更新

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

@@ -461,9 +461,11 @@ public class MagicAgvServiceImpl implements MagicAgvService {
                         //请求放货
                     } else if ("Unload".equals(action)) {
                         inst.setExecute_status("3");
+                        if (!instructionService.hasInstInOneRow(inst)) {
                             is_feedback = true;
                         }
                     }
+                }
 
                 //取放货完成
             } else if ("onStation".equals(type)) {
@@ -606,7 +608,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
             }
 
 
-
             if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
                 standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
                 flag = true;

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;
+    }
+}

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);
+
 }

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
@@ -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()));
+    }
 }

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<Item, Integer> 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<WriteRequest> 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());
             }
@@ -150,10 +222,26 @@ 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,
@@ -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));
     }
+
+
 }
 

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<String, Object> Taskoperation(Map<String, String> 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)) {

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;
@@ -18,21 +20,30 @@ import java.util.List;
  * 查询AGV任务状态
  */
 @Slf4j
-@Component
+@Component("queryMagicAgvTaskStatus")
 @RequiredArgsConstructor
 public class QueryMagicAgvTaskStatus {
     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<Instruction> 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;
+                    }
                     JSONObject jo = JSONObject.parseObject(response.body());
                     if (MapUtil.isEmpty(jo)) continue;
                     //反馈结果状态
@@ -61,6 +72,7 @@ public class QueryMagicAgvTaskStatus {
                             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);
@@ -104,6 +116,9 @@ public class QueryMagicAgvTaskStatus {
                     }
                 }
             }
+        } finally {
+            MDC.remove(log_file_type);
+        }
     }
 
     public static void main(String[] args) {

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）
    */

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

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）
    */