diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java index a91f531..44b9390 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java @@ -22,6 +22,7 @@ import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceD import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver; import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.standard_manipulator_inspect_site.StandardManipulatorInspectSiteDeviceDriver; +import org.nl.acs.device_driver.standard_manipulator_stacking_site.StandardManipulatorStackingSiteDeviceDriver; import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver; @@ -36,6 +37,7 @@ import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.opc.DeviceType; import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; import org.nl.exception.BadRequestException; import org.nl.logger.BusinessLogger; import org.nl.start.auto.run.NDCSocketConnectionAutoRun; @@ -769,193 +771,118 @@ public class AgvServiceImpl implements AgvService { //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 @Override - 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); - boolean is_feedback = false; - String str = ""; - String backaddress = address; - if (address.indexOf(".") > 0) { - str = address.substring(address.indexOf("."), address.length()); - address = address.substring(0, address.indexOf(".")); - } else if (address.indexOf("-") > 0) { - address = address.substring(0, address.indexOf("-")); - } - InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); - Instruction inst = instructionService.findByCodeFromCache(jobno); + 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); - StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; - StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; - SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver; - //请求进入 - if ("onEntry".equals(type)) { - - if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device addressdevice = appService.findDeviceByCode(address); + + StandardManipulatorStackingSiteDeviceDriver standardManipulatorStackingSiteDeviceDriver; + //取货的进入前等待和离开等待 + if (action.equals("taking")) { + if ("EntryRequired".equals(type)) { + // + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){ + is_feedback = true; + } else { + log.info("设备{} 请求取货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) { - specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (addressdevice.getHas_goods() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){ + is_feedback = true; + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (addressdevice.getHas_goods() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //请求取货 - if ("Load".equals(action)) { - if (addressdevice.getHas_goods() > 0) { - inst.setExecute_status("1"); - is_feedback = true; + + //放货的进入前等待和离开等待 + if (action.equals("puting")) { + if ("EntryRequired".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){ + is_feedback = true; + } else { + log.info("设备{} 请求放货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //请求放货 - } else if ("Unload".equals(action)) { - if (addressdevice.getHas_goods() == 0) { - inst.setExecute_status("3"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - - if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - //请求取货 - if ("Load".equals(action)) { - inst.setExecute_status("1"); - is_feedback = true; - //请求放货 - } else if ("Unload".equals(action)) { - inst.setExecute_status("3"); - is_feedback = true; - } - } - - //取放货完成 - } else if ("onStation".equals(type)) { - - System.out.println("取放货完成"); - if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; + if ("PauseOnStation".equals(type)) { + if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) { + standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver(); + if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){ + is_feedback = true; + } else { + log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove()); + } } - //放货完成 - } else if ("Unload".equals(action)) { - if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { - inst.setExecute_device_code(address); - inst.setExecute_status("4"); + if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { is_feedback = true; } } - } - if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(address); - inst.setExecute_status("4"); - 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 SpecialOrdinarySiteDeviceDriver) { - specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("4"); - is_feedback = true; - } - } - if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - //取货完成 - if ("Load".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("2"); - is_feedback = true; - //放货完成 - } else if ("Unload".equals(action)) { - inst.setExecute_device_code(processingVehicle); - inst.setExecute_status("4"); - is_feedback = true; - } - } - } - JSONObject requestjo = new JSONObject(); - JSONArray ja = new JSONArray(); - if (is_feedback) { - String param = ""; - JSONObject jo = new JSONObject(); - if (str.length() > 0) { - backaddress = backaddress + str; - } - if ("onEntry".equals(type)) { - param = "EntryPermitted-" + backaddress + action; - } else if ("onStation".equals(type)) { - param = "ContinueOnStation-" + backaddress + action; - } + String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); + String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - jo.put("key", param); - jo.put("value", "False"); - ja.add(jo); - requestjo.put("properties", ja); - 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 = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact"; + HttpResponse result = HttpRequest.post(agvurl) + .body(String.valueOf(requestjo)) + .timeout(20000)//超时，毫秒 + .execute(); + } + return requestjo.toString(); - HttpResponse result = HttpRequest.post(agvurl) - .body(String.valueOf(requestjo)) - .timeout(20000)//超时，毫秒 - .execute(); } - is_feedback = false; - - return requestjo.toString(); - } @Override diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java index c20a7e9..9f5f1fc 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java @@ -67,7 +67,7 @@ public class InstructionDto implements Serializable { /** * 完成类型 */ - private String finish_type ="0"; + private String finish_type = "0"; /** * 优先级 @@ -246,3 +246,4 @@ public class InstructionDto implements Serializable { */ private String next_parent_code; } + diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java new file mode 100644 index 0000000..58388d6 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java @@ -0,0 +1,100 @@ +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.AgvService; +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; + +/** + * 查询AGV任务状态 + */ +@Slf4j +@Component +public class QueryAgvTaskStatus { + @Autowired + InstructionService instructionService; + + @Autowired + AgvService agvService; + + + public void run() throws Exception { + try { + HttpResponse response = agvService.queryAgvInstStatus("1"); + //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("task_code"); + 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); + } + } + } + } + } catch (Exception e) { + + } + + } + +} diff --git a/hd/nladmin-system/src/main/resources/config/application-dev.yml b/hd/nladmin-system/src/main/resources/config/application-dev.yml index 87cbbf2..9bcf0df 100644 --- a/hd/nladmin-system/src/main/resources/config/application-dev.yml +++ b/hd/nladmin-system/src/main/resources/config/application-dev.yml @@ -7,11 +7,11 @@ spring: db-type: com.alibaba.druid.pool.DruidDataSource driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy #url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lx_rs_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true - url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:zdtn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true + url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:zdtn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true username: ${DB_USER:root} #password: ${DB_PWD:P@ssw0rd} - #password: ${DB_PWD:Root.123456} - password: ${DB_PWD:password} + password: ${DB_PWD:Root.123456} + #password: ${DB_PWD:password} # 初始连接数 initial-size: 5 diff --git a/hd/nladmin-system/src/main/resources/config/application.yml b/hd/nladmin-system/src/main/resources/config/application.yml index 2e814bc..1733121 100644 --- a/hd/nladmin-system/src/main/resources/config/application.yml +++ b/hd/nladmin-system/src/main/resources/config/application.yml @@ -2,7 +2,7 @@ spring: freemarker: check-template-location: false profiles: - active: prod + active: dev jackson: time-zone: GMT+8 data: diff --git a/package-lock.json b/package-lock.json new file mode 100644 index 0000000..4ad75d3 --- /dev/null +++ b/package-lock.json @@ -0,0 +1,6 @@ +{ + "name": "zhongDingTianNeng", + "lockfileVersion": 2, + "requires": true, + "packages": {} +}