From a1e373c3d74fa98920c17d5747891f0432f99c13 Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Fri, 10 Nov 2023 10:46:25 +0800 Subject: [PATCH] =?UTF-8?q?opt:agv=E9=A9=B1=E5=8A=A8=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/OneNDCSocketConnectionAutoRun.java | 90 ++++++++++++++++--- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 81 ++--------------- 2 files changed, 88 insertions(+), 83 deletions(-) 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 1984254..6394525 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 @@ -1,11 +1,13 @@ package org.nl.acs.auto.run; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutoDoorDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; @@ -23,6 +25,7 @@ import org.springframework.stereotype.Component; import java.io.DataInputStream; import java.io.DataOutputStream; import java.io.IOException; +import java.net.InetSocketAddress; import java.net.Socket; import java.util.Date; import java.util.List; @@ -78,11 +81,14 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue()); - + byte[] data = null; try { + InetSocketAddress socketAddress = new InetSocketAddress(ip, port); byte[] b = new byte[1024]; - s = new Socket(ip, port); + s = new Socket(); + s.connect(socketAddress, 2 * 1000); + s.setKeepAlive(true);//长链接 dos = new DataOutputStream(s.getOutputStream()); dis = new DataInputStream(s.getInputStream()); System.out.println("NDCAgv链接成功"); @@ -91,6 +97,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { int count = dis.read(b); if (count == -1) { + log.error("agv连接出现异常:服务端被关闭"); + if (ObjectUtil.isNotEmpty(s)) { + s.close(); + } break; } @@ -109,7 +119,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { //System.out.println("收到请求参数：" + bs); boolean flag = false; if (arr[8] * 256 + arr[9] == 0x73) { - byte[] data = null; + System.out.println("接收agv上报信息：" + bs); //执行阶段 int phase = arr[16] * 256 + arr[17]; @@ -123,6 +133,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { int carno = arr[20]; Instruction link_inst = null; Instruction inst = null; + Instruction instruction_status = null; List insts = null; boolean link_flag = false; Device agv_device = null; @@ -146,6 +157,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { // AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + //自动门 + StandardAutoDoorDeviceDriver standardAutoDoorDeviceDriver; //开始任务/上报订单号 if (phase == 0x01) { @@ -154,8 +167,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { inst.setAgv_jobno(String.valueOf(index)); inst.setSend_status("1"); instructionService.update(inst); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } else { + log.info("agv的指令号{} agv指令状态为{} 未找到对应指令", inst, instruction_status); } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); } //任务完毕 //（无车id及状态） @@ -163,11 +178,58 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { if (!ObjectUtil.isEmpty(inst)) { 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!",inst.getInstruction_code()); + 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!", inst.getInstruction_code()); } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - log.info("指令号:{},已反馈agv任务完成!",inst.getInstruction_code()); + log.info("指令号:{},已反馈agv任务完成!", inst.getInstruction_code()); + } + //进入交通灯区域 + else if (phase == 0x50) { + //开门 + if (agvaddr < 1) { + logServer.deviceExecuteLog(device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + device = deviceAppService.findDeviceByCode(device_code); + } + if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) { + standardAutoDoorDeviceDriver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver(); + standardAutoDoorDeviceDriver.writing(1); + if (standardAutoDoorDeviceDriver.getAction() == 1) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } + } + if (!ObjectUtil.isEmpty(data)) { + logServer.deviceExecuteLog(device_code, "", "", "agvphase:" + phase + "反馈:" + data); + OneNDCSocketConnectionAutoRun.write(data); + } } + //离开交通灯区域 + else if (phase == 0x51) { + //关门 + if (agvaddr < 1) { + logServer.deviceExecuteLog(device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + device = deviceAppService.findDeviceByCode(device_code); + } + if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) { + standardAutoDoorDeviceDriver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver(); + standardAutoDoorDeviceDriver.writing(2); + if (standardAutoDoorDeviceDriver.getAction() == 2) { + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } + } + if (!ObjectUtil.isEmpty(data)) { + logServer.deviceExecuteLog(device_code, "", "", "agvphase:" + phase + "反馈:" + data); + OneNDCSocketConnectionAutoRun.write(data); + } + } + //请求删除任务 //(需要WCS反馈) else if (phase == 0x30) { @@ -192,16 +254,24 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); + try { + if (ObjectUtil.isNotEmpty(device)) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + agvNdcOneDeviceDriver.processSocket(arr); + } + } else { + log.info("当前phase：" + phase + "未找到对应设备"); } + } catch (Exception e) { + log.info("processSocket出错:" + e.getMessage()); + e.printStackTrace(); } } if (!ObjectUtil.isEmpty(data)) { write(data); + data = null; } } else { 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 efe2d60..6104729 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 @@ -39,6 +39,8 @@ import java.util.HashMap; import java.util.List; import java.util.Map; +import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; + /** * NDC单工位AGV */ @@ -400,81 +402,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic agvaddr_copy = agvaddr; data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } else if (phase == 0x50) {//进入交通灯区域 - //开门 - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - - device = deviceAppService.findDeviceByCode(device_code); - if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) { - standardAutoDoorDeviceDriver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver(); - standardAutoDoorDeviceDriver.OpenOrClose("1"); - standardAutoDoorDeviceDriver.writing(1); - if (standardAutoDoorDeviceDriver.getAction() == 1) { - standardAutoDoorDeviceDriver.OpenOrClose("1"); - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - if (!ObjectUtil.isEmpty(data)) { - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - OneNDCSocketConnectionAutoRun.write(data); - } - } else if (phase == 0x51) {//离开交通灯区域 - //关门 - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - - device = deviceAppService.findDeviceByCode(device_code); - if (device.getDeviceDriver() instanceof StandardAutoDoorDeviceDriver) { - standardAutoDoorDeviceDriver = (StandardAutoDoorDeviceDriver) device.getDeviceDriver(); - standardAutoDoorDeviceDriver.OpenOrClose("2"); - standardAutoDoorDeviceDriver.writing(2); - if (standardAutoDoorDeviceDriver.getAction() == 2) { - data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - if (!ObjectUtil.isEmpty(data)) { - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - OneNDCSocketConnectionAutoRun.write(data); - } } + if (!ObjectUtil.isEmpty(data)) { + phase = 0; + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data)); + log.info("{},{}", device_code,"agvphase:" + phase + "反馈:" + Bytes2HexString(data)); + OneNDCSocketConnectionAutoRun.write(data); + } }