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Merge branch 'master' of http://121.40.234.130:8899/root/rl_mg

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USER-20220102CG\noblelift
2023-09-07 10:11:27 +08:00
parent 409d569236 28b6555ea8
commit ffa481ae7a
1 changed files with 46 additions and 43 deletions
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89
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -39,6 +39,7 @@ import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.task.service.impl.TaskServiceImpl;
import org.nl.modules.lucene.service.LuceneExecuteLogService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
@@ -63,13 +64,15 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
TaskService taskService=SpringContextHolder.getBean(TaskServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceExecuteLogService lucene = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
NDCAgvService AgvService = SpringContextHolder.getBean(NDCAgvService.class);
OneAgvPhase oneAgvPhase = new OneAgvPhase();
ParamService acsConfigService = SpringContextHolder.getBean(ParamServiceImpl.class);
WmsToAcsService wmsToAcsService=SpringContextHolder.getBean(WmsToAcsService.class);
int agvaddr = 0;
int agvaddr_copy = 0;
int weight = 0;
@@ -111,7 +114,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
logServer.deviceExecuteLog(this.device_code, "", "", "接收agv上报信息：" + "phase--" + phase + " index--" + index + " 指令号--" + ikey + " 站点号--" + agvaddr + " 车号--" + carno);
lucene.deviceExecuteLog(this.device_code, "", "", "接收agv上报信息：" + "phase--" + phase + " index--" + index + " 指令号--" + ikey + " 站点号--" + agvaddr + " 车号--" + carno);
Instruction link_inst = null;
List<Instruction> insts = null;
Instruction inst = null;
@@ -167,7 +170,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (phase == 0x02) {
inst.setCarno(String.valueOf(carno));
instructionService.update(inst);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈车号:" + carno + "，指令号:" + ikey);
lucene.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈车号:" + carno + "，指令号:" + ikey);
//到达取货点
//(需要WCS反馈)
@@ -176,14 +179,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令：" + ikey);
logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
lucene.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
return;
}
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
lucene.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
@@ -204,14 +207,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
lucene.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
//校验agv上报站点编号与指令起始点相同
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到编号{}对应的指令", ikey);
agv_message = "未找到编号"+ikey +"对应的指令";
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
lucene.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
//标准版-机械手对接位
@@ -245,7 +248,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货。";
lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message);
agv_message = lnshPalletizingManipulatorSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-工位(交互模板)
@@ -279,7 +282,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货。";
lnshStationDeviceDriver.setMessage(message);
agv_message = lnshStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-压制对接位
@@ -311,7 +314,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货。";
conveyorPressStationDeviceDriver.setMessage(message);
agv_message = conveyorPressStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//普通站点
@@ -328,7 +331,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
logServer.deviceExecuteLog(device_code, "", "", "AGV请求取货设备{}无货,无法反馈");
lucene.deviceExecuteLog(device_code, "", "", "AGV请求取货设备{}无货,无法反馈");
}
}
}
@@ -356,7 +359,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货。";
conveyorBarcodeDeviceDriver.setMessage(message);
agv_message = conveyorBarcodeDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-叠盘机 LnshFoldDiscSiteDeviceDriverl
@@ -390,7 +393,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货。";
agv_message = lnshFoldDiscSiteDeviceDriver.getDevice_code() + message;
lnshFoldDiscSiteDeviceDriver.setMessage(message);
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
@@ -406,7 +409,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (flag) {
log.info("==================允许AGV取货==================");
logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
lucene.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
}
//取货完毕
//(需要WCS反馈)
@@ -414,14 +417,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("================AGV取货完成请求离开================");
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令：" + ikey);
logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
lucene.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
return;
}
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
lucene.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
@@ -441,13 +444,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
lucene.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
return;
}
//校验agv上报站点编号与指令起始点相同
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到关联编号{}对应的指令", ikey);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
lucene.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
//标准版-机械手对接位
@@ -478,7 +481,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货后离开。";
lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message);
agv_message = lnshPalletizingManipulatorSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-工位(交互模板) LnshStationDeviceDriver
@@ -509,7 +512,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货后离开。";
lnshStationDeviceDriver.setMessage(message);
agv_message = lnshStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-压制对接位
@@ -540,7 +543,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货后离开。";
conveyorPressStationDeviceDriver.setMessage(message);
agv_message = conveyorPressStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//普通站点
@@ -584,7 +587,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货后离开。";
conveyorBarcodeDeviceDriver.setMessage(message);
agv_message = conveyorBarcodeDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-叠盘机
@@ -615,7 +618,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV取货后离开。";
lnshFoldDiscSiteDeviceDriver.setMessage(message);
agv_message = lnshFoldDiscSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
@@ -634,7 +637,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (ObjectUtil.isNotEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈:" + Bytes2HexString(data));
lucene.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈:" + Bytes2HexString(data));
}
// if (flag) {
// String hasWms = acsConfigService.findByCode(AcsConfig.HASWMS).getValue();
@@ -647,14 +650,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// ar.add(param);
// acsToWmsService.feedbackTaskStatusToWms(ar);
// } catch (Exception e) {
// logServer.deviceExecuteLog(device_code, "", "", "AGV取货完成离开后，反馈上位系统失败！");
// lucene.deviceExecuteLog(device_code, "", "", "AGV取货完成离开后，反馈上位系统失败！");
// e.printStackTrace();
// }
// }
// }
if (flag) {
log.info("================允许AGV取货后离开=================");
logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
lucene.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
}
//到达放货点
//(需要WCS反馈)
@@ -662,14 +665,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("==================AGV请求放货==================");
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令：" + ikey);
logServer.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
lucene.deviceExecuteLog(device_code, "", "", "未找到指令 [" + ikey + "]");
return;
}
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
lucene.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
@@ -726,7 +729,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货。";
agv_message = lnshPalletizingManipulatorSiteDeviceDriver.getDevice_code() + message;
lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message);
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-工位(交互模板)
@@ -760,7 +763,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货。";
lnshStationDeviceDriver.setMessage(message);
agv_message = lnshStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-压制对接位
@@ -794,7 +797,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货。";
conveyorPressStationDeviceDriver.setMessage(message);
agv_message = conveyorPressStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//普通站点
@@ -836,7 +839,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货。";
conveyorBarcodeDeviceDriver.setMessage(message);
agv_message = conveyorBarcodeDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-叠盘机
@@ -871,7 +874,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货。";
lnshFoldDiscSiteDeviceDriver.setMessage(message);
agv_message = lnshFoldDiscSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
@@ -889,7 +892,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (flag) {
log.info("==================允许AGV放货==================");
logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
lucene.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
}
//放货完毕
@@ -898,14 +901,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("================AGV放货完成请求离开================");
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令：" + ikey);
logServer.deviceExecuteLog("未找到指令号对应的指令：", "", "", String.valueOf(ikey));
lucene.deviceExecuteLog("未找到指令号对应的指令：", "", "", String.valueOf(ikey));
return;
}
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
lucene.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
@@ -959,7 +962,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货后离开。";
lnshPalletizingManipulatorSiteDeviceDriver.setMessage(message);
agv_message = lnshPalletizingManipulatorSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-工位(交互模板)
@@ -989,7 +992,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货后离开。";
lnshStationDeviceDriver.setMessage(message);
agv_message = lnshStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-压制对接位(需要给电气目标站)
@@ -1034,7 +1037,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货后离开。";
conveyorPressStationDeviceDriver.setMessage(message);
agv_message = conveyorPressStationDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//普通站点
@@ -1079,7 +1082,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货后离开。";
agv_message = conveyorBarcodeDeviceDriver.getDevice_code() + message;
conveyorBarcodeDeviceDriver.setMessage(message);
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
//标准版-叠盘机
@@ -1110,12 +1113,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
message += "不允许AGV放货后离开。";
lnshFoldDiscSiteDeviceDriver.setMessage(message);
agv_message = lnshFoldDiscSiteDeviceDriver.getDevice_code() + message;
logServer.deviceExecuteLog(device_code, "", "", message);
lucene.deviceExecuteLog(device_code, "", "", message);
}
}
if (flag) {
log.info("================允许AGV放货后离开=================");
logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
lucene.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
}
}
//到达位置点
@@ -1159,7 +1162,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (!ObjectUtil.isEmpty(data)) {
phase = 0;
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
lucene.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
NDCSocketConnectionAutoRun.write(data);
}