upd:更新

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

@@ -1142,120 +1142,52 @@ public class AgvServiceImpl implements AgvService {
     @Override
     public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
         log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
+        JSONObject resp = new JSONObject();
         String instCode = requestParam.getString("task_code");
         Instruction inst = instructionService.findByCodeFromCache(instCode);
         instcode = instCode;
         if (ObjectUtil.isEmpty(inst)) {
-            throw new BadRequestException("请求失败，未找到指令！");
+            resp.put("code", 400);
+            resp.put("status", 400);
+            resp.put("message", "请求失败，请求任务信息不存在!");
+            log.info("仙工AGV请求取放货，响应参数 - {}", resp);
+            return resp;
         }
         TaskDto task = taskService.findByCodeFromCache(inst.getTask_code());
         if (ObjectUtil.isEmpty(task)) {
-            throw new BadRequestException("请求失败，未找到指令对应任务！");
+            resp.put("code", 400);
+            resp.put("status", 400);
+            resp.put("message", "请求失败，请求任务信息不存在!");
+            log.info("仙工AGV请求取放货，响应参数 - {}", resp);
+            return resp;
         }
         String address = requestParam.getString("address");
         if (StrUtil.isBlank(address)) {
-            throw new BadRequestException("请求失败，地址为空！");
+            resp.put("code", 400);
+            resp.put("status", 400);
+            resp.put("message", "请求失败，地址为空!");
+            log.info("仙工AGV请求取放货，响应参数 - {}", resp);
+            return resp;
         }
-        String startcode = inst.getStart_device_code();
-        //请求取货
-        if (address.contains("INGET")) {
-            JSONObject jo = new JSONObject();
-            jo.put("device_code", inst.getStart_device_code());
-            jo.put("task_code", inst.getTask_code());
-            jo.put("status", "1");
-            jo.put("vehicle_code", inst.getVehicle_code());
-            JSONArray ja = new JSONArray();
-            ja.add(jo);
-            HttpResponse result = acsToWmsService.vehicle(ja);
-            log.info("请求取货请求参数:{}", ja);
-            com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-            log.info("上位反馈请求取货请求参数:{}", response);
-            int responseCode = response.getInteger("status");
-            if (responseCode == 200) {
-                JSONObject jo2 = new JSONObject();
-                jo2.put("status", 200);
-                startPointInget = true;
-                log.info("上位允许取货 请求结果{}", responseCode);
-                return jo2;
-            } else {
-                throw new BadRequestException("上位系统不允许取货");
-            }
-        }
-        //取货完成离开
-        if (address.contains("OUTGET")) {
-            JSONObject jo = new JSONObject();
-            jo.put("device_code", inst.getStart_device_code());
-            jo.put("task_code", inst.getTask_code());
-            jo.put("status", "2");
-            jo.put("vehicle_code", inst.getVehicle_code());
-            JSONArray ja = new JSONArray();
-            ja.add(jo);
-            log.info("取货完成离开请求参数:{}", ja);
-            HttpResponse result = acsToWmsService.vehicle(ja);
-            com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-            log.info("上位反馈取货完成离开请求参数:{}", response);
-            int responseCode = response.getInteger("status");
-            if (responseCode == 200) {
-                JSONObject jo2 = new JSONObject();
-                jo2.put("status", 200);
-                startPointOutget = true;
-                log.info("上位允许取货离开 请求结果{}", responseCode);
-                return jo2;
-            } else {
-                throw new BadRequestException("上位系统不允许取货完成离开");
-            }
-
-        }
-        //请求放货
-        if (address.contains("INPUT")) {
-            JSONObject jo = new JSONObject();
-            jo.put("device_code", inst.getNext_device_code());
-            jo.put("task_code", inst.getTask_code());
-            jo.put("status", "3");
-            jo.put("vehicle_code", inst.getVehicle_code());
-            JSONArray ja = new JSONArray();
-            ja.add(jo);
-            log.info("请求放货请求参数:{}", ja);
-            HttpResponse result = acsToWmsService.vehicle(ja);
-            com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-            log.info("上位反馈请求放货请求参数:{}", response);
-            int responseCode = response.getInteger("status");
-            if (responseCode == 200) {
-                JSONObject jo2 = new JSONObject();
-                jo2.put("status", 200);
-                endPointInput = true;
-                log.info("上位允许放货 请求结果{}", responseCode);
-                return jo2;
-            } else {
-                throw new BadRequestException("上位系统不允许请求放货");
-            }
-        }
-
         //放货完成离开
         if (address.contains("OUTPUT")) {
-            JSONObject jo = new JSONObject();
+            String next_device_code = inst.getNext_device_code();
-            jo.put("device_code", inst.getNext_device_code());
+            Device device = deviceAppService.findDeviceByCode(next_device_code);
-            jo.put("task_code", inst.getTask_code());
+            if (device != null && device.getDeviceDriver() instanceof YqGRLDeviceDriver) {
-            jo.put("status", "4");
+                YqGRLDeviceDriver grlDeviceDriver = (YqGRLDeviceDriver) device.getDeviceDriver();
-            jo.put("vehicle_code", inst.getVehicle_code());
+                grlDeviceDriver.writing(3);
-            JSONArray ja = new JSONArray();
+                log.info("AGV放货完成给{}下发{}", next_device_code, 3);
-            ja.add(jo);
+            } else if (device != null && device.getDeviceDriver() instanceof YqSXLDeviceDriver) {
-            log.info("放货完成离开:{}", ja);
+                YqSXLDeviceDriver sxlDeviceDriver = (YqSXLDeviceDriver) device.getDeviceDriver();
-            HttpResponse result = acsToWmsService.vehicle(ja);
+                sxlDeviceDriver.writing(3);
-            com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
+                log.info("AGV放货完成给{}下发{}", next_device_code, 3);
-            log.info("上位反馈放货完成离开请求参数:{}", response);
-            int responseCode = response.getInteger("status");
-            if (responseCode == 200) {
-                JSONObject jo2 = new JSONObject();
-                endPointOutput = true;
-                jo2.put("status", 200);
-                log.info("上位允许放货离开 请求结果{}", responseCode);
-                return jo2;
-            } else {
-                throw new BadRequestException("上位系统不允许放货完成离开");
             }
         }
-        throw new BadRequestException("请求失败，IN OUT 站点错误!");
+        resp.put("code", 200);
+        resp.put("status", 200);
+        resp.put("message", "请求成功!");
+        log.info("仙工AGV请求取放货，响应参数 - {}", resp);
+        return resp;
     }
 
     @Override
@@ -1647,7 +1579,7 @@ public class AgvServiceImpl implements AgvService {
 
     public JSONArray createBlocksData(Instruction inst) {
 //        String ip = paramService.findByCode("local_host").getValue();
-        String addr = "http://192.168.81.251:8010";
+        String addr = "http://10.186.139.24:8010";
 
         JSONArray blocks = new JSONArray();
 
@@ -1714,23 +1646,23 @@ public class AgvServiceImpl implements AgvService {
         Device device2 = deviceAppService.findDeviceByCode(inst.getNext_device_code());
         if ("true".equals(device2.getExtraValue().get("ignore_release_check"))) {
             //放货前等待
-            block = new JSONObject();
+//            block = new JSONObject();
-            block.put("blockId", IdUtil.simpleUUID());
+//            block.put("blockId", IdUtil.simpleUUID());
-            block.put("location", inst.getNext_point_code() + "INPUT");
+//            block.put("location", inst.getNext_point_code() + "INPUT");
-            block.put("operation", "script");
+//            block.put("operation", "script");
-            block.put("id", inst.getNext_point_code() + "INPUT");
+//            block.put("id", inst.getNext_point_code() + "INPUT");
-            block.put("script_name", "userpy/interact.py");
+//            block.put("script_name", "userpy/interact.py");
-            JSONObject scriptArgs = new JSONObject();
+//            JSONObject scriptArgs = new JSONObject();
-            scriptArgs.put("addr", addr);
+//            scriptArgs.put("addr", addr);
-            JSONObject data = new JSONObject();
+//            JSONObject data = new JSONObject();
-            JSONObject reach = new JSONObject();
+//            JSONObject reach = new JSONObject();
-            reach.put("task_code", inst.getInstruction_code());
+//            reach.put("task_code", inst.getInstruction_code());
-            reach.put("address", inst.getNext_point_code() + "INPUT");
+//            reach.put("address", inst.getNext_point_code() + "INPUT");
-            data.put("reach", reach);
+//            data.put("reach", reach);
-            scriptArgs.put("data", data);
+//            scriptArgs.put("data", data);
-            scriptArgs.put("protocol", "HTTP");
+//            scriptArgs.put("protocol", "HTTP");
-            block.put("script_args", scriptArgs);
+//            block.put("script_args", scriptArgs);
-            blocks.add(block);
+//            blocks.add(block);
         }
 
         block = new JSONObject();
@@ -2163,6 +2095,7 @@ public class AgvServiceImpl implements AgvService {
             } else {
                 //到达固熔炉
                 grlDeviceDriver.writing(1);
+                log.info("AGV到达{}下发{}", grlDeviceDriver.getDevice_code(), 1);
                 //返回AGV失败
                 resp.put("code", 400);
                 resp.put("message", "安全门未开到位||固熔炉门未开到位||卷扬机未到达中位");
@@ -2178,6 +2111,7 @@ public class AgvServiceImpl implements AgvService {
                 return resp;
             } else {
                 sxlDeviceDriver.writing(1);
+                log.info("AGV到达{}下发{}", sxlDeviceDriver.getDevice_code(), 1);
                 resp.put("code", 400);
                 resp.put("message", "时效炉门未开到位");
                 log.info("上位不允许仙工AGV请求进入自动门区域 请求结果{}", resp);
@@ -2216,6 +2150,7 @@ public class AgvServiceImpl implements AgvService {
             YqGRLDeviceDriver grlDeviceDriver = (YqGRLDeviceDriver) device.getDeviceDriver();
             //离开固熔炉
             grlDeviceDriver.writing(2);
+            log.info("AGV离开{}下发{}", grlDeviceDriver.getDevice_code(), 2);
             //返回AGV失败
             resp.put("code", 200);
             resp.put("message", "ok");
@@ -2225,6 +2160,7 @@ public class AgvServiceImpl implements AgvService {
             YqSXLDeviceDriver sxlDeviceDriver = (YqSXLDeviceDriver) device.getDeviceDriver();
             //离开时效炉
             sxlDeviceDriver.writing(2);
+            log.info("AGV离开{}下发{}", sxlDeviceDriver.getDevice_code(), 2);
             resp.put("code", 200);
             resp.put("message", "ok");
             log.info("上位允许仙工AGV请求离开自动门区域 请求结果{}", resp);

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/yu_qing/call_task/YqCallTaskDeviceDriver.java

@@ -100,7 +100,7 @@ public class YqCallTaskDeviceDriver extends AbstractOpcDeviceDriver implements D
                 this.execute_log.log("设备:" + device_code + ",last_mode -> mode:" + last_mode + "->" + mode);
             }
         } catch (Exception var17) {
-            return;
+            log.error("读取信号异常:{},{}", var17.getMessage(), Arrays.toString(var17.getStackTrace()));
         }
         if (!this.itemProtocol.getIsOnline()) {
             this.setIsOnline(false);

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/yu_qing/gu_rong_lu/YqGRLDeviceDriver.java

@@ -57,6 +57,12 @@ public class YqGRLDeviceDriver extends AbstractOpcDeviceDriver implements Device
     private int middleStatus = 0;
     private int lastMiddleStatus = 0;
 
+    /**
+     * 下发信号
+     */
+    private int toCommand = 0;
+    private int lastToCommand = 0;
+
     /**
      * 设备在线状态
      */
@@ -106,6 +112,7 @@ public class YqGRLDeviceDriver extends AbstractOpcDeviceDriver implements Device
             gDoorStatus = this.itemProtocol.getGDoorStatus();
             aDoorStatus = this.itemProtocol.getADoorStatus();
             middleStatus = this.itemProtocol.getMiddleStatus();
+            toCommand = this.itemProtocol.getToCommand();
             if (gDoorStatus != lastGDoorStatus) {
                 this.execute_log.setResource(this.device_code, this.device.getDevice_name());
                 this.execute_log.log("设备:" + device_code + ",lastGDoorStatus -> gDoorStatus:" + lastGDoorStatus + "->" + gDoorStatus);
@@ -120,8 +127,14 @@ public class YqGRLDeviceDriver extends AbstractOpcDeviceDriver implements Device
                 this.execute_log.setResource(this.device_code, this.device.getDevice_name());
                 this.execute_log.log("设备:" + device_code + ",lastMiddleStatus -> middleStatus:" + lastMiddleStatus + "->" + middleStatus);
             }
+
+            if (toCommand != lastToCommand) {
+                this.execute_log.setResource(this.device_code, this.device.getDevice_name());
+                this.execute_log.log("设备:" + device_code + ",lastToCommand -> toCommand:" + lastToCommand + "->" + toCommand);
+            }
+
         } catch (Exception var17) {
-            return;
+            log.error("读取信号异常:{},{}", var17.getMessage(), Arrays.toString(var17.getStackTrace()));
         }
         if (!this.itemProtocol.getIsOnline()) {
             this.setIsOnline(false);
@@ -134,6 +147,7 @@ public class YqGRLDeviceDriver extends AbstractOpcDeviceDriver implements Device
         lastGDoorStatus = gDoorStatus;
         lastADoorStatus = aDoorStatus;
         lastMiddleStatus = middleStatus;
+        lastToCommand = toCommand;
     }
 
 

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/yu_qing/shi_xiao_lu/YqSXLDeviceDriver.java

@@ -42,6 +42,12 @@ public class YqSXLDeviceDriver extends AbstractOpcDeviceDriver implements Device
     private int sDoorStatus = 0;
     private int lastSDoorStatus = 0;
 
+    /**
+     * 下发信号
+     */
+    private int toCommand = 0;
+    private int lastToCommand = 0;
+
     /**
      * 设备在线状态
      */
@@ -93,8 +99,12 @@ public class YqSXLDeviceDriver extends AbstractOpcDeviceDriver implements Device
                 this.execute_log.setResource(this.device_code, this.device.getDevice_name());
                 this.execute_log.log("设备:" + device_code + ",lastSDoorStatus -> sDoorStatus:" + lastSDoorStatus + "->" + sDoorStatus);
             }
+            if (toCommand != lastToCommand) {
+                this.execute_log.setResource(this.device_code, this.device.getDevice_name());
+                this.execute_log.log("设备:" + device_code + ",lastToCommand -> toCommand:" + lastToCommand + "->" + toCommand);
+            }
         } catch (Exception var17) {
-            return;
+            log.error("读取信号异常:{},{}", var17.getMessage(), Arrays.toString(var17.getStackTrace()));
         }
         if (!this.itemProtocol.getIsOnline()) {
             this.setIsOnline(false);
@@ -106,6 +116,7 @@ public class YqSXLDeviceDriver extends AbstractOpcDeviceDriver implements Device
 
         }
         lastSDoorStatus = sDoorStatus;
+        lastToCommand = toCommand;
     }