From 0a91f92a3b201a5735edc26adfc45cd3cf7c3be3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=91=A8=E4=BF=8A=E6=9D=B0?= <9463626+zhou-junjiezjj@user.noreply.gitee.com> Date: Mon, 19 Jun 2023 09:05:53 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B5=99=E5=A4=A7=E6=8E=A5=E5=8F=A3=E6=B5=8B?= =?UTF-8?q?=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../nl/acs/agv/server/ZheDaAgvService.java | 13 +- .../org/nl/acs/agv/server/dto/AgvDto.java | 9 + .../agv/server/impl/ZheDaAgvServiceImpl.java | 500 ++++++++---------- .../device/device_driver/DriverTypeEnum.java | 6 +- .../lubei_conveyor/ItemProtocol.java | 107 ++++ .../LubeiConveyorDefination.java | 59 +++ .../LubeiConveyorDeviceDriver.java | 442 ++++++++++++++++ .../ext/wms/rest/AcsToWmsZDController.java | 9 +- .../ext/wms/rest/WmsZDToAcsController.java | 2 + .../ext/wms/service/AcsToWmsZDService.java | 11 +- .../service/impl/AcsToLiKuServiceImpl.java | 1 - .../service/impl/AcsToWmsZDServiceImpl.java | 114 ++-- .../service/impl/InstructionServiceImpl.java | 12 +- .../task/service/impl/TaskServiceImpl.java | 17 +- .../quartz/task/DeviceStatusUpdate.java | 52 ++ .../quartz/task/QueryZDAgvTaskStatus.java | 98 ++++ .../nl/modules/quartz/task/ToAgvDevice.java | 1 - .../modules/wql/util/SpringContextHolder.java | 1 - .../src/views/acs/device/config.vue | 4 +- 19 files changed, 1079 insertions(+), 379 deletions(-) create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/ItemProtocol.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDefination.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDeviceDriver.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusUpdate.java create mode 100644 acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java index 1069c95..3667261 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java @@ -19,14 +19,17 @@ public interface ZheDaAgvService { /** * 查询AGV状态 - * 永裕家居项目:共两楼 - * - * @param floor 1、二楼AGV系统；2、一楼AGV系统 * @return */ - public HttpResponse queryAgvInstStatus(String floor); + HttpResponse queryAgvInstStatus(); + /** + * 查询AGV设备状态 + * @return + */ + HttpResponse queryZDAgvDeviceStatus(); + - String process(String jobno, String type, String address, String action, String processingVehicle); + String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus); public HttpResponse markComplete(String code); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java index ed1333a..ded76c7 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java @@ -73,5 +73,14 @@ public class AgvDto implements Serializable { * 当前任务号 */ private String transportOrder; + /** + * 状态码 + */ + private Integer status; + /** + * 状态描述 + */ + private String statusDescription; + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java index a144cbf..684277e 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java @@ -10,12 +10,16 @@ import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; import org.nl.acs.agv.AgvUtil; import org.nl.acs.agv.server.ZheDaAgvService; +import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.empty_vehicle_stacking_position.EmptyVehicleStackingPositionDeviceDriver; import org.nl.acs.device_driver.basedriver.hailiang_smart_plc_test.HailiangSmartplcTestDeviceDriver; import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDeviceDriver; +import org.nl.acs.device_driver.basedriver.lubei_conveyor.LubeiConveyorDeviceDriver; import org.nl.acs.device_driver.basedriver.paint_conveyor.PaintConveyorDeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.AcsToWmsZDService; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.log.LokiLog; @@ -25,14 +29,23 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; +import org.nl.config.server.AcsConfigService; import org.nl.modules.system.service.ParamService; import org.nl.modules.wql.util.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; +import java.util.HashMap; +import java.util.Map; + @Slf4j @Service @RequiredArgsConstructor public class ZheDaAgvServiceImpl implements ZheDaAgvService { + + @Autowired + AcsConfigService acsConfigService; + Map AGVDeviceStatus = new HashMap(); private final ParamService paramService; @LokiLog(type = LokiLogType.AGV) @Override @@ -73,13 +86,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); String agvport2 = paramService.findByCode(AcsConfig.AGVPORT2).getValue(); - - //不同楼层下发不同的agv系统 - if (task_type.equals("1")) { - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code(); - } else { - agvurl = agvurl2 + ":" + agvport2 + "/v1/transportOrders/" + inst.getInstruction_code(); - } + agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code(); log.info("下发agv任务请求:{}", agvurl); HttpResponse result = HttpRequest.post(agvurl) @@ -96,20 +103,28 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { @LokiLog(type = LokiLogType.AGV) @Override //ZDAGV - public HttpResponse queryAgvInstStatus(String type) { + public HttpResponse queryAgvInstStatus() { if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { - String agvurl = ""; - String agvport = ""; - if (type.equals("1")) { - agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); - agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - } - if (type.equals("2")) { - agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); - agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue(); - } + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + agvurl = agvurl + ":" + agvport + "/v1/vehicles"; + HttpResponse result = HttpRequest.get(agvurl) + .timeout(20000)//超时，毫秒 + .execute(); + System.out.println("查询agv指令数据:" + result.body()); + + return result; + } else { + return null; + } + } - agvurl = agvurl + ":" + agvport + "/v1/transportOrders"; + @Override + public HttpResponse queryZDAgvDeviceStatus() { + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + agvurl = agvurl + ":" + agvport + "/v1/vehicles"; HttpResponse result = HttpRequest.get(agvurl) .timeout(20000)//超时，毫秒 .execute(); @@ -120,299 +135,212 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService { return null; } } + @LokiLog(type = LokiLogType.AGV) @Override - //ZDAGV - public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) { - log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action); - //释放AGV资源，继续后续动作 - boolean is_feedback = false; - String str = ""; - String backaddress = address; - if (address.indexOf(".") > 0) { - str = address.substring(address.indexOf(".") + 1, address.length()); - address = address.substring(0, address.indexOf(".")); - } else if (address.indexOf("-") > 0) { - address = address.substring(0, address.indexOf("-")); - } - InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); - TaskService taskService = SpringContextHolder.getBean("taskServiceImpl"); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); - - Instruction inst = instructionService.findByCodeFromCache(jobno); - TaskDto task = taskService.findByCode(inst.getTask_code()); - - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); - Device addressdevice = appService.findDeviceByCode(address); - - CargoLiftConveyorDeviceDriver cargoLiftConveyorDeviceDriver; - EmptyVehicleStackingPositionDeviceDriver emptyVehicleStackingPositionDeviceDriver; - HailiangSmartplcTestDeviceDriver hailiangSmartplcTestDeviceDriver; - HongXiangConveyorDeviceDriver hongXiangConveyorDeviceDriver; - PaintConveyorDeviceDriver paintConveyorDeviceDriver; - - //取货的进入前等待和离开等待 - if (action.equals("Load")) { - if ("EntryRequired".equals(type)) { - //共挤线三工位 - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - if ((hailiangSmartplcTestDeviceDriver.getAction() == 1 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; + public synchronized String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus) + { + { + log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action+",feedbackStatus:"+feedbackStatus); + //释放AGV资源，继续后续动作 + boolean is_feedback = false; + String str = ""; + String backaddress = address; + if (address.indexOf(".") > 0) { + str = address.substring(address.indexOf(".") + 1, address.length()); + address = address.substring(0, address.indexOf(".")); + } else if (address.indexOf("-") > 0) { + address = address.substring(0, address.indexOf("-")); + } + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + TaskService taskService = SpringContextHolder.getBean("taskServiceImpl"); +// AcsToWmsService acsToWmsService=SpringContextHolder.getBean("acsToWmsServiceImpl"); + AcsToWmsZDService acsToWmsZDService = SpringContextHolder.getBean("acsToWmsZDServiceImpl"); + + Instruction inst = instructionService.findByCodeFromCache(jobno); + TaskDto task = taskService.findByCode(inst.getTask_code()); + + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device addressdevice = appService.findDeviceByCode(address); + + + LubeiConveyorDeviceDriver lubeiConveyorDeviceDriver; + StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; + //取货的进入前等待和离开等待 + if (action.equals("Load")) { + if ("EntryRequired".equals(type)) { + // + if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) { + lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver(); + if(lubeiConveyorDeviceDriver.getMove()==1 && lubeiConveyorDeviceDriver.getAction()==1){ + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode); + } + } else { + log.info("设备{} 请求取货，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove()); + } } - } - //叠盘位 - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - int number = emptyVehicleStackingPositionDeviceDriver.getNumber(); - if (number < Integer.valueOf(str)) { - log.info("叠盘位：" + jobno + "当前层高为：" + number + ",不存在第" + str + "的托盘！"); - return null; + if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode); + } } - inst.setExecute_status("1"); - is_feedback = true; } - //货梯对接线 - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((cargoLiftConveyorDeviceDriver.getAction() == 1 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) { + lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver(); + if(lubeiConveyorDeviceDriver.getMove()==0){ + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode); + } + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove()); + } } - } - //豪凯自动线对接位 - if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((hongXiangConveyorDeviceDriver.getAction() == 1 || hongXiangConveyorDeviceDriver.getAction() == 3) && hongXiangConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; - } - } - //油漆线 - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((paintConveyorDeviceDriver.getAction() == 1 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 1) { - inst.setExecute_status("1"); - is_feedback = true; + if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode); + } } } } - if ("PauseOnStation".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - hailiangSmartplcTestDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - emptyVehicleStackingPositionDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - cargoLiftConveyorDeviceDriver.writing(2); - is_feedback = true; - } - if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - hongXiangConveyorDeviceDriver.writing(2); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("2"); - paintConveyorDeviceDriver.writing(2); - is_feedback = true; - } - - } - } - //等待点等待 - if (action.equals("Wait")) { - if ("Wait".equals(type)) { - JSONObject jo = new JSONObject(); - jo.put("task_code", inst.getInstruction_code()); - JSONArray destinations = new JSONArray(); - String inst_type = inst.getInstruction_type(); - //如果任务类型为1，在点位进行等待，则查询当前叠盘位的数量，取当前数量的层数进行追加任务 -// if ("1".equals(inst_type)) { -// emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); -// int current_num = emptyVehicleStackingPositionDeviceDriver.getNumber(); -// if (current_num > 12) { -// log.info("当前叠盘架:" + jobno + "已放满！"); -// return null; -// } -// String start_point_code = inst.getStart_point_code(); -// String next_point_code = inst.getNext_point_code(); -// start_point_code = start_point_code + "." + (current_num + 1); -// destinations.add(destination(start_point_code, "Load", "1", "1")); -// destinations.add(destination(next_point_code, "Unload", "1", "1")); -// -// } - - String resp = acsToWmsService.requestTaskAgain(address,task.getExt_task_id(),inst.getVehicle_code()); - JSONObject respjson = JSONObject.parseObject(resp); - - if(StrUtil.equals(inst.getInstruction_type(),"3")){ - //2楼AGV起点追加任务 - String start_device_code = respjson.getString("device_code"); - String next_device_code = inst.getNext_device_code(); - destinations.add(destination(start_device_code, "load", "1", "1")); - destinations.add(destination(next_device_code, "Unload", "1", "1")); - - } else if(StrUtil.equals(inst.getInstruction_type(),"4")){ - //2楼AGV终点追加任务 - String next_device_code = respjson.getString("device_code"); - destinations.add(destination(next_device_code, "Unload", "1", "1")); - } - - jo.put("destinations", destinations); - - String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); - String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - - String url = agvurl + ":" + agvport + "/addDestinations"; - log.info("下发agv任务请求:{}", url); - - HttpResponse result = HttpRequest.post(url) - .body(String.valueOf(jo))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("下发agv任务请求反馈:{}", result); - - //对任务进行封口 - JSONObject complete = new JSONObject(); - complete.put("task_code", inst.getInstruction_code()); - - String url2 = agvurl + ":" + agvport + "markComplete"; - log.info("下发agv任务请求:{}", url2); - - HttpResponse result2 = HttpRequest.post(url2) - .body(String.valueOf(complete))//表单内容 - .timeout(20000)//超时，毫秒 - .execute(); - log.info("下发agv任务请求反馈:{}", result2); - } - } - //放货的进入前等待和离开等待 - if (action.equals("Unload")) { - if ("EntryRequired".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - if ((hailiangSmartplcTestDeviceDriver.getAction() == 2 || hailiangSmartplcTestDeviceDriver.getAction() == 3) && hailiangSmartplcTestDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; + //放货的进入前等待和离开等待 + if (action.equals("Unload")) { + if ("EntryRequired".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) { + lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver(); + if(lubeiConveyorDeviceDriver.getMove()==0 && lubeiConveyorDeviceDriver.getAction()==1){ + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，开始放货 请求结果{}",responseCode); + } + } else { + log.info("设备{} 请求放货，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove()); + } } - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - int number = emptyVehicleStackingPositionDeviceDriver.getNumber(); - if (number >= Integer.valueOf(str)) { - log.info("叠盘位：" + jobno + "第" + str + "上有货！"); - return null; - } - inst.setExecute_status("3"); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((cargoLiftConveyorDeviceDriver.getAction() == 2 || cargoLiftConveyorDeviceDriver.getAction() == 3) && cargoLiftConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; + if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，开始放货 请求结果{}",responseCode); + } } } - - if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((hongXiangConveyorDeviceDriver.getAction() == 2 || hongXiangConveyorDeviceDriver.getAction() == 3) && hongXiangConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) { + lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) addressdevice.getDeviceDriver(); + if(lubeiConveyorDeviceDriver.getMove()==1){ + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode); + } + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove()); + } } - } - - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - if ((paintConveyorDeviceDriver.getAction() == 2 || paintConveyorDeviceDriver.getAction() == 3) && paintConveyorDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - is_feedback = true; + if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + JSONObject jo = new JSONObject(); + jo.put("taskCode",task.getTask_code()); + jo.put("carId",processingVehicle); + jo.put("taskType ",type); + jo.put("feedbackStatus",feedbackStatus); + HttpResponse result= acsToWmsZDService.taskFeedback(jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + is_feedback = true; + log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode); + } } } } - if ("PauseOnStation".equals(type)) { - if (addressdevice.getDeviceDriver() instanceof HailiangSmartplcTestDeviceDriver) { - hailiangSmartplcTestDeviceDriver = (HailiangSmartplcTestDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - hailiangSmartplcTestDeviceDriver.writing(3); - is_feedback = true; - } - - if (addressdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) { - emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - emptyVehicleStackingPositionDeviceDriver.writing(3); - is_feedback = true; + com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject(); + if (is_feedback) { + requestjo.put("task_code", jobno); + requestjo.put("operation", action); + if (type.equals("entryRequired") || type.equals("EntryRequired")) { + requestjo.put("entryRequired", "true"); + } else { + requestjo.put("pauseOnStation", "true"); } + log.info("反馈AGV请求数据:{}", requestjo); + System.out.println("back agv:" + requestjo); - if (addressdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - cargoLiftConveyorDeviceDriver.writing(3); - is_feedback = true; - } - if (addressdevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) { - hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - hongXiangConveyorDeviceDriver.writing(3); - is_feedback = true; - } + String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); + String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - if (addressdevice.getDeviceDriver() instanceof PaintConveyorDeviceDriver) { - paintConveyorDeviceDriver = (PaintConveyorDeviceDriver) addressdevice.getDeviceDriver(); - inst.setExecute_status("4"); - paintConveyorDeviceDriver.writing(3); - is_feedback = true; - } - } - } - JSONObject requestjo = new JSONObject(); - if (is_feedback) { - requestjo.put("task_code", jobno); - requestjo.put("operation", action); - if (type.equals("entryRequired") || type.equals("EntryRequired")) { - requestjo.put("entryRequired", "true"); - } else { - requestjo.put("pauseOnStation", "true"); - } - log.info("反馈AGV请求数据:{}", requestjo); - System.out.println("back agv:" + requestjo); + agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact"; - String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); - String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - if (inst.getInstruction_type().equals("4")) { - agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + HttpResponse result = HttpRequest.post(agvurl) + .body(String.valueOf(requestjo)) + .timeout(20000)//超时，毫秒 + .execute(); } - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact"; + return requestjo.toString(); - HttpResponse result = HttpRequest.post(agvurl) - .body(String.valueOf(requestjo)) - .timeout(20000)//超时，毫秒 - .execute(); } - return requestjo.toString(); - } @LokiLog(type = LokiLogType.AGV) @Override diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java index 29d5415..cb650b7 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java @@ -21,7 +21,9 @@ public enum DriverTypeEnum { // // INSPECT_CONVEYOR_MONITOR(6, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"), - AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv"); + AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv"), + + LUBEI_CONVEYOR(18,"lubei_conveyor","输送线","conveyor"); // AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv"), @@ -46,6 +48,8 @@ public enum DriverTypeEnum { // SIEMENS_CONVEYOR_CKK(17, "siemens_conveyor_ckk", "西门子-输送机驱动-出库口", "conveyor"); + + //驱动索引 private int index; //驱动编码 diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/ItemProtocol.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/ItemProtocol.java new file mode 100644 index 0000000..b6387fa --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/ItemProtocol.java @@ -0,0 +1,107 @@ +package org.nl.acs.device_driver.basedriver.lubei_conveyor; + +import lombok.Data; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; + +import java.util.ArrayList; +import java.util.List; + +@Slf4j +@Data +public class ItemProtocol { + public static String item_heartbeat = "heartbeat"; + public static String item_mode = "mode"; + public static String item_move = "move"; + public static String item_action = "action"; + public static String item_error = "error"; + public static String item_task = "task"; + public static String item_to_command = "to_command"; + public static String item_to_target = "to_target"; + public static String item_to_task = "to_task"; + public static String item_weight = "weight"; + + private LubeiConveyorDeviceDriver driver; + + public ItemProtocol(LubeiConveyorDeviceDriver driver) { + this.driver = driver; + } + + public int getHeartbeat() { + return this.getOpcIntegerValue(item_heartbeat); + } + + public int getMode() { + return this.getOpcIntegerValue(item_mode); + } + + public int getMove() { + return this.getOpcIntegerValue(item_move); + } + + public int getaction() { + return this.getOpcIntegerValue(item_action); + } + + public int getError() { + return this.getOpcIntegerValue(item_error); + } + + public int getTask() { + return this.getOpcIntegerValue(item_task); + } + + public int getToCommand() { + return this.getOpcIntegerValue(item_to_command); + } + + public int getToTarget() { + return this.getOpcIntegerValue(item_to_target); + } + + public int getToTask() { + return this.getOpcIntegerValue(item_to_task); + } + + //是否有货 + public int hasGoods(int move) { + return move; + } + + Boolean isonline; + + public int getOpcIntegerValue(String protocol) { + Integer value = this.driver.getIntegeregerValue(protocol); + if (value == null) { + // log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!"); + setIsonline(false); + } else { + setIsonline(true); + return value; + } + return 0; + + } + + public static List getReadableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_heartbeat, "心跳", "DB600.B0")); + list.add(new ItemDto(item_mode, "工作状态", "DB600.B2", Boolean.valueOf(true))); + list.add(new ItemDto(item_move, "光电开关信号", "DB600.B3")); + list.add(new ItemDto(item_action, "取放开关信号", "DB600.B4")); + list.add(new ItemDto(item_error, "报警信号", "DB600.B5")); + return list; + } + + public static List getWriteableItemDtos() { + ArrayList list = new ArrayList(); + list.add(new ItemDto(item_to_command, "作业命令", "DB601.B2", Boolean.valueOf(true))); + return list; + } + + + @Override + public String toString() { + return ""; + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDefination.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDefination.java new file mode 100644 index 0000000..ef874e5 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDefination.java @@ -0,0 +1,59 @@ +package org.nl.acs.device_driver.basedriver.lubei_conveyor; + +import org.nl.acs.device.device_driver.standard_inspect.ItemDto; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceType; +import org.springframework.stereotype.Service; + +import java.util.ArrayList; +import java.util.LinkedList; +import java.util.List; + +@Service +public class LubeiConveyorDefination implements OpcDeviceDriverDefination { + @Override + public String getDriverCode() { + return "lubei_conveyor"; + } + + @Override + public String getDriverName() { + return "输送线"; + } + + @Override + public String getDriverDescription() { + return "输送线"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new LubeiConveyorDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return LubeiConveyorDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.conveyor); + return types; + } + + @Override + public List getReadableItemDtos() { + return ItemProtocol.getReadableItemDtos(); + } + + @Override + public List getWriteableItemDtos() { + return ItemProtocol.getWriteableItemDtos(); + } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDeviceDriver.java b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDeviceDriver.java new file mode 100644 index 0000000..818505b --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lubei_conveyor/LubeiConveyorDeviceDriver.java @@ -0,0 +1,442 @@ +package org.nl.acs.device_driver.basedriver.lubei_conveyor; + +import cn.hutool.core.date.DateUtil; +import cn.hutool.core.util.IdUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.AgvService; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.RouteableDeviceDriver; +import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; +import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.AcsToWmsZDService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; +import org.nl.acs.opc.WcsConfig; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.route.service.dto.RouteLineDto; +import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; +import org.nl.modules.system.service.ParamService; +import org.nl.modules.system.util.CodeUtil; +import org.nl.modules.wql.core.bean.WQLObject; +import org.nl.modules.wql.util.SpringContextHolder; +import org.openscada.opc.lib.da.Server; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.Date; +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +@Slf4j +@Data +@RequiredArgsConstructor +public class LubeiConveyorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { +// protected org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol itemProtocol = new org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol(this); + protected ItemProtocol itemProtocol = new ItemProtocol(this); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + AcsToWmsZDService acsToWmsZDService=SpringContextHolder.getBean(AcsToWmsZDService.class); + String container; + String container_type_desc; + String last_container_type_desc; + String last_container; + //放货准备锁 + String putReadyLock = null; + //有货标记 + protected boolean has_goods_tag = false; + + int mode = 0; + int error = 0; + int move = 0; + int task = 0; + int action=0; + int last_mode = 0; + int last_error = 0; + int last_move = 0; + int last_task = 0; + int last_action=0; + Boolean isonline = true; + int hasGoods = 0; + String message = null; + Boolean iserror = false; + + + boolean hasVehicle = false; + boolean isReady = false; + protected int instruction_num = 0; + protected int instruction_num_truth = 0; + boolean isFold = false; + private String assemble_check_tag; + + protected String current_stage_instruction_message; + protected String last_stage_instruction_message; + Integer heartbeat_tag; + private Date instruction_require_time = new Date(); + private Date instruction_finished_time = new Date(); + + private int instruction_require_time_out; + boolean requireSucess = false; + + private int instruction_finished_time_out; + + int branchProtocol = 0; + //备注 + String remark; + //数量 + String qty; + //物料 + String material; + //批次 + String batch; + //当前指令 + Instruction inst = null; + //上次指令 + Instruction last_inst = null; + + //触摸屏手动触发任务 + private Boolean is_has_task = false; + + //申请搬运任务 + private Boolean apply_handling = false; + //申请物料 + private Boolean apply_material = false; + + //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域 + int flag; + + String devicecode; + + @Override + public Device getDevice() { + return this.device; + } + + + @Override + public void execute() { + String message = null; + try { + String device_code = this.getDeviceCode(); + mode = this.itemProtocol.getMode(); + error = this.itemProtocol.getError(); + move = this.itemProtocol.getMove(); + task = this.itemProtocol.getTask(); + hasGoods = this.itemProtocol.getMove(); + action =this.itemProtocol.getaction(); + + + if (mode != last_mode) { + this.setRequireSucess(false); + } + if (move != last_move) { + } + if (error != last_error) { + } + + if (this.getApply_handling()) { + String link_device_code = this.getDevice().getExtraValue().get("link_device_code").toString(); + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device link_device = appService.findDeviceByCode(link_device_code); + LubeiConveyorDeviceDriver lubeiConveyorDeviceDriver; + if (link_device.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) { + lubeiConveyorDeviceDriver = (LubeiConveyorDeviceDriver) link_device.getDeviceDriver(); +// if(standardInspectSiteDevicedriver.getMode() != 2){ +// log.debug("设备未待机"); +// return; +// } +// if(standardInspectSiteDevicedriver.getMove() != 0){ +// log.debug("设备不满足放货条件"); +// return; +// } + + //如果目标设备申请叫料 则允许生成任务 + if (lubeiConveyorDeviceDriver.getApply_material()) { + TaskDto dto = new TaskDto(); + String now = DateUtil.now(); + dto.setTask_id(IdUtil.simpleUUID()); + dto.setCreate_by(this.getDevice().getDevice_code()); + dto.setUpdate_by(this.getDevice().getDevice_code()); + dto.setStart_point_code(this.getDevice().getDevice_code()); + + String taskcode = CodeUtil.getNewCode("TASK_NO"); + dto.setTask_code("-" + taskcode); + dto.setTask_status("0"); + dto.setPriority("101"); +// RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code()); +// String next_device_codecode = jo.getNext_device_code(); +// if(StrUtil.isEmpty(next_device_codecode)){ +// throw new RuntimeException("该设备未找到对应路由"); +// } + dto.setNext_point_code(lubeiConveyorDeviceDriver.getDevicecode()); + dto.setUpdate_time(now); + dto.setCreate_time(now); + + WQLObject wo = WQLObject.getWQLObject("acs_task"); + JSONObject json = (JSONObject) JSONObject.toJSON(dto); + + wo.insert(json); + lubeiConveyorDeviceDriver.setApply_material(false); + } + } + this.setApply_handling(false); + } + + } catch (Exception var17) { + return; + } + + if (!this.itemProtocol.getIsonline()) { + this.setIsonline(false); + this.setIserror(true); + message = "信号量同步异常"; + //未联机 + } else if (mode == 0) { + this.setIsonline(false); + this.setIserror(true); + message = "未联机"; + //有报警 + } else if (error != 0) { + this.setIsonline(false); + this.setIserror(true); + message = "有报警"; + //无报警 + } else { + this.setIsonline(true); + this.setIserror(false); + message = ""; + Instruction instruction = null; + List toInstructions; + switch (mode) { + case 1: + log.debug("设备运转模式:等待工作"); + break; + case 2: + break; + } + + switch (flag) { + //取货完成 + case 1: + writing(2); + return; + //放货完成 + case 2: + writing(3); + return; + + } + + } + last_mode = mode; + last_error = error; + last_move = move; + last_task = task; + + } + + + public boolean exe_error() { + if (this.error == 0) { + return true; + } else { + log.debug("设备报警"); + return false; + } + } + + protected void thingToNothing() { + log.debug("从有货到无货 清理数据"); + this.set_last_container(container, container_type_desc); + } + + public void set_last_container(String barcode, String type_desc) { + this.set_last_container(barcode); + this.set_last_container_type_desc(type_desc); + } + + public void set_last_container(String barcode) { + } + + public void set_last_container_type_desc(String type) { + } + + public boolean exe_business() { + return true; + } + + protected void executing(Instruction instruction) { + this.executing(1, instruction, ""); + } + + public void executing(int command, Instruction instruction, String appendMessage) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol.item_to_command; + String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol.item_to_target; + String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + org.nl.acs.device_driver.basedriver.lubei_conveyor.ItemProtocol.item_to_task; + if (appendMessage == null) { + appendMessage = ""; + } + if (instruction != null) { + instruction_num = Integer.parseInt(instruction.getInstruction_code()); + } + //String opcservcerid = this.getDevice().getOpc_server_id(); +//Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command, 1); + itemMap.put(to_task, instruction_num); + this.control(itemMap); + + } + + public void executing(Server server, Map itemMap) { + this.control(itemMap); + } + + public void writing(int command) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." +ItemProtocol.item_to_command; + + //String opcservcerid = this.getDevice().getOpc_server_id(); +//Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + itemMap.put(to_command, command); + this.control(itemMap); + + } + + public void writing(int type, int command) { + String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_command; + String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_target; + String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + + "." + ItemProtocol.item_to_task; + //String opcservcerid = this.getDevice().getOpc_server_id(); +//Server server = ReadUtil.getServer(opcservcerid); + Map itemMap = new HashMap(); + if (type == 1) { + itemMap.put(to_command, command); + } else if (type == 2) { + itemMap.put(to_target, command); + + } else if (type == 3) { + itemMap.put(to_task, command); + } + this.control(itemMap); + + } + + public boolean instruction_require(String container_code) { + return instruction_require(container_code, WcsConfig.task_container_type_default_desc); + } + + /** + * 请求指令 + * + * @param container_code + * @param container_type + */ + public synchronized boolean instruction_require(String container_code, String container_type) { + Date date = new Date(); + if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) { + log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); + return false; + } else { + this.instruction_require_time = date; + TaskDto dto = new TaskDto(); + String now = DateUtil.now(); + dto.setTask_id(IdUtil.simpleUUID()); + dto.setCreate_by(this.getDevice().getDevice_code()); + dto.setUpdate_by(this.getDevice().getDevice_code()); + dto.setStart_point_code(this.getDevice().getDevice_code()); + dto.setVehicle_code(container_code); + dto.setVehicle_type(container_type); + + String taskcode = CodeUtil.getNewCode("TASK_NO"); + dto.setTask_code("-" + taskcode); + dto.setTask_status("0"); + dto.setPriority("101"); + RouteLineDto jo = routelineserver.findByCode(this.getDevice().getDevice_code()); + String next_device_codecode = jo.getNext_device_code(); + if (StrUtil.isEmpty(next_device_codecode)) { + throw new RuntimeException("该设备未找到对应路由"); + } + dto.setNext_point_code(next_device_codecode); + dto.setUpdate_time(now); + dto.setCreate_time(now); + + WQLObject wo = WQLObject.getWQLObject("acs_task"); + JSONObject json = (JSONObject) JSONObject.toJSON(dto); + + wo.insert(json); + requireSucess = false; + return true; + } + } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + String mode = ""; + String action = ""; + String move = ""; + if (this.getMode() == 0) { + mode = "未联机"; + } else if (this.getMode() == 1) { + mode = "单机"; + } else if (this.getMode() == 2) { + mode = "联机"; + } else if (this.getMode() == 3) { + mode = "运行中"; + } + + if (this.getMove() == 0) { + move = "无货"; + jo.put("hasGoods", false); + } else if (this.getMove() == 1) { + move = "有货"; + jo.put("hasGoods", true); + } else if (this.getMove() == 2) { + move = "有托盘有货"; + jo.put("hasGoods", true); + } + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("mode", mode); + jo.put("move", move); + jo.put("action", action); + jo.put("isOnline", this.getIsonline()); + jo.put("error", this.getError()); + jo.put("isError", this.getIserror()); + jo.put("task", this.getTask()); + return jo; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } +} + diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java index d86606b..4c38474 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java @@ -5,6 +5,7 @@ import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.ext.wms.service.AcsToWmsZDService; import org.nl.modules.logging.annotation.Log; import org.springframework.context.annotation.Lazy; import org.springframework.http.HttpStatus; @@ -23,26 +24,26 @@ import java.util.Map; @Slf4j @Lazy public class AcsToWmsZDController { - private final AcsToWmsZDController acsToWmsZDService; + private final AcsToWmsZDService acsToWmsZDService; @PostMapping("/feedbackTask") @Log("任务反馈") @ApiOperation("任务反馈") - public ResponseEntity taskFeedback(@RequestBody Map whereJson) throws Exception { + public ResponseEntity taskFeedback(@RequestBody JSONObject whereJson) throws Exception { return new ResponseEntity<>(acsToWmsZDService.taskFeedback(whereJson), HttpStatus.OK); } @PostMapping("/deprecateTask") @Log("任务取消") @ApiOperation("任务取消") - public ResponseEntity taskDeprecate(@RequestBody Map whereJson) throws Exception { + public ResponseEntity taskDeprecate(@RequestBody JSONObject whereJson) throws Exception { return new ResponseEntity<>(acsToWmsZDService.taskDeprecate(whereJson), HttpStatus.OK); } @PostMapping("/deviceStatusUpdate") @Log("设备状态上传") @ApiOperation("设备状态上传") - public ResponseEntity deviceStatusUpdate(@RequestBody Map whereJson) throws Exception { + public ResponseEntity deviceStatusUpdate(@RequestBody JSONObject whereJson) throws Exception { return new ResponseEntity<>(acsToWmsZDService.deviceStatusUpdate(whereJson), HttpStatus.OK); } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java index dc6d46b..aac358f 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java @@ -1,5 +1,6 @@ package org.nl.acs.ext.wms.rest; +import cn.dev33.satoken.annotation.SaIgnore; import com.alibaba.fastjson.JSONObject; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; @@ -28,6 +29,7 @@ public class WmsZDToAcsController { @PostMapping("/createTask") @Log("任务接收") @ApiOperation("任务接收") + @SaIgnore public ResponseEntity taskCreate(@RequestBody JSONObject whereJson) { return new ResponseEntity<>(wmsZDToAcsService.taskCreate(whereJson), HttpStatus.OK); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsZDService.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsZDService.java index d18049b..3d9dbc2 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsZDService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsZDService.java @@ -1,5 +1,6 @@ package org.nl.acs.ext.wms.service; +import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSONObject; import java.util.Map; @@ -11,17 +12,17 @@ public interface AcsToWmsZDService { * 任务反馈 * * - * @return Map + * */ - Map taskFeedback(Map whereJson); + HttpResponse taskFeedback(JSONObject whereJson); /** * 任务取消 * * - * @return Map + * */ - Map taskDeprecate(Map whereJson); + HttpResponse taskDeprecate(JSONObject whereJson); /** * 设备状态上传 @@ -29,5 +30,5 @@ public interface AcsToWmsZDService { * * @return Map */ - Map deviceStatusUpdate(Map whereJson); + HttpResponse deviceStatusUpdate(JSONObject whereJson); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToLiKuServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToLiKuServiceImpl.java index 1bdb2e8..5a39624 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToLiKuServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToLiKuServiceImpl.java @@ -92,7 +92,6 @@ public class AcsToLiKuServiceImpl implements AcsToLiKuService { String result = AcsUtil.notifyAcs(api, requestParam); log.info("moveStore-----输出参数{}", result); return RespUtil.getResp(result, new MoveStoreResponse()); - } finally { MDC.remove(log_file_type); } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsZDServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsZDServiceImpl.java index 274333c..5acf228 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsZDServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsZDServiceImpl.java @@ -21,6 +21,7 @@ import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.config.server.AcsConfigService; import org.nl.modules.logging.service.LogService; +import org.nl.modules.system.service.ParamService; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; @@ -35,111 +36,90 @@ import java.util.Map; public class AcsToWmsZDServiceImpl implements AcsToWmsZDService { private final DeviceAppService deviceAppService; + @Autowired + ParamService paramService; @Autowired - AcsConfigService acsConfigService; + DeviceService deviceService; @Autowired AddressService addressService; + @Autowired + AcsConfigService acsConfigService; + @Autowired LogService logServer; @Value("${acsTowms.token}") public String token; + private String log_file_type="log_file_type"; + private String log_type="ACS请求LMS"; @Override - public Map taskFeedback(Map whereJson) { - log.info("taskFeedback-----请求参数{}", whereJson.toString()); - String taskCode = MapUtil.getStr(whereJson, "taskCode"); - String carId = MapUtil.getStr(whereJson, "carId"); - HttpResponse result = null; - AddressDto addressDto = addressService.findByCode("taskFeedback"); - String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL); + public HttpResponse taskFeedback(JSONObject whereJson) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); + + AddressDto addressDto = addressService.findByCode("feedAgvTaskStatus"); String methods_url = addressDto.getMethods_url(); - String url = wcsurl + methods_url; + String url = wmsUrl + methods_url; + HttpResponse result = null; + log.info("feedAgvTaskStatus----请求参数{}", whereJson); try { result = HttpRequest.post(url) - .header("Authorization", token).body(JSON.toJSONString(whereJson)) + .body(String.valueOf(whereJson)) .execute(); - logServer.log(taskCode, "taskFeedback", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, carId); - JSONObject jo = JSONObject.parseObject(result.body()); - return jo; + System.out.println(result); + log.info("feedAgvTaskStatus----返回参数{}", result); } catch (Exception e) { - int status = 400; - if (!ObjectUtil.isEmpty(result)) { - status = result.getStatus(); - } - logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, carId); - Map map = new HashMap<>(); - map.put("responseCode", 1); - map.put("responseMessage", e.getMessage()); - map.put("parameters", new HashMap<>()); - return map; + String msg = e.getMessage(); + //网络不通 + //System.out.println(msg); } + return result; } @Override - public Map taskDeprecate(Map whereJson) { - log.info("taskDeprecate--------------:输入参数" + whereJson.toString()); - String taskCode = MapUtil.getStr(whereJson, "task_code"); - HttpResponse result = null; + public HttpResponse taskDeprecate(JSONObject whereJson) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); AddressDto addressDto = addressService.findByCode("deprecateTask"); - String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL); String methods_url = addressDto.getMethods_url(); - String url = wcsurl + methods_url; + String url = wmsUrl + methods_url; + HttpResponse result = null; + log.info("deprecateTask----请求参数{}", whereJson); try { result = HttpRequest.post(url) - .header("Authorization", token) - .body(JSON.toJSONString(whereJson)) + .body(String.valueOf(whereJson)) .execute(); - logServer.log(taskCode, "taskDeprecate", "success", whereJson.toString(), result.body(), String.valueOf(result.getStatus()), url, ""); - JSONObject jo = JSONObject.parseObject(result.body()); - return jo; + System.out.println(result); + log.info("deprecateTask----返回参数{}", result); } catch (Exception e) { - int status = 400; - if (!ObjectUtil.isEmpty(result)) { - status = result.getStatus(); - } - logServer.log(taskCode, "taskFeedback", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, ""); - Map map = new HashMap<>(); - map.put("responseCode", 1); - map.put("responseMessage", e.getMessage()); - return map; + String msg = e.getMessage(); + //网络不通 + //System.out.println(msg); } + return result; } @Override - public Map deviceStatusUpdate(Map whereJson) { - Map map = new HashMap<>(); - HttpResponse result = null; + public HttpResponse deviceStatusUpdate(JSONObject whereJson) { + String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue(); AddressDto addressDto = addressService.findByCode("deviceStatusUpdate"); - String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WCSURL); String methods_url = addressDto.getMethods_url(); - String url = wcsurl + methods_url; - String deviceCode = MapUtil.getStr(whereJson, "deviceCode"); - if (StrUtil.isEmpty(deviceCode)) { - map.put("responseCode", 1); - map.put("responseMessage", "请求设备号不能为空!"); - map.put("parameters", new HashMap<>()); - return map; - } + String url = wmsUrl + methods_url; + HttpResponse result = null; + log.info("deviceStatusUpdate", whereJson); try { result = HttpRequest.post(url) - .header("Authorization", token).body(JSON.toJSONString(whereJson)) + .body(String.valueOf(whereJson)) .execute(); - JSONObject jo = JSONObject.parseObject(result.body()); - log.info("checkDeviceStatus-----输出参数{}", jo.toString()); - return jo; + System.out.println(result); + log.info("deviceStatusUpdate----返回参数{}", result); } catch (Exception e) { - int status = 400; - if (!ObjectUtil.isEmpty(result)) { - status = result.getStatus(); - } - logServer.log(deviceCode, "deviceStatusUpdate", "error", whereJson.toString(), e.getMessage(), String.valueOf(status), url, ""); - map.put("responseCode", 1); - map.put("responseMessage", e.getMessage()); - return map; + String msg = e.getMessage(); + //网络不通 + //System.out.println(msg); } + return result; } } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 97bd083..a4869cf 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -14,6 +14,7 @@ import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.MagicAgvService; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.agv.server.XianGongAgvService; +import org.nl.acs.agv.server.ZheDaAgvService; import org.nl.acs.auto.initial.ApplicationAutoInitial; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device.service.impl.DeviceServiceImpl; @@ -363,8 +364,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu throw new BadRequestException("未查询到相关路由！"); } if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) { - NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); - ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); + String agvType = paramService.findByCode(AcsConfig.AGVTYPE).getValue(); + if(agvType.equals("2")) { + NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); + ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); + } + if(agvType.equals("4")){ + ZheDaAgvService zheDaAgvService=SpringContextHolder.getBean(ZheDaAgvService.class); + zheDaAgvService.sendAgvInstToAgv(dto); + } } } catch (Exception e) { dto.setSend_status("2"); diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index e5f42b2..f88bae8 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -21,6 +21,7 @@ import org.nl.acs.device.service.StorageCellService; import org.nl.acs.device.service.dto.DeviceAssignedDto; import org.nl.acs.device.service.impl.DeviceServiceImpl; import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.AcsToWmsZDService; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.dto.InstructionDto; @@ -77,6 +78,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { @Autowired AcsToWmsService acstowmsService; @Autowired + AcsToWmsZDService acsToWmsZDService; + @Autowired TaskFeedbackService taskFeedbackService; @Autowired ParamService paramService; @@ -953,12 +956,16 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial { String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue(); if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) { JSONObject feed_jo = new JSONObject(); - feed_jo.put("task_id", entity.getTask_id()); feed_jo.put("task_code", entity.getTask_code()); - feed_jo.put("task_status", entity.getTask_status()); - JSONArray ja = new JSONArray(); - ja.add(feed_jo); - acstowmsService.feedbackTaskStatusToWms(ja); +// JSONArray ja = new JSONArray(); +// ja.add(feed_jo); +// acstowmsService.feedbackTaskStatusToWms(ja); + HttpResponse result=acsToWmsZDService.taskDeprecate(feed_jo); + JSONObject response=JSONObject.parseObject(result.body()); + int responseCode= response.getInteger("responseCode"); + if(responseCode == 0) { + log.info("请求ZDwcs成功，任务取消 请求结果{}",responseCode); + } } List shortPathsList = routeLineService.getShortPathLines( diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusUpdate.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusUpdate.java new file mode 100644 index 0000000..892cc7b --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusUpdate.java @@ -0,0 +1,52 @@ +package org.nl.modules.quartz.task; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.AgvService; +import org.nl.acs.agv.server.ZheDaAgvService; +import org.nl.acs.agv.server.dto.AgvDto; +import org.nl.acs.ext.wms.service.AcsToWmsZDService; +import org.nl.modules.mnt.websocket.MsgType; +import org.nl.modules.mnt.websocket.SocketMsg; +import org.nl.modules.mnt.websocket.WebSocketServer; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.util.Map; +/** + * 设备上传 zjj + */ +@Slf4j +@Component +public class DeviceStatusUpdate { + @Autowired + AcsToWmsZDService acsToWmsZDService; + @Autowired + ZheDaAgvService zheDaAgvService; + + public void run() throws Exception { + JSONObject row = new JSONObject(); + HttpResponse response = zheDaAgvService.queryAgvInstStatus(); + JSONArray inst_rows = JSONArray.parseArray(response.body()); + + for (int i = 0; i < inst_rows.size(); i++) { + JSONObject inst_jo = inst_rows.getJSONObject(i); + String deviceCode = inst_jo.getString("deviceCode"); + Integer status = inst_jo.getInteger("status"); + String statusDescription = inst_jo.getString("statusDescription"); + row.put("deviceCode",deviceCode); + row.put("status",status); + row.put("statusDescription",statusDescription); + JSONObject jo=JSONObject.parseObject(String.valueOf(row)); + HttpResponse result=acsToWmsZDService.deviceStatusUpdate(jo); + JSONObject response1=JSONObject.parseObject(result.body()); + int responseCode= response1.getInteger("responseCode"); + if(responseCode == 0) { + log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode); + } + } + } +} diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java new file mode 100644 index 0000000..366014e --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java @@ -0,0 +1,98 @@ +package org.nl.modules.quartz.task; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.ZheDaAgvService; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +@Slf4j +@Component +public class QueryZDAgvTaskStatus { + @Autowired + InstructionService instructionService; + + @Autowired + ZheDaAgvService agvService; + + + public void run() throws Exception { + try { + + HttpResponse response = agvService.queryAgvInstStatus(); + //查询AGV指令列表 + JSONArray inst_rows = JSONArray.parseArray(response.body()); + for (int i = 0; i < inst_rows.size(); i++) { + JSONObject inst_jo = inst_rows.getJSONObject(i); + String inst_code = inst_jo.getString("taskCode"); + String feedbackStatus=inst_jo.getString("feedbackStatus"); + Instruction inst = instructionService.findByCodeFromCache(inst_code); + if (ObjectUtil.isEmpty(inst)) { + continue; + } + //反馈结果状态 + log.info("instcode：" + inst_code + "," + inst_jo.toString()); + String state = inst_jo.getString("state"); + String vehicle = ""; + //正在执行指令agv车号 + if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) { + vehicle = inst_jo.getString("vehicle"); + inst.setCarno(vehicle); + } +// 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); + } + } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) { + if (inst != null) { + inst.setInstruction_status("3"); + instructionService.update(inst); + instructionService.removeByCodeFromCache(inst_jo.getString("task_code")); + } + } + JSONArray ja = inst_jo.getJSONArray("destinations"); + for (int j = 0; j < ja.size(); j++) { + JSONObject jo = ja.getJSONObject(j); + JSONArray pro_rows = jo.getJSONArray("properties"); + //Load 取货动作 Unload放货动作 Wait等待 + String operation = jo.getString("operation"); + String device = jo.getString("locationName"); + for (int k = 0; k < pro_rows.size(); k++) { + JSONObject item = pro_rows.getJSONObject(k); + if ("true".equals(item.get("value"))) { + String param = item.get("key").toString(); + //EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待 + agvService.process(inst_code, param, device, operation, vehicle,feedbackStatus); + } + } + } + } + } catch (Exception e) { + + } + + } + +} diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java index 76f136c..a8741ea 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java @@ -29,7 +29,6 @@ public class ToAgvDevice { public void run() throws Exception { JSONObject json = new JSONObject(); Map agv_map = agvService.findAllAgvFromCache(); - JSONArray agv_rows = new JSONArray(); JSONObject row = new JSONObject(); diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/wql/util/SpringContextHolder.java b/acs/nladmin-system/src/main/java/org/nl/modules/wql/util/SpringContextHolder.java index e451aa0..eb8b5fe 100644 --- a/acs/nladmin-system/src/main/java/org/nl/modules/wql/util/SpringContextHolder.java +++ b/acs/nladmin-system/src/main/java/org/nl/modules/wql/util/SpringContextHolder.java @@ -125,7 +125,6 @@ public class SpringContextHolder implements ApplicationContextAware, DisposableB ".xml中定义SpringContextHolder或在SpringBoot启动类中注册SpringContextHolder."); } } - /** * 清除SpringContextHolder中的ApplicationContext为Null. */ diff --git a/acs/nladmin-ui/src/views/acs/device/config.vue b/acs/nladmin-ui/src/views/acs/device/config.vue index 477cdc6..f560863 100644 --- a/acs/nladmin-ui/src/views/acs/device/config.vue +++ b/acs/nladmin-ui/src/views/acs/device/config.vue @@ -95,6 +95,7 @@ import hongxiang_conveyor from '@/views/acs/device/driver/hongxiang_conveyor' import plug_pull_device_site from '@/views/acs/device/driver/plug_pull_device_site' import siemens_conveyor_labeling from '@/views/acs/device/driver/siemens_conveyor_labeling' import siemens_conveyor_ckk from '@/views/acs/device/driver/siemens_conveyor_ckk' +import lubei_conveyor from '@/views/acs/device/driver/lubei_conveyor' export default { name: 'DeviceConfig', @@ -120,7 +121,8 @@ export default { slit_two_manipulator, plug_pull_device_site, siemens_conveyor_labeling, - siemens_conveyor_ckk + siemens_conveyor_ckk, + lubei_conveyor }, dicts: ['device_type'], mixins: [crud],