wangs
/
zhongDingTianNeng
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

调度接口

master
周俊杰 2 years ago
parent
3d1b61cb6c
commit
d51b3d27d5
6 changed files with 198 additions and 164 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 245
      hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
  2. 3
      hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
  3. 100
      hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java
  4. 6
      hd/nladmin-system/src/main/resources/config/application-dev.yml
  5. 2
      hd/nladmin-system/src/main/resources/config/application.yml
  6. 6
      package-lock.json

245
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@ -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_autodoor.StandardAutodoorDeviceDriver;
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver; 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_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_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.weighing_site.WeighingSiteDeviceDriver; 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.DeviceAppServiceImpl;
import org.nl.acs.opc.DeviceType; import org.nl.acs.opc.DeviceType;
import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.exception.BadRequestException; import org.nl.exception.BadRequestException;
import org.nl.logger.BusinessLogger; import org.nl.logger.BusinessLogger;
import org.nl.start.auto.run.NDCSocketConnectionAutoRun; 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 //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 @Override
public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) { 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 = ""; log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
String backaddress = address; //释放AGV资源，继续后续动作
if (address.indexOf(".") > 0) { boolean is_feedback = false;
str = address.substring(address.indexOf("."), address.length()); String str = "";
address = address.substring(0, address.indexOf(".")); String backaddress = address;
} else if (address.indexOf("-") > 0) { if (address.indexOf(".") > 0) {
address = address.substring(0, address.indexOf("-")); str = address.substring(address.indexOf(".") + 1, address.length());
} address = address.substring(0, address.indexOf("."));
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); } else if (address.indexOf("-") > 0) {
Instruction inst = instructionService.findByCodeFromCache(jobno); 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); DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
Device addressdevice = appService.findDeviceByCode(address); Device addressdevice = appService.findDeviceByCode(address);
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; StandardManipulatorStackingSiteDeviceDriver standardManipulatorStackingSiteDeviceDriver;
SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver; //取货的进入前等待和离开等待
//请求进入 if (action.equals("taking")) {
if ("onEntry".equals(type)) { if ("EntryRequired".equals(type)) {
//
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver(); standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){
if ("Load".equals(action)) { is_feedback = true;
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) { } else {
inst.setExecute_status("1"); log.info("设备{} 请求取货，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
is_feedback = true; }
} }
//请求放货 if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
} else if ("Unload".equals(action)) {
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
inst.setExecute_status("3");
is_feedback = true; is_feedback = true;
} }
} }
} if ("PauseOnStation".equals(type)) {
if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) { if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 if(standardManipulatorStackingSiteDeviceDriver.getMove()==0){
if ("Load".equals(action)) { is_feedback = true;
if (addressdevice.getHas_goods() > 0) { } else {
inst.setExecute_status("1"); log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
is_feedback = true; }
} }
//请求放货 if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
} else if ("Unload".equals(action)) {
if (addressdevice.getHas_goods() == 0) {
inst.setExecute_status("3");
is_feedback = true; is_feedback = true;
} }
} }
} }
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); //放货的进入前等待和离开等待
//请求取货 if (action.equals("puting")) {
if ("Load".equals(action)) { if ("EntryRequired".equals(type)) {
if (addressdevice.getHas_goods() > 0) { if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
inst.setExecute_status("1"); standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
is_feedback = true; 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 if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
} else if ("Unload".equals(action)) {
if (addressdevice.getHas_goods() == 0) {
inst.setExecute_status("3");
is_feedback = true; is_feedback = true;
} }
} }
} if ("PauseOnStation".equals(type)) {
if (addressdevice.getDeviceDriver() instanceof StandardManipulatorStackingSiteDeviceDriver) {
if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { standardManipulatorStackingSiteDeviceDriver = (StandardManipulatorStackingSiteDeviceDriver) addressdevice.getDeviceDriver();
//请求取货 if(standardManipulatorStackingSiteDeviceDriver.getMove()==1){
if ("Load".equals(action)) { is_feedback = true;
inst.setExecute_status("1"); } else {
is_feedback = true; log.info("设备{} 请求离开，光电信号:{}",addressdevice,standardManipulatorStackingSiteDeviceDriver.getMove());
//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;
} }
//放货完成 if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
} else if ("Unload".equals(action)) {
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
is_feedback = true; is_feedback = true;
} }
} }
} }
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver(); if (is_feedback) {
//取货完成 requestjo.put("task_code", jobno);
if ("Load".equals(action)) { requestjo.put("operation", action);
inst.setExecute_device_code(processingVehicle); if (type.equals("entryRequired") || type.equals("EntryRequired")) {
inst.setExecute_status("2"); requestjo.put("entryRequired", "true");
is_feedback = true; } else {
//放货完成 requestjo.put("pauseOnStation", "true");
} else if ("Unload".equals(action)) {
inst.setExecute_device_code(address);
inst.setExecute_status("4");
is_feedback = 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(); String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
JSONArray ja = new JSONArray(); String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
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;
}
jo.put("key", param); agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact";
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);
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 @Override

3
hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
View File

@ -67,7 +67,7 @@ public class InstructionDto implements Serializable {
/** /**
* 完成类型 * 完成类型
*/ */
private String finish_type ="0"; private String finish_type = "0";
/** /**
* 优先级 * 优先级
@ -246,3 +246,4 @@ public class InstructionDto implements Serializable {
*/ */
private String next_parent_code; private String next_parent_code;
} }

100
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryAgvTaskStatus.java
View File

@ -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) {
}
}
}

6
hd/nladmin-system/src/main/resources/config/application-dev.yml
View File

@ -7,11 +7,11 @@ spring:
db-type: com.alibaba.druid.pool.DruidDataSource db-type: com.alibaba.druid.pool.DruidDataSource
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy 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: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} username: ${DB_USER:root}
#password: ${DB_PWD:P@ssw0rd} #password: ${DB_PWD:P@ssw0rd}
#password: ${DB_PWD:Root.123456} password: ${DB_PWD:Root.123456}
password: ${DB_PWD:password} #password: ${DB_PWD:password}
# 初始连接数 # 初始连接数
initial-size: 5 initial-size: 5

2
hd/nladmin-system/src/main/resources/config/application.yml
View File

@ -2,7 +2,7 @@ spring:
freemarker: freemarker:
check-template-location: false check-template-location: false
profiles: profiles:
active: prod active: dev
jackson: jackson:
time-zone: GMT+8 time-zone: GMT+8
data: data:

6
package-lock.json
View File

@ -0,0 +1,6 @@
{
"name": "zhongDingTianNeng",
"lockfileVersion": 2,
"requires": true,
"packages": {}
}
Write Preview
Loading…
Cancel
Save