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master
gengby 2 years ago
parent
08819a253a
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61e4759703
10 changed files with 1801 additions and 1909 deletions
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  1. 117
      acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
  2. 8
      acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
  3. 154
      acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
  4. 7
      acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
  5. 8
      acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
  6. 24
      acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
  7. 61
      acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
  8. 5
      acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
  9. 45
      acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
  10. 23
      acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

117
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@ -83,7 +83,6 @@ public class NDCAgvServiceImpl implements NDCAgvService {
@Override @Override
public void sendAgvInstToNDC(String agv_system_type, Instruction inst) { public void sendAgvInstToNDC(String agv_system_type, Instruction inst) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
if (!StrUtil.equals(agv_system_type, "1")) {
String instcode = inst.getInstruction_code(); String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getAgv_inst_type()); int type = Integer.parseInt(inst.getAgv_inst_type());
int priority = Integer.parseInt(inst.getPriority()) + 128; int priority = Integer.parseInt(inst.getPriority()) + 128;
@ -91,144 +90,29 @@ public class NDCAgvServiceImpl implements NDCAgvService {
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class); DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code()); int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code()); int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode)); byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode)); byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type); byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type); byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress); byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress); byte qhdlow = (byte) IntToHexLow(startAddress);
byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
byte qhdlow2 = (byte) IntToHexLow(startAddress2);
byte fhdhigh = (byte) IntToHexHigh(nextAddress); byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress); byte fhdlow = (byte) IntToHexLow(nextAddress);
byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
byte prioritylow = (byte) IntToHexLow(priority); byte prioritylow = (byte) IntToHexLow(priority);
String str = "十进制下发："; String str = "十进制下发：";
String str1 = "十六进制下发："; String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode)); str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF); str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "/type:" + (type); str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF); str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "/qhd:" + (startAddress); str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF); str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress); str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF); str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/qhd2:" + (startAddress2);
str1 += "/qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
str += "/fhd2:" + (nextAddress2);
str1 += "/fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
str += "/priority:" + (priority); str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF); str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str); System.out.println(str);
System.out.println(str1); System.out.println(str1);
byte[] b = new byte[]{};
if (type == 1) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
} else if (type == 2) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) 0X00, (byte) 0X00,
(byte) fhdhigh, (byte) fhdlow,
(byte) 0X00, (byte) 0X00
};
} else if (type == 3) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
}
log.info("下发AGV作业指令--{}", str1);
if (StrUtil.equals(agv_system_type,"2")){
TwoNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(agv_system_type,"3")){
TwoNDC2SocketConnectionAutoRun.write(b);
}
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
} else {
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getInstruction_type());
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD, byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08, (byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12, (byte) 0X00, (byte) 0X12,
@ -248,7 +132,6 @@ public class NDCAgvServiceImpl implements NDCAgvService {
System.out.println("下发agv指令数据:" + Bytes2HexString(b)); System.out.println("下发agv指令数据:" + Bytes2HexString(b));
} }
} }
}
@Override @Override
public byte[] sendAgvOneModeInst(int phase, int index, int result) { public byte[] sendAgvOneModeInst(int phase, int index, int result) {

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

@ -160,20 +160,18 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//任务完毕 //任务完毕
//（无车id及状态） //（无车id及状态）
else if (phase == 0x0A) { else if (phase == 0x0A) {
if (!ObjectUtil.isEmpty(inst)) {
if (!ObjectUtil.isEmpty(inst)) { if (!ObjectUtil.isEmpty(inst)) {
instructionService.finish(inst.getInstruction_id()); instructionService.finish(inst.getInstruction_id());
} } 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);
log.info("指令号:{},已反馈agv任务完成!");
} }
//请求删除任务 //请求删除任务
//(需要WCS反馈) //(需要WCS反馈)
else if (phase == 0x30) { else if (phase == 0x30) {
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0); data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0);
} }
//任务删除确认 //任务删除确认
//(需要WCS反馈) //(需要WCS反馈)

154
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@ -2,6 +2,9 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil; import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.Data; import lombok.Data;
import lombok.RequiredArgsConstructor; import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
@ -23,6 +26,8 @@ import org.nl.acs.log.LokiLogType;
import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.Device; import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService; 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.system.service.ParamService; import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder; import org.nl.modules.wql.util.SpringContextHolder;
@ -43,6 +48,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
@ -163,27 +169,43 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return; return;
} }
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { // if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); // standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase); // standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index); // standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst); // standardOrdinarySiteDeviceDriver.setInst(inst);
} // }
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) { String instruction_type = inst.getInstruction_type();
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver(); if (StrUtil.equals(instruction_type, "3")
if (siemensConveyorDeviceDriver.getMove() == 1) { || StrUtil.equals(instruction_type, "5")
|| StrUtil.equals(instruction_type, "9")
|| StrUtil.equals(instruction_type, "11")
|| StrUtil.equals(instruction_type, "13")) {
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); 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 { } else {
log.info("请求取货条件不满足待机有货"); 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 {
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs不需要请求wms取货申请,已反馈agv允许取货", inst.getInstruction_code());
}
} }
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//取货完毕 //取货完毕
//(需要WCS反馈) //(需要WCS反馈)
} else if (phase == 0x05) { } else if (phase == 0x05) {
@ -223,38 +245,41 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (StrUtil.equals(inst.getStart_device_code(), device_code)) { if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { String instruction_type = inst.getInstruction_type();
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); if (StrUtil.equals(instruction_type, "2")
standardOrdinarySiteDeviceDriver.setAgvphase(phase); || StrUtil.equals(instruction_type, "3")
standardOrdinarySiteDeviceDriver.setIndex(index); || StrUtil.equals(instruction_type, "4")
standardOrdinarySiteDeviceDriver.setInst(inst); || StrUtil.equals(instruction_type, "5")
} || StrUtil.equals(instruction_type, "6")
|| StrUtil.equals(instruction_type, "8")
if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) { || StrUtil.equals(instruction_type, "9")
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver(); || StrUtil.equals(instruction_type, "10")
if(siemensConveyorDeviceDriver.getTo_command() == 2){ || StrUtil.equals(instruction_type, "11")
log.info("取货完成请求离开，当前输送to_command:"+siemensConveyorDeviceDriver.getTo_command()); || StrUtil.equals(instruction_type, "13")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "2");
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); data = NDCAgvService.sendAgvOneModeInst(phase, index, 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 { } else {
log.info("取货完成请求离开下发输送信号，当前输送to_command:"+siemensConveyorDeviceDriver.getTo_command()); 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());
List list = new ArrayList();
Map map = new HashMap();
map.put("code", "to_command");
map.put("value", "2");
list.add(map);
siemensConveyorDeviceDriver.writing(list);
siemensConveyorDeviceDriver.writing(list);
} }
} else {
log.warn("指令号:{},acs反馈wms取货完成失败，连接被拒绝,未反馈agv取货完成", inst.getInstruction_code());
} }
} else {
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs不需要反馈wms取货完成,已反馈agv取货完成", inst.getInstruction_code());
} }
} }
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//到达放货点 //到达放货点
//(需要WCS反馈) //(需要WCS反馈)
} else if (phase == 0x07) { } else if (phase == 0x07) {
@ -289,22 +314,34 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return; return;
} }
if (StrUtil.equals(inst.getNext_device_code(), device_code)) { if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
String instruction_type = inst.getInstruction_type();
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { if (StrUtil.equals(instruction_type, "2")
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); || StrUtil.equals(instruction_type, "4")
// standardOrdinarySiteDeviceDriver.setAgvphase(phase); || StrUtil.equals(instruction_type, "8")) {
// standardOrdinarySiteDeviceDriver.setIndex(index); JSONArray req = new JSONArray();
// standardOrdinarySiteDeviceDriver.setInst(inst); JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "3");
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); data = NDCAgvService.sendAgvOneModeInst(phase, index, 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());
} }
} else {
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { 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());
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); }
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs不需要请求wms放货申请,已反馈agv允许放货", inst.getInstruction_code());
} }
} }
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//放货完毕 //放货完毕
//(需要WCS反馈) //(需要WCS反馈)
@ -341,23 +378,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return; return;
} }
if (StrUtil.equals(inst.getNext_device_code(), device_code)) { if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} }
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
// standardOrdinarySiteDeviceDriver.setAgvphase(phase);
// standardOrdinarySiteDeviceDriver.setIndex(index);
// standardOrdinarySiteDeviceDriver.setInst(inst);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} }
//到达位置点 //到达位置点
//(需要WCS反馈) //(需要WCS反馈)

7
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
View File

@ -105,4 +105,11 @@ public class AcsToWmsController {
public ResponseEntity<Object> liKuApplyTaskRequest(@RequestBody LiKuApplyTaskRequest param) { public ResponseEntity<Object> liKuApplyTaskRequest(@RequestBody LiKuApplyTaskRequest param) {
return new ResponseEntity<>(acstowmsService.liKuApplyTaskRequest(param), HttpStatus.OK); return new ResponseEntity<>(acstowmsService.liKuApplyTaskRequest(param), HttpStatus.OK);
} }
@PostMapping("/feedAgvTaskStatus")
@Log(value = "反馈AGV取放货状态",isInterfaceLog = true,interfaceLogType= InterfaceLogType.ACS_TO_LMS)
@ApiOperation("反馈AGV取放货状态")
public ResponseEntity<Object> feedAgvTaskStatus(@RequestBody JSONArray from) {
return new ResponseEntity<>(acstowmsService.feedAgvTaskStatus(from), HttpStatus.OK);
}
} }

8
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@ -104,4 +104,12 @@ public interface AcsToWmsService {
// 输送线有货变成无货时向lms请求 // 输送线有货变成无货时向lms请求
HttpResponse shipDeviceUpdate(JSONObject param); HttpResponse shipDeviceUpdate(JSONObject param);
/**
* 反馈AGV取放货状态
*
* @param from
* @return
*/
HttpResponse feedAgvTaskStatus(JSONArray from);
} }

24
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@ -529,4 +529,28 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
} }
return null; return null;
} }
@Override
public HttpResponse feedAgvTaskStatus(JSONArray from) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("feedAgvTaskStatus");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
HttpResponse result = null;
log.info("feedAgvTaskStatus----请求参数{}", from);
try {
result = HttpRequest.post(url)
.body(String.valueOf(from))
.execute();
System.out.println(result);
log.info("feedAgvTaskStatus----返回参数{}", result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
//System.out.println(msg);
}
return result;
}
} }

61
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@ -172,7 +172,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
} }
} }
response.setStatus(200); response.setStatus(200);
response.setMessage("success"); response.setMessage("success");
@ -305,7 +304,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
} }
@Override @Override
public Map<String, Object> putPlusPullAction(String param) { public Map<String, Object> putPlusPullAction(String param) {
try { try {
@ -457,7 +455,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
} }
@Override @Override
public CreateTaskResponse crateTask(String param) { public CreateTaskResponse crateTask(String param) {
try { try {
@ -581,14 +578,14 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
route_plan_code = "normal"; route_plan_code = "normal";
} }
if( StrUtil.equals(task_type,"5") && taskService.querySameDeviceReadyTask(start_device_code,next_device_code,"0") > 1){ // if( StrUtil.equals(task_type,"5") && taskService.querySameDeviceReadyTask(start_device_code,next_device_code,"0") > 1){
JSONObject json = new JSONObject(); // JSONObject json = new JSONObject();
json.put("task_code", task_code); // json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id); // json.put("ext_task_id", ext_task_id);
json.put("message", "已存在相同的起点终点未执行的输送任务"); // json.put("message", "已存在相同的起点终点未执行的输送任务");
errArr.add(json); // errArr.add(json);
continue; // continue;
} // }
TaskDto taskDto = taskService.findByCodeFromCache(task_code); TaskDto taskDto = taskService.findByCodeFromCache(task_code);
if (taskDto != null) { if (taskDto != null) {
JSONObject json = new JSONObject(); JSONObject json = new JSONObject();
@ -646,6 +643,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
jo.put("vehicle_code", vehicle_code); jo.put("vehicle_code", vehicle_code);
jo.put("vehicle_type", vehicle_type); jo.put("vehicle_type", vehicle_type);
jo.put("storage_task_type", storage_task_type); jo.put("storage_task_type", storage_task_type);
if (StrUtil.isEmpty(agv_system_type)) {
agv_system_type = "1";
}
jo.put("agv_system_type", agv_system_type); jo.put("agv_system_type", agv_system_type);
jo.put("oven_time", (int) Math.ceil(oven_time)); jo.put("oven_time", (int) Math.ceil(oven_time));
jo.put("remark", remark); jo.put("remark", remark);
@ -658,45 +658,7 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
TaskDto task_dto = jo.toJavaObject(TaskDto.class); TaskDto task_dto = jo.toJavaObject(TaskDto.class);
try { try {
// task_type=7 则是立库任务需要下刻下发
if (StrUtil.equals(task_dto.getTask_type(), "7")) {
// taskService.create(task_dto);
// try{
// taskService.createInst(task_dto.getTask_id());
// } catch (Exception e) {
// e.printStackTrace();
// JSONObject json = new JSONObject();
// json.put("task_code", task_code);
// json.put("ext_task_id", ext_task_id);
// json.put("message", "创建指令失败："+e.getMessage());
// errArr.add(json);
// }
//创建临时指令 不创建、不生成
//等立库反馈成功才能创建任务和指令
Instruction inst = taskService.createTemporaryInst(task_dto);
Resp resp = acsToLiKuService.sendInst(task_dto.getStorage_task_type(),inst);
if(StrUtil.equals(resp.result,"true")){
//创建任务和指令
taskService.create(task_dto);
inst.setSend_status("1");
taskService.createInst(inst);
} else {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", resp.getComment());
json.put("code", resp.code);
json.put("data", data);
errArr.add(json);
continue;
}
} else {
taskService.create(task_dto); taskService.create(task_dto);
}
} catch (Exception e) { } catch (Exception e) {
// e.printStackTrace(); // e.printStackTrace();
JSONObject json = new JSONObject(); JSONObject json = new JSONObject();
@ -727,7 +689,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
} }
} }

5
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@ -342,11 +342,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver; HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver;
StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver; StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
if (startdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) startdevice.getDeviceDriver();
hongXiangConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
}
try { try {
String start_device_code = dto.getStart_device_code(); String start_device_code = dto.getStart_device_code();
String next_device_code = dto.getNext_device_code(); String next_device_code = dto.getNext_device_code();

45
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@ -70,16 +70,26 @@ import java.util.stream.Collectors;
public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
List<TaskDto> tasks = new CopyOnWriteArrayList<>(); List<TaskDto> tasks = new CopyOnWriteArrayList<>();
@Autowired DeviceAppService deviceAppService; @Autowired
@Autowired RouteLineService routelineserver; DeviceAppService deviceAppService;
@Autowired AcsToWmsService acstowmsService; @Autowired
@Autowired TaskFeedbackService taskFeedbackService; RouteLineService routelineserver;
@Autowired ParamService paramService; @Autowired
@Autowired XianGongAgvService agvService; AcsToWmsService acstowmsService;
@Autowired RouteLineService routeLineService; @Autowired
@Autowired DeviceAssignedService deviceAssignedService; TaskFeedbackService taskFeedbackService;
@Autowired InstructionService instructionService; @Autowired
@Autowired StorageCellService storageCellService; ParamService paramService;
@Autowired
XianGongAgvService agvService;
@Autowired
RouteLineService routeLineService;
@Autowired
DeviceAssignedService deviceAssignedService;
@Autowired
InstructionService instructionService;
@Autowired
StorageCellService storageCellService;
@Override @Override
public void autoInitial() throws Exception { public void autoInitial() throws Exception {
@ -144,7 +154,6 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
public Map<String, Object> queryAllByCache(Map whereJson, Pageable page) { public Map<String, Object> queryAllByCache(Map whereJson, Pageable page) {
this.reload(); this.reload();
String task_code = (String) whereJson.get("task_code"); String task_code = (String) whereJson.get("task_code");
String vehicle_code = (String) whereJson.get("vehicle_code"); String vehicle_code = (String) whereJson.get("vehicle_code");
@ -472,12 +481,15 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
dto.setMaterial(startdevice.getMaterial_type()); dto.setMaterial(startdevice.getMaterial_type());
if (StrUtil.equals(createTaskCheck, "1")) { if (StrUtil.equals(createTaskCheck, "1")) {
// 判断起点为输送设备 // 判断起点为输送设备
if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {} if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
}
if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {} if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
}
} else { } else {
// 判断起点为输送设备 // 判断起点为输送设备
if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {} if (StrUtil.equals(DeviceType.conveyor.toString(), startDeviceType)) {
}
if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) { if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) {
// if (nextdevice.getDeviceDriver() instanceof // if (nextdevice.getDeviceDriver() instanceof
@ -817,7 +829,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
boolean flag = false; boolean flag = false;
try { try {
body = acstowmsService.feedbackTaskStatusToWms(ja); body = acstowmsService.feedbackTaskStatusToWms(ja);
log.info("任务号:{},反馈wms任务状态完成成功,响应信息:{}!", entity.getTask_code(), body.body());
} catch (Exception e) { } catch (Exception e) {
log.error("任务号:{},反馈wms任务状态失败,原因:{}!", entity.getTask_code(), e.getMessage());
flag = true; flag = true;
message = e.getMessage(); message = e.getMessage();
e.printStackTrace(); e.printStackTrace();
@ -1256,7 +1270,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
} }
@Override @Override
public void createTaskByClick(JSONObject json) {} public void createTaskByClick(JSONObject json) {
}
@Override @Override
public int checkAllowCreate(String devicecode) { public int checkAllowCreate(String devicecode) {

23
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@ -139,29 +139,8 @@ public class AutoCreateInst {
instdto.setExecute_device_code(start_point_code); instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType); instdto.setVehicle_type(vehicleType);
instdto.setAgv_system_type(agv_system_type); instdto.setAgv_system_type(agv_system_type);
//判断agv系统
//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(agv_system_type, "1")) {
// task_type
//1、生箔； Itype=1:取空，取满，放空，放满；
//2、分切 Itype=3取满、取空、放满、放空；
//3、普通任务 Itype=2:取货、放货；
//4、叉车任务
//5、输送任务
//6、行架
//7、立库
if (StrUtil.equals(task_type, "1")) {
instdto.setAgv_inst_type("1"); instdto.setAgv_inst_type("1");
} else if (StrUtil.equals(task_type, "3")) {
instdto.setAgv_inst_type("2");
} else if (StrUtil.equals(task_type, "2")) {
instdto.setAgv_inst_type("3");
}
} else {
instdto.setAgv_inst_type("4");
}
try { try {
instructionService.create(instdto); instructionService.create(instdto);

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