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add 自动门对接逻辑

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This commit is contained in:
zhoujj
2025-01-21 17:03:25 +08:00
parent b1b2fda309
commit ed73cf7c3b
11 changed files with 411 additions and 1166 deletions
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224
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -81,192 +81,60 @@ public class NDCAgvServiceImpl implements NDCAgvService {
",priority:" + inst.getPriority() + ",startAddress:" + inst.getStart_point_code() +
",nextAddress:" + inst.getNext_point_code());
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
if (!StrUtil.equals(agv_system_type, "1")) {
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getAgv_inst_type());
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
byte qhdlow2 = (byte) IntToHexLow(startAddress2);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
byte prioritylow = (byte) IntToHexLow(priority);
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getInstruction_type());
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "任务号 ikey:" + (Integer.parseInt(instcode));
str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
str += "指令类型 /type:" + (type);
str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "取货点 /qhd:" + (startAddress);
str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "放货点 /fhd:" + (nextAddress);
str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "取货点2 /qhd2:" + (startAddress2);
str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
str += "放货点2 /fhd2:" + (nextAddress2);
str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "优先级 /priority:" + (priority);
str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
byte[] b = new byte[]{};
if (type == 1) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
} else if (type == 2) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) 0X00, (byte) 0X00,
(byte) fhdhigh, (byte) fhdlow,
(byte) 0X00, (byte) 0X00
};
} else if (type == 3) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
}
log.info("下发AGV作业指令 --{}", str1);
log.info("下发AGV作业指令--{}", str);
log.info("下发agv指令数据--{}", Bytes2HexString(b));
if (StrUtil.equals(agv_system_type, "2")) {
TwoNDCSocketConnectionAutoRun.write(b);
}
} else {
String instcode = inst.getInstruction_code();
int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
//默认取货放货高度都为0
//int type = Integer.parseInt(inst.getInstruction_type());
int type = 4;
if (startHeight != 0 && nextHeight != 0) {
//取货放货高度都不为0
type = 1;
} else if (startHeight != 0 && nextHeight == 0) {
//取货高度不为0 放货高度为0
type = 2;
} else if (startHeight == 0 && nextHeight != 0) {
//取货高度为0 放货高度不为0
type = 3;
}
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
byte shhigh = (byte) IntToHexHigh(startHeight);
byte shlow = (byte) IntToHexLow(startHeight);
byte nhhigh = (byte) IntToHexHigh(nextHeight);
byte nhlow = (byte) IntToHexLow(nextHeight);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow,
(byte) shhigh, (byte) shlow,
(byte) nhhigh, (byte) nhlow
};
log.info("下发AGV作业指令 --{}", str1);
log.info("下发AGV作业指令--{}", str);
log.info("下发agv指令数据--{}", Bytes2HexString(b));
OneNDCSocketConnectionAutoRun.write(b);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0E,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow
};
log.info("下发AGV作业指令--{}", str);
log.info("下发AGV作业指令--{}", str1);
TwoNDCSocketConnectionAutoRun.write(b);
}
}
}
@Override
public byte[] sendAgvOneModeInst(int phase, int index, int result, int startPoint, int nextPoint, int startHigh, int nextHigh) {

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -260,7 +260,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
// TODO Auto-generated catch block
try {
Thread.sleep(5000L);
log.info("再次下发agv数据:" + Bytes2HexString(b));
log.info("再次下发agv数据:" + Bytes2HexString(b));
System.out.println("再次下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();

78
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -248,45 +248,16 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info(agvaddr + "对应设备号为空!");
return;
}
if (ObjectUtil.isNotEmpty(device)) {
if (ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
String link_three_lamp = (String) device.getExtraValue().get("link_three_lamp");
if (StrUtil.isNotEmpty(link_three_lamp)) {
Device code = deviceAppService.findDeviceByCode(link_three_lamp);
if (code.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) code.getDeviceDriver();
lampThreecolorDeviceDriver.writing("to_command", "1");
}
//5秒后发送关门信号
Thread.sleep(5000);
try {
standardAutodoorDeviceDriver.writing("to_open", "0");
standardAutodoorDeviceDriver.writing("to_close", "1");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if (standardAutodoorDeviceDriver.getClose() == 1) {
log.info("读取关门信号值为:{}", standardAutodoorDeviceDriver.getClose());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
log.info("未下发NDC信号原因: 读取关门信号值为:{}", standardAutodoorDeviceDriver.getClose());
}
if (standardAutodoorDeviceDriver.getDoor() == 1) {
standardAutodoorDeviceDriver.writing("item_to_command",1);
}
if (standardAutodoorDeviceDriver.getTo_command() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
try {
standardAutodoorDeviceDriver.writing("to_open", "1");
standardAutodoorDeviceDriver.writing("to_close", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if (standardAutodoorDeviceDriver.getOpen() == 1 && standardAutodoorDeviceDriver.getToOpen() == 1) {
log.info("下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getOpen());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
log.info("未下发NDC信号原因: 下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
}
log.info("未下发NDC信号原因: 读取下发信号值为:{}", standardAutodoorDeviceDriver.getTo_command());
}
}
} else {
@@ -300,41 +271,12 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
if (ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
String link_three_lamp = (String) device.getExtraValue().get("link_three_lamp");
if (StrUtil.isNotEmpty(link_three_lamp)) {
Device code = deviceAppService.findDeviceByCode(link_three_lamp);
if (code.getDeviceDriver() instanceof LampThreecolorDeviceDriver) {
lampThreecolorDeviceDriver = (LampThreecolorDeviceDriver) code.getDeviceDriver();
lampThreecolorDeviceDriver.writing("to_command", "0");
}
try {
standardAutodoorDeviceDriver.writing("to_open", "0");
standardAutodoorDeviceDriver.writing("to_close", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
try {
standardAutodoorDeviceDriver.writing("to_close", "1");
standardAutodoorDeviceDriver.writing("to_open", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if (standardAutodoorDeviceDriver.getClose() == 1) {
log.info("读取关门信号值为:{}", standardAutodoorDeviceDriver.getClose());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
log.info("未下发NDC信号原因: 读取关门信号值为:{}", standardAutodoorDeviceDriver.getClose());
}
}
}
} else {
log.info(device_code + "对应设备号为空!");
}
else {
log.info(device_code + "对应设备号为空!");
}
} else {
//上报异常信息
//（不需要WCS反馈）

30
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/ItemProtocol.java
View File

@@ -9,10 +9,9 @@ import java.util.List;
@Slf4j
public class ItemProtocol {
public static String item_open = "open";
public static String item_close = "close";
public static String item_to_open = "to_open";
public static String item_to_close = "to_close";
public static String item_mode = "mode";
public static String item_door = "door";
public static String item_to_command = "to_command";
private StandardAutodoorDeviceDriver driver;
@@ -21,21 +20,17 @@ public class ItemProtocol {
this.driver = driver;
}
public int getOpen() {
return this.getOpcIntegerValue(item_open);
public int getMode() {
return this.getOpcIntegerValue(item_mode);
}
public int getClose() {
return this.getOpcIntegerValue(item_close);
public int getDoor() {
return this.getOpcIntegerValue(item_door);
}
public int getToOpen() {
return this.getOpcIntegerValue(item_to_open);
}
public int getToClose() {
return this.getOpcIntegerValue(item_to_close);
public int getToCommand() {
return this.getOpcIntegerValue(item_to_command);
}
public int getOpcIntegerValue(String protocol) {
@@ -61,15 +56,14 @@ public class ItemProtocol {
public static List<ItemDto> getReadableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_open, "开到位", "10001"));
list.add(new ItemDto(item_close, "关到位", "10002"));
list.add(new ItemDto(item_mode, "模式", "DB600,B1",Boolean.valueOf(true)));
list.add(new ItemDto(item_door, "门到位", "DB600,B2"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_to_open, "下发开门", "00001" ));
list.add(new ItemDto(item_to_close, "下发关门", "00002"));
list.add(new ItemDto(item_to_command, "作业命令", "DB601,W2", Boolean.valueOf(true)));
return list;
}

55
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java
View File

@@ -35,46 +35,24 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem
@Autowired
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
int open = 0;
int close = 0;
int last_open = 0;
int last_close = 0;
int toOpen = 0;
int last_toOpen = 0;
int toClose = 0;
int last_toClose = 0;
String device_code = null;
@Override
public Device getDevice() {
return this.device;
}
int mode=0;
int door=0;
int to_command=0;
@Override
public void execute() {
String message = null;
device_code = this.getDevice().getDevice_code();
open = this.itemProtocol.getOpen();
close = this.itemProtocol.getClose();
toOpen = this.itemProtocol.getToOpen();
toClose = this.itemProtocol.getToClose();
if (open != last_open) {
logServer.deviceExecuteLog(this.device_code, "", "", "信号open：" + last_open + "->" + open);
}
if (close != last_close) {
if(close ==1 ){
this.writing("to_close","0");
}
}
last_open = open;
last_close = close;
last_toClose = toClose;
last_toOpen = toOpen;
mode = this.itemProtocol.getMode();
door = this.itemProtocol.getDoor();
to_command=this.itemProtocol.getToCommand();
}
@@ -110,25 +88,8 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
String open = "";
String close = "";
if (this.getOpen() == 0) {
open = "未知";
} else if (this.getOpen() == 1) {
open = "开到位";
}
if (this.getClose() == 0) {
open = "未知";
} else if (this.getClose() == 1) {
open = "关到位";
}
jo.put("device_name", this.getDevice().getDevice_name());
jo.put("open", open);
jo.put("close", close);
jo.put("isOnline", true);
return jo;
JSONObject jo=new JSONObject();
return jo;
}
@Override

10
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -587,8 +587,8 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
task_code = CodeUtil.getNewCode("TASK_NO");
task_code = CommonFinalParam.HYPHEN_ + task_code;
}
String start_device_code = dto.getStart_device_code();
String next_device_code = dto.getNext_device_code();
String start_device_code = dto.getStart_point_code();
String next_device_code = dto.getNext_point_code();
String route_plan_code = dto.getRoute_plan_code();
dto.setCreate_by(StrUtil.isNotEmpty(currentUsername) ? currentUsername : "LMS");
dto.setUpdate_by(currentUsername);
@@ -599,15 +599,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
dto.setTask_status(TaskStatusEnum.READY.getIndex());
dto.setStart_point_code(start_device_code);
dto.setNext_point_code(next_device_code);
dto.setStart_device_code(start_device_code);
dto.setNext_device_code(next_device_code);
if (StrUtil.isEmpty(dto.getPriority())) {
dto.setPriority(CommonFinalParam.ONE);
}
String plan_code = dto.getRoute_plan_code();
// 路由校验
if (routeLineService
.getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code)
.getShortPathLines(dto.getStart_point_code(), dto.getNext_point_code(), plan_code)
.size()
== 0) {
throw new BadRequestException(dto.getStart_point_code() + "->" + dto.getNext_point_code() + " " + LangProcess.msg("route_isNull"));

431
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
View File

@@ -1,431 +0,0 @@
package org.nl.system.service.quartz.task;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device.service.DeviceExtraService;
import org.nl.acs.device.service.impl.DeviceExtraServiceImpl;
import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
import org.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.enums.InstructionStatusEnum;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
import org.nl.acs.task.enums.TaskStatusEnum;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.SecurityUtils;
import org.nl.config.SpringContextHolder;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
@Slf4j
@Component
public class CreateDDJInst {
/**
* 定时查询堆垛机任务
*/
public void run() {
log.info("定时查询堆垛机任务"+DateUtil.now());
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
List<TaskDto> taskDtos = taskserver.findByTaskStatus("0");
List<TaskDto> taskDtoList = new ArrayList<>();
if (CollUtil.isEmpty(taskDtos) || taskDtos.size() < 1) {
} else {
for (TaskDto taskDto : taskDtos) {
String start_device_code = taskDto.getStart_device_code();
Device startDevice = appService.findDeviceByCode(start_device_code);
String next_device_code = taskDto.getNext_device_code();
Device nextDevice = appService.findDeviceByCode(next_device_code);
//判断有无出入库任务是相同路线
// TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
// if (ObjectUtil.isNotEmpty(dto)) {
// continue;
// }
if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
(nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
taskDtoList.add(taskDto);
}
}
if (CollUtil.isNotEmpty(taskDtoList)) {
taskDtoList = sortInst(taskDtoList);
for (TaskDto taskDto : taskDtoList) {
Device nextDevice = null;
List<String> pathlist;
Device deviceByCode = null;
String taskid = taskDto.getTask_id();
String taskcode = taskDto.getTask_code();
String task_type = taskDto.getTask_type();
String vehiclecode = taskDto.getVehicle_code();
String vehiclecode2 = taskDto.getVehicle_code2();
String priority = taskDto.getPriority();
String start_device_code = taskDto.getStart_device_code();
Device startDevice = appService.findDeviceByCode(start_device_code);
String start_point_code = taskDto.getStart_point_code();
String put_device_code = taskDto.getPut_device_code();
String put_point_code = taskDto.getPut_point_code();
String next_device_code = taskDto.getNext_device_code();
nextDevice = appService.findDeviceByCode(next_device_code);
String next_point_code = taskDto.getNext_point_code();
String start_point_code2 = taskDto.getStart_point_code2();
String start_device_code2 = taskDto.getStart_device_code2();
String next_point_code2 = taskDto.getNext_point_code2();
String next_device_code2 = taskDto.getNext_device_code2();
String route_plan_code = taskDto.getRoute_plan_code();
String vehicleType = taskDto.getVehicle_type();
String agv_system_type = taskDto.getAgv_system_type();
String start_height = taskDto.getStart_height();
String next_height = taskDto.getNext_height();
//同排的货位移库任务
if (StrUtil.equals(taskDto.getStart_device_code(), taskDto.getNext_device_code())) {
//通过起点找路由
List<RouteLineDto> list =
routeLineService.getShortPathLinesByCode(
taskDto.getStart_device_code(), taskDto.getRoute_plan_code());
if (ObjectUtils.isEmpty(list)) {
throw new BadRequestException("路由不通");
}
RouteLineDto routeLineDto = list.get(0);
String[] path = routeLineDto.getPath().split("->");
pathlist = Arrays.asList(path);
deviceByCode = appService.findDeviceByCode(pathlist.get(1));
if (ObjectUtils.isEmpty(deviceByCode)) {
log.error("没有找到DDJ设备");
continue;
}
StandardStackerDeviceDriver standardStackerDeviceDriver;
if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver();
if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0) {
log.error("堆垛机,{}未联机或者在执行中", deviceByCode.getDevice_code());
((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中");
continue;
}
}
next_device_code = start_device_code;
nextDevice = appService.findDeviceByCode(next_device_code);
} else {
List<RouteLineDto> list =
routeLineService.getShortPathLines(
taskDto.getStart_device_code(), taskDto.getNext_device_code(), taskDto.getRoute_plan_code());
if (ObjectUtils.isEmpty(list)) {
throw new BadRequestException("路由不通");
}
RouteLineDto routeLineDto = list.get(0);
String[] path = routeLineDto.getPath().split("->");
pathlist = Arrays.asList(path);
deviceByCode = appService.findDeviceByCode(pathlist.get(1));
if (ObjectUtils.isEmpty(deviceByCode)) {
log.error("没有找到DDJ设备");
continue;
}
StandardStackerDeviceDriver standardStackerDeviceDriver;
if (deviceByCode.getDeviceDriver() instanceof StandardStackerDeviceDriver) {
standardStackerDeviceDriver = (StandardStackerDeviceDriver) deviceByCode.getDeviceDriver();
if (standardStackerDeviceDriver.getMode() != 3 || standardStackerDeviceDriver.getForkCargo() == 1 || standardStackerDeviceDriver.getCommand() != 0 || standardStackerDeviceDriver.getError() != 0) {
log.error("堆垛机,{}未联机或者在执行中或者有异常", deviceByCode.getDevice_code());
((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("堆垛机,{}未联机或者在执行中");
continue;
}
}
next_device_code = taskDto.getNext_device_code();
/**
* 开始平均分配
*/
String this_coevice_code = taskserver.queryAssignedByDeviceCode(start_device_code, next_device_code);
if (StrUtil.isEmpty(this_coevice_code)) {
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
RouteLineDto routeLineDto1 = shortPathsList.get(0);
String path1 = routeLineDto1.getPath();
String[] str = path1.split("->");
List<String> pathlist1 = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist1.size(); m++) {
String deviceType1 = appService.findDeviceByCode(pathlist1.get(m)).getDevice_type();
if (deviceType1.equals(DeviceType.stacker.name())) {
index = m + 1;
break;
}
/*if (pathlist1.get(m).equals(start_device_code)) {
}*/
}
next_device_code = pathlist1.get(index);
} else {
next_device_code = this_coevice_code;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList) || shortPathsList.size() < 1) {
throw new RuntimeException("路由不通!");
}
}
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + taskDto.getTo_y() + "-" + taskDto.getTo_z();
} else {
next_point_code = next_device_code;
}
nextDevice = appService.findDeviceByCode(next_device_code);
BeltConveyorDeviceDriver beltConveyorDeviceDriver;
if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
if (beltConveyorDeviceDriver.getMode() != 2 || beltConveyorDeviceDriver.getMove() == 1) {
log.error("输送机,{}未联机或执行中", next_device_code);
((BeltConveyorDeviceDriver) nextDevice.getDeviceDriver()).setNotCreateInstMessage("one_message7");
continue;
}
}
//单台堆垛机最多只能创建固定数量指令
Instruction instruction = new Instruction();
instruction.setInstruction_status(CommonFinalParam.ONE);
List<Instruction> byDeviceCodes = instructionService.findByDeviceCodes(instruction, true);
Instruction instdto = new Instruction();
if (CollUtil.isEmpty(byDeviceCodes)) {
//判断有没有DDJ对接位出入库的指令,只判断终点
List<Instruction> byCodeAndExcute = instructionService.findByNextCode(next_device_code);
if (CollUtil.isNotEmpty(byCodeAndExcute)){
((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("有DDJ对接位为终点的指令");
continue;
}
instdto.setInstruction_type(task_type);
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(taskDto.getRemark());
instdto.setMaterial(taskDto.getMaterial());
instdto.setQuantity(taskDto.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
instdto.setVehicle_code2(vehiclecode2);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by(SecurityUtils.getCurrentNickName());
instdto.setStart_device_code(start_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setPut_device_code(put_device_code);
instdto.setPut_point_code(put_point_code);
instdto.setNext_device_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setStart_point_code2(start_point_code2);
instdto.setStart_device_code2(start_device_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setNext_device_code2(next_device_code2);
instdto.setPriority(priority);
instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setAgv_system_type(agv_system_type);
instdto.setStart_height(start_height);
instdto.setNext_height(next_height);
if (ObjectUtil.isNotNull(startDevice) && startDevice.getDevice_type().equals(DeviceType.storage.name())) {
instdto.setFrom_x(taskDto.getFrom_x());
instdto.setFrom_z(taskDto.getFrom_z());
instdto.setFrom_y(taskDto.getFrom_y());
}
if (ObjectUtil.isNotNull(nextDevice) && nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
instdto.setTo_x(taskDto.getTo_x());
instdto.setTo_z(taskDto.getTo_z());
instdto.setTo_y(taskDto.getTo_y());
}
try {
instructionService.create(instdto);
} catch (Exception e) {
taskDto.setRemark(e.getMessage());
taskserver.update(taskDto);
return;
}
//创建指令后修改任务状态
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskserver.update(taskDto);
} else {
List<Instruction> insts = new ArrayList<>();
for (Instruction byDeviceCode : byDeviceCodes) {
String nextDeviceCode = byDeviceCode.getNext_device_code();
Device nextdevice = appService.findDeviceByCode(nextDeviceCode);
String startDeviceCode = byDeviceCode.getStart_device_code();
Device startDevice1 = appService.findDeviceByCode(startDeviceCode);
if (startDevice1.getDevice_type().equals(DeviceType.storage.name()) &&
(nextdevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextdevice.getDevice_type().equals(DeviceType.storage.name()))) {
insts.add(byDeviceCode);
}
}
int max = 0;
//非同排的路径
for (Instruction inst : insts) {
List<RouteLineDto> shortPathLines =new ArrayList<>();
if (!(inst.getStart_device_code().equals(inst.getNext_device_code()))) {
shortPathLines = routeLineService.getShortPathLines(inst.getStart_device_code(), inst.getNext_device_code(),
inst.getRoute_plan_code());
if (CollUtil.isEmpty(shortPathLines) || shortPathLines.size() < 1) {
log.error("没有此路由");
throw new BadRequestException("路由不通");
}
}else {
//同排路径
shortPathLines = routeLineService.getShortPathLinesByCode(inst.getStart_device_code(), inst.getRoute_plan_code());
if (CollUtil.isEmpty(shortPathLines) || shortPathLines.size() < 1) {
log.error("没有此路由");
throw new BadRequestException("路由不通");
}
}
RouteLineDto routeLineDto1 = (RouteLineDto) shortPathLines.get(0);
String[] path1 = routeLineDto1.getPath().split("->");
List<String> pathlist1 = Arrays.asList(path1);
if (pathlist1.get(1).equals(pathlist.get(1))) {
max++;
}
}
/*List<DeviceExtra> deviceExtras = deviceExtra.list(Wrappers.lambdaQuery(DeviceExtra.class).
eq(DeviceExtra::getDevice_code, pathlist.get(1)).orderByDesc(DeviceExtra::getCreate_time));*/
String count = deviceByCode.getExtraValue().get("count").toString();
if (StrUtil.isNotEmpty(count)) {
if (max <= Integer.parseInt(count)) {
//判断有没有DDJ对接位出入库的指令,只判断终点
List<Instruction> byCodeAndExcute = instructionService.findByNextCode(next_device_code);
if (CollUtil.isNotEmpty(byCodeAndExcute)){
((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("有DDJ对接位为终点的指令");
continue;
}
instdto.setInstruction_type(task_type);
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(taskDto.getRemark());
instdto.setMaterial(taskDto.getMaterial());
instdto.setQuantity(taskDto.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
instdto.setVehicle_code2(vehiclecode2);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by(SecurityUtils.getCurrentNickName());
instdto.setStart_device_code(start_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setPut_device_code(put_device_code);
instdto.setPut_point_code(put_point_code);
instdto.setNext_device_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setStart_point_code2(start_point_code2);
instdto.setStart_device_code2(start_device_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setNext_device_code2(next_device_code2);
instdto.setPriority(priority);
instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
instdto.setAgv_system_type(agv_system_type);
instdto.setStart_height(start_height);
instdto.setNext_height(next_height);
if (ObjectUtil.isNotNull(startDevice) && startDevice.getDevice_type().equals(DeviceType.storage.name())) {
instdto.setFrom_x(taskDto.getFrom_x());
instdto.setFrom_z(taskDto.getFrom_z());
instdto.setFrom_y(taskDto.getFrom_y());
}
if (ObjectUtil.isNotNull(nextDevice) && nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
instdto.setTo_x(taskDto.getTo_x());
instdto.setTo_z(taskDto.getTo_z());
instdto.setTo_y(taskDto.getTo_y());
}
//判断agv系统
//1、1楼叉车系统
//2、2楼1区域AGV系统
//3、2楼2区域AGV系统 -已废弃
if (!StrUtil.equals(agv_system_type, CommonFinalParam.ONE)) {
// task_type
//1、生箔； Itype=1:取空，取满，放空，放满；
//2、分切 Itype=3取满、取空、放满、放空；
//3、普通任务 Itype=2:取货、放货；
//4、叉车任务
//5、输送任务
//6、行架
//7、立库
if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
instdto.setAgv_inst_type(CommonFinalParam.ONE);
} else if (StrUtil.equals(task_type, "3")) {
instdto.setAgv_inst_type("2");
} else if (StrUtil.equals(task_type, "2")) {
instdto.setAgv_inst_type("3");
} else if (StrUtil.equals(task_type, "8")) {
instdto.setAgv_inst_type("2");
} else {
log.info("未找到对应的AGV指令类型，任务号:" + taskDto.getTask_code() + ",task_type:" + taskDto.getTask_type());
}
} else {
instdto.setAgv_inst_type("4");
}
try {
instructionService.create(instdto);
} catch (Exception e) {
taskDto.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(taskDto);
}
//创建指令后修改任务状态
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskserver.update(taskDto);
continue;
}
}
}
}
}
//单台堆垛机只能出四五
}
}
private List<TaskDto> sortInst(List<TaskDto> taskDtos) {
Collections.sort(taskDtos, (t1, t2) -> {
//优先级从大到小
int i = t1.getPriority().compareTo(t2.getPriority());
//如果优先级相等
if (i == 0) {
//时间从早到晚
i = t1.getCreate_time().compareTo(t2.getCreate_time());
}
return i;
});
return taskDtos;
}
}