHas_goods() != 0) {
-                //                        throw new Exception("任务终点需满足无货!");
-                //                    }
-                //                }
-
                 JSONObject jo = new JSONObject();
                 JSONObject jo2 = new JSONObject();
                 if (!StrUtil.isEmpty(dto.getMaterial())) {
@@ -538,12 +535,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
         wo.insert(json);
         synchronized (TaskServiceImpl.class) {
-            System.out.println("-------------------" + dto.getTask_code());
-            System.out.println("-------------1" + tasks.size());
-
             tasks.add(dto);
-            System.out.println("-------------2" + tasks.size());
-
         }
     }
 

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java

@@ -36,41 +36,74 @@ public class ToAgvDevice {
         for (AgvDto agvDto : agv_map.values()) {
             row.put("device_code", agvDto.getName());
             row.put("energyLevel", agvDto.getEnergyLevel());
-            if (agvDto.getState().equals("UNKNOWN")) {
+//            车状态：
+//            1：关机
+//            2：运行中
+//            3：交通管制
+//            4：任务等待
+//            5：充电中
+//            6：故障中
+//            7：低电量
+            if (agvDto.getState().equals("1")) {
+                row.put("device_status", "UNKNOWN");
+                row.put("status_name", "关机");
+            } else if (agvDto.getState().equals("2")) {
+                row.put("device_status", "EXECUTING");
                 row.put("status_name", "有任务");
-                row.put("flag", "1");
+            } else if (agvDto.getState().equals("3")) {
-            }
+//                row.put("device_status", "EXECUTING");
-            if (agvDto.getState().equals("UNAVAILABLE")) {
+//                row.put("status_name", "交通管制");
-                row.put("status_name", "网络异常");
+            } else if (agvDto.getState().equals("4")) {
-                row.put("flag", "1");
+                row.put("device_status", "IDLE");
-            }
-            if (agvDto.getState().equals("ERROR")) {
-                row.put("status_name", "机器错误");
-                row.put("flag", "1");
-            }
-            if (agvDto.getState().equals("IDLE")) {
                 row.put("status_name", "空闲");
-                row.put("flag", "0");
+            } else if (agvDto.getState().equals("5")) {
-            }
+                row.put("device_status", "CHARGING");
-            if (agvDto.getState().equals("EXECUTING")) {
+                row.put("status_name", "充电");
-                row.put("status_name", "运行中");
+            } else if (agvDto.getState().equals("6")) {
-                row.put("flag", "0");
+                row.put("device_status", "ERROR");
-            }
+                row.put("status_name", "故障");
-            if (agvDto.getState().equals("CHARGING")) {
+            } else if (agvDto.getState().equals("7")) {
-                row.put("status_name", "充电中");
+//                row.put("device_status", "ERROR");
-                row.put("flag", "0");
+//                row.put("status_name", "低电量");
             }
+
+
+//            if (agvDto.getState().equals("UNKNOWN")) {
+//                row.put("status_name", "有任务");
+//                row.put("status_name", "有任务");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("UNAVAILABLE")) {
+//                row.put("status_name", "网络异常");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("ERROR")) {
+//                row.put("status_name", "机器错误");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("IDLE")) {
+//                row.put("status_name", "空闲");
+//                row.put("flag", "0");
+//            }
+//            if (agvDto.getState().equals("EXECUTING")) {
+//                row.put("status_name", "运行中");
+//                row.put("flag", "0");
+//            }
+//            if (agvDto.getState().equals("CHARGING")) {
+//                row.put("status_name", "充电中");
+//                row.put("flag", "0");
+//            }
             row.put("transportOrder", agvDto.getTransportOrder());
             row.put("positionX", agvDto.getPositionX());
             row.put("positionY", agvDto.getPositionY());
             row.put("positionAngle", agvDto.getPositionAngle());
             agv_rows.add(row);
         }
-        json.put("agv_rows", agv_rows);
+//        json.put("agv_rows", agv_rows);
-        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
+//        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
-        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
+//        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
 
-       // acsToWmsService.feedbackAgv(row);
+        acsToWmsService.feedbackAgv(agv_rows);
     }
 
 }

acs/nladmin-system/src/main/resources/config/application-dev.yml

@@ -13,11 +13,11 @@ spring:
       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:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:wzgj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:weidaqi}?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:password}
+      password: ${DB_PWD:123456}
 
       # 初始连接数
       initial-size: 5

acs/nladmin-system/src/main/resources/config/application-prod.yml

@@ -11,7 +11,7 @@ spring:
     druid:
       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:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:weidaqi}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
       password: ${DB_PWD:123456}
       # 初始连接数

acs/nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: dev
+    active: prod
   jackson:
     time-zone: GMT+8
   data: