From 1ce194a5a65081f4aa11bdd71684bd2abafcf9a6 Mon Sep 17 00:00:00 2001 From: zhangjiangwei Date: Fri, 10 Mar 2023 17:22:06 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../agv/server/impl/MagicAgvServiceImpl.java | 5 +- .../acs/device_driver/driver/ItemValue.java | 36 +++++ .../service/InstructionService.java | 2 + .../service/impl/InstructionServiceImpl.java | 18 ++- .../src/main/java/org/nl/acs/opc/OpcUtl.java | 138 +++++++++++++++- .../nl/hand/service/impl/PadServiceImpl.java | 13 +- .../quartz/task/QueryMagicAgvTaskStatus.java | 151 ++++++++++-------- acs/qd/src/settings.js | 4 +- .../java/org/nl/wms/sch/wql/SEND_TASK.wql | 2 +- lms/qd/src/settings.js | 4 +- 10 files changed, 285 insertions(+), 88 deletions(-) create mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ItemValue.java diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java index 6bcf917..a4d7472 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java @@ -461,7 +461,9 @@ public class MagicAgvServiceImpl implements MagicAgvService { //请求放货 } else if ("Unload".equals(action)) { inst.setExecute_status("3"); - is_feedback = true; + if (!instructionService.hasInstInOneRow(inst)) { + is_feedback = true; + } } } @@ -606,7 +608,6 @@ public class MagicAgvServiceImpl implements MagicAgvService { } - if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); flag = true; diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ItemValue.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ItemValue.java new file mode 100644 index 0000000..824c769 --- /dev/null +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ItemValue.java @@ -0,0 +1,36 @@ +package org.nl.acs.device_driver.driver; + +/** + * @author ldjun + * @version 1.0 + * @date 2023年02月01日 11:21 + * @desc desc + */ +public class ItemValue { + private String item_code; + private Object item_value; + + public ItemValue() { + } + + public ItemValue(String item_code, Object item_value) { + this.item_code = item_code; + this.item_value = item_value; + } + + public String getItem_code() { + return this.item_code; + } + + public void setItem_code(String item_code) { + this.item_code = item_code; + } + + public Object getItem_value() { + return this.item_value; + } + + public void setItem_value(Object item_value) { + this.item_value = item_value; + } +} diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java index e07884a..a41e63d 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -244,4 +244,6 @@ public interface InstructionService { boolean removeByCodeFromCache(String code); + boolean hasInstInOneRow(Instruction inst); + } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 66b48bd..27aa397 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -50,6 +50,7 @@ import javax.servlet.http.HttpServletResponse; import java.io.IOException; import java.util.*; import java.util.regex.Pattern; +import java.util.stream.Collectors; /** * @author ldjun @@ -217,7 +218,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu @Override public Instruction findByTaskcodeToWms(String code) { WQLObject wo = WQLObject.getWQLObject("acs_instruction"); - JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0); + JSONObject json = wo.query("task_code ='" + code + "'", "create_time desc").uniqueResult(0); if (ObjectUtil.isNotEmpty(json)) return json.toJavaObject(Instruction.class); return null; @@ -1078,4 +1079,19 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu Pattern pattern = Pattern.compile("^[-\\+]?[\\d]*$"); return pattern.matcher(str).matches(); } + + /** + * 判断库位同一排里是否有库位在他之前的指令 + * + * @param inst 指令实体对象 + * @return 有 true 没有 false + */ + @Override + public boolean hasInstInOneRow(Instruction inst) { + return instructions + .stream() + .anyMatch(i -> !i.getInstruction_id().equals(inst.getInstruction_id()) + && i.getTo_x().equals(inst.getTo_x()) + && Integer.parseInt(i.getTo_y()) < Integer.parseInt(inst.getTo_y())); + } } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcUtl.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcUtl.java index c386e1c..75457fe 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcUtl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcUtl.java @@ -4,19 +4,28 @@ import cn.hutool.core.util.NumberUtil; import lombok.extern.slf4j.Slf4j; import org.jinterop.dcom.common.JIException; import org.jinterop.dcom.core.*; +import org.nl.acs.device_driver.driver.ItemValue; import org.nl.exception.BadRequestException; import org.nl.exception.WDKException; import org.openscada.opc.lib.common.ConnectionInformation; import org.openscada.opc.lib.da.*; +import java.util.ArrayList; import java.util.Iterator; +import java.util.List; import java.util.Map; import java.util.concurrent.Executors; @Slf4j public class OpcUtl { - private static int timeout = 180000; + private static int timeout = 1*60*1000; private static String key = "rpc.socketTimeout"; + public static int successNum=0; + public static int errNum=0; + + static { + checkTimeout(); + } public static void checkTimeout() { if (Integer.getInteger(key, 0).intValue() != timeout) { @@ -26,9 +35,20 @@ public class OpcUtl { } - public static void writeValue(Group group, WriteRequest... requests) { + public static void writeValue(Group group, WriteRequest... requests) throws WDKException { try { - Map e = group.write(requests); + Map e=null; + try{ + e=group.write(requests); + group.write(requests); + }catch (Exception e1){ + try{ + e= group.write(requests); + }catch (Exception e2){ + e= group.write(requests); + } + } + boolean is_success = true; StringBuilder message = new StringBuilder(); Iterator arg4 = e.keySet().iterator(); @@ -50,9 +70,60 @@ public class OpcUtl { if (!is_success) { // throw new BusinessException(message.toString()); + System.out.println("下发信号失败："+message.toString()); + System.out.println("下发信号失败原因："+message.toString()); + log.info("下发信号失败："+message.toString()); + throw new WDKException(message.toString()); } } catch (JIException arg7) { - // throw new BusinessException(arg7); + log.info("下发信号失败："+arg7.getMessage()); + System.out.println("下发信号失败原因："+arg7.getMessage()); + throw new WDKException(arg7); + } + } + + public static void writeValue(Group group, ItemValue... values) throws WDKException { + try { + if (values != null && values.length > 0) { + List ws = new ArrayList(); + ItemValue[] var3 = values; + int var4 = values.length; + + for(int var5 = 0; var5 < var4; ++var5) { + ItemValue value = var3[var5]; + Item item = group.addItem(value.getItem_code()); + ws.add(new WriteRequest(item, getVariant(value.getItem_value()))); + } + + writeValue(group, (WriteRequest[])ws.toArray(new WriteRequest[0])); + } + + } catch (AddFailedException | JIException var8) { + throw new WDKException(var8); + } + } + + public static JIVariant getVariant(Object object) { + if (object instanceof Integer) { + return getIntegerVariant((Integer)object); + } else if (object instanceof String) { + return getStringVariant((String)object); + } else if (object instanceof byte[]) { + return getByteArrayVariant((byte[])((byte[])object)); + } else if (object instanceof Byte[]) { + return getByteArrayVariant((Byte[])((Byte[])object)); + } else if (object instanceof Boolean) { + return new JIVariant((Boolean)object); + } else if (object instanceof int[]) { + return getByteArrayVariantxx((int[])((int[])object)); + } else if (object instanceof Integer[]) { + JIArray array = new JIArray((Integer)object, false); + JIVariant value = new JIVariant(array); + return value; + } else if (object instanceof JIVariant) { + return (JIVariant)object; + } else { + throw new WDKException("未实现目前支持是int,string,byte[]"); } } @@ -60,6 +131,7 @@ public class OpcUtl { if (NumberUtil.compare(itemState.getQuality(), Short.valueOf(QualityTypeValue.OPC_QUALITY_GOOD)) != 0) { if (item != null) { log.debug("value is not good {} : {}", item.getId(), itemState.getQuality()); +// throw new WDKException("值不健康进行重连!"); } else { log.debug("value is not good {}", itemState.getQuality()); } @@ -150,12 +222,28 @@ public class OpcUtl { server = new Server(getConnection(host, clsid, user, password, domain), Executors.newSingleThreadScheduledExecutor()); server.connect(); + successNum++; return server; } catch (Exception e) { - throw new WDKException(e); + errNum++; +// e.printStackTrace(); + System.out.println("server error:"+e.getMessage()); + throw new WDKException(e.getMessage()); + }finally{ + System.out.println("successNum:"+successNum); + System.out.println("errNum:"+errNum); } } + public static Server getAutoServer(String host, String clsid, String user, String password, String domain) throws WDKException { + checkTimeout(); + Server server = null; + server = new Server(getConnection(host, clsid, user, password, domain), Executors.newSingleThreadScheduledExecutor()); + AutoReconnectController autoReconnectController = new AutoReconnectController(server); + autoReconnectController.connect(); + return server; + } + public static ConnectionInformation getConnection(String host, String clsid, String user, String password, String domain) { ConnectionInformation connection = new ConnectionInformation(); @@ -167,6 +255,44 @@ public class OpcUtl { return connection; } + public static JIVariant getByteArrayVariantxx(int[] bytes) { + Integer[] byte_Data = new Integer[bytes.length]; + + for(int i = 0; i < bytes.length; ++i) { + byte_Data[i] = bytes[i]; + } + + JIArray array = new JIArray(byte_Data, false); + JIVariant value = new JIVariant(array); + return value; + } + + public static JIVariant getIntegerVariant(Integer integer) { + return new JIVariant(integer); + } + + public static JIVariant getStringVariant(String string) { + return new JIVariant(string); + } + + public static JIVariant getByteArrayVariant(byte[] bytes) { + Byte[] byte_Data = new Byte[bytes.length]; + + for(int i = 0; i < bytes.length; ++i) { + byte_Data[i] = bytes[i]; + } + + JIArray array = new JIArray(byte_Data, false); + JIVariant value = new JIVariant(array); + return value; + } + + public static JIVariant getByteArrayVariant(Byte[] bytes) { + JIArray array = new JIArray(bytes, false); + JIVariant value = new JIVariant(array); + return value; + } + public static String read(String item) throws Exception { System.out.println(item); Server server = getServer("192.168.81.251", "7bc0cc8e-482c-47ca-abdc-0fe7f9c6e729", "administrator", "Huawei@123", ""); @@ -193,5 +319,7 @@ public class OpcUtl { System.out.println(itemState.getQuality()); System.out.println(getValue(byteItem, itemState)); } + + } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java index 58a1d0f..6ba9c17 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java @@ -11,6 +11,7 @@ import com.alibaba.fastjson.JSONObject; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.agv.server.AgvService; +import org.nl.acs.agv.server.MagicAgvService; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.config.AcsConfig; import org.nl.acs.config.server.AcsConfigService; @@ -82,7 +83,7 @@ public class PadServiceImpl implements PadService { throw new BadRequestException("未找到该指令！"); } InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class); + MagicAgvService agvService = SpringContextHolder.getBean(MagicAgvService.class); AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class); String task_id = instwo.getString("task_id"); @@ -91,9 +92,8 @@ public class PadServiceImpl implements PadService { 3 强制完成*/ if (type.equals("1")) { //调用agv删除任务的接口 - agvService = SpringContextHolder.getBean("agvServiceImpl"); try { - agvService.deleteAgvInstToNDC(instwo.toJavaObject(Instruction.class)); + agvService.deleteAgvInst(instwo.getString("instruction_code")); instructionService.cancel(inst_uuid); } catch (Exception e) { @@ -105,14 +105,13 @@ public class PadServiceImpl implements PadService { } if (type.equals("2")) { Instruction instdto = (Instruction) JSONObject.toJavaObject(instwo, Instruction.class); - AgvService agvserver = SpringContextHolder.getBean("agvServiceImpl"); try { if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")) { - agvService.sendAgvInstToNDC(instdto); + agvService.sendAgvInstToMagic(instdto); } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) { - agvService.sendAgvInstToNDC(instdto); + agvService.sendAgvInstToMagic(instdto); } } } catch (Exception e) { @@ -145,7 +144,7 @@ public class PadServiceImpl implements PadService { @Override public Map Taskoperation(Map jsonObject) { JSONObject jo = new JSONObject(); - String task_uuid = jsonObject.get("inst_uuid"); + String task_uuid = jsonObject.get("task_uuid"); String type = jsonObject.get("type"); JSONObject taskjo = WQLObject.getWQLObject("acs_task").query("task_id='" + task_uuid + "'").uniqueResult(0); if (StrUtil.isEmpty(task_uuid)) { diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java index e3de69a..e5036bd 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java @@ -10,6 +10,8 @@ import lombok.extern.slf4j.Slf4j; import org.nl.acs.agv.server.MagicAgvService; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; +import org.slf4j.MDC; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.List; @@ -18,91 +20,104 @@ import java.util.List; * 查询AGV任务状态 */ @Slf4j -@Component +@Component("queryMagicAgvTaskStatus") @RequiredArgsConstructor public class QueryMagicAgvTaskStatus { - private final InstructionService instructionService; + private final InstructionService instructionService; + @Autowired MagicAgvService magicAgvService; + private String log_file_type = "log_file_type"; + private String log_type = "agv接口日志"; public void run() throws Exception { - List instList = instructionService.findAllInstFromCache(); - if (instList.size() > 0) { - for (int i = 0; i < instList.size(); i++) { - Instruction inst = instList.get(i); - String instcode = inst.getInstruction_code(); - HttpResponse response = magicAgvService.queryAgvInstStatus(instcode); - JSONObject jo = JSONObject.parseObject(response.body()); - if (MapUtil.isEmpty(jo)) continue; - //反馈结果状态 - log.info("instcode：" + instcode + "," + jo.toString()); - //指令执行状态 - String state = jo.getString("state"); - String processingVehicle = ""; - //正在执行指令agv车号 - if (!StrUtil.isEmpty(jo.getString("processingVehicle"))) { - processingVehicle = jo.getString("processingVehicle"); - inst.setCarno(processingVehicle); - } -// RAW：初始状态 -// ACTIVE：业务订单已激活 -// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行 -// BEING_PROCESSED：业务订单正在被执行 -// WITHDRAWN：业务订单已被撤销 -// FINISHED：业务订单已完成 -// FAILED：业务订单已失败 -// UNROUTABLE：无法规划该业务订单的执行路线 - //执行中 - if ("BEING_PROCESSED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("1"); - instructionService.update(inst); - } - } else if ("FINISHED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("2"); - instructionService.finish(inst); + List instList = instructionService.findAllInstFromCache(); + MDC.put(log_file_type, log_type); + try { + if (instList.size() > 0) { + for (int i = 0; i < instList.size(); i++) { + Instruction inst = instList.get(i); + String instcode = inst.getInstruction_code(); + HttpResponse response = magicAgvService.queryAgvInstStatus(instcode); + if (response.getStatus() != 200) { + continue; } - } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { - if (inst != null) { - inst.setInstruction_status("3"); - instructionService.update(inst); - instructionService.removeByCodeFromCache(instcode); + JSONObject jo = JSONObject.parseObject(response.body()); + if (MapUtil.isEmpty(jo)) continue; + //反馈结果状态 + log.info("instcode：" + instcode + "," + jo.toString()); + //指令执行状态 + String state = jo.getString("state"); + String processingVehicle = ""; + //正在执行指令agv车号 + if (!StrUtil.isEmpty(jo.getString("processingVehicle"))) { + processingVehicle = jo.getString("processingVehicle"); + inst.setCarno(processingVehicle); } - } else { + // RAW：初始状态 + // ACTIVE：业务订单已激活 + // DISPATCHABLE：业务订单已通过系统验证，等待被调度执行 + // BEING_PROCESSED：业务订单正在被执行 + // WITHDRAWN：业务订单已被撤销 + // FINISHED：业务订单已完成 + // FAILED：业务订单已失败 + // UNROUTABLE：无法规划该业务订单的执行路线 - } - JSONArray ja = jo.getJSONArray("properties"); - for (int j = 0; j < ja.size(); j++) { - JSONObject item = ja.getJSONObject(j); - if ("True".equals(item.get("value"))) { - String param = item.get("key").toString(); - String[] strs = param.split("-"); - //onEntry请求进入 onStation请求离开 - //onStation-库位名-动作名" - String type = null; - String device = null; - String action = null; - // =5表示为货位 - if (strs.length == 5) { - type = strs[0]; - device = strs[1] + "-" + strs[2] + "-" + strs[3]; - action = strs[4]; - } else { - type = strs[0]; - device = strs[1]; - action = strs[2]; + //执行中 + if ("BEING_PROCESSED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("1"); + instructionService.update(inst); } + } else if ("FINISHED".equals(state)) { + log.info("agv指令状态：{}",state); + if (inst != null) { + inst.setInstruction_status("2"); + instructionService.finish(inst); + } + } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("3"); + instructionService.update(inst); + instructionService.removeByCodeFromCache(instcode); + } + } else { - String mes = ""; - - magicAgvService.process(instcode, type, device, action, processingVehicle); } + JSONArray ja = jo.getJSONArray("properties"); + for (int j = 0; j < ja.size(); j++) { + JSONObject item = ja.getJSONObject(j); + if ("True".equals(item.get("value"))) { + String param = item.get("key").toString(); + String[] strs = param.split("-"); + //onEntry请求进入 onStation请求离开 + //onStation-库位名-动作名" + String type = null; + String device = null; + String action = null; + // =5表示为货位 + if (strs.length == 5) { + type = strs[0]; + device = strs[1] + "-" + strs[2] + "-" + strs[3]; + action = strs[4]; + } else { + type = strs[0]; + device = strs[1]; + action = strs[2]; + } + + String mes = ""; + magicAgvService.process(instcode, type, device, action, processingVehicle); + } + + } } } + } finally { + MDC.remove(log_file_type); } } diff --git a/acs/qd/src/settings.js b/acs/qd/src/settings.js index cf42cfc..c88dce3 100644 --- a/acs/qd/src/settings.js +++ b/acs/qd/src/settings.js @@ -5,7 +5,7 @@ module.exports = { /* title: 'EL-ADMIN', */ - title: '', + title: 'ACS', /** * @description 是否显示 tagsView */ @@ -29,7 +29,7 @@ module.exports = { /** * @description token key */ - TokenKey: 'NL-ADMIN-TOEKN', + TokenKey: 'ACS-TOKEN', /** * @description 请求超时时间，毫秒（默认2分钟） */ diff --git a/lms/hd/nladmin-system/src/main/java/org/nl/wms/sch/wql/SEND_TASK.wql b/lms/hd/nladmin-system/src/main/java/org/nl/wms/sch/wql/SEND_TASK.wql index 886f1d0..6c39341 100644 --- a/lms/hd/nladmin-system/src/main/java/org/nl/wms/sch/wql/SEND_TASK.wql +++ b/lms/hd/nladmin-system/src/main/java/org/nl/wms/sch/wql/SEND_TASK.wql @@ -81,7 +81,7 @@ pm.material = 输入.material_type ENDOPTION ORDER BY - col + col ASC ENDSELECT ENDQUERY ENDIF diff --git a/lms/qd/src/settings.js b/lms/qd/src/settings.js index 03acf30..af0e26c 100644 --- a/lms/qd/src/settings.js +++ b/lms/qd/src/settings.js @@ -2,7 +2,7 @@ module.exports = { /** * @description 网站标题 */ - title: 'EL-ADMIN', + title: 'LMS', /** * @description 是否显示 tagsView */ @@ -26,7 +26,7 @@ module.exports = { /** * @description token key */ - TokenKey: 'EL-ADMIN-TOEKN', + TokenKey: 'LMS-TOKEN', /** * @description 请求超时时间，毫秒（默认2分钟） */