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add:科冲接口新增

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tuqiang
2025-08-25 17:07:39 +08:00
parent f5b7aa7cef
commit 407b407be9
13 changed files with 1284 additions and 131 deletions
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45
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java
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@@ -11,6 +11,7 @@ import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig; import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.dao.AgvResponse;
import org.nl.acs.device.domain.Device; import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.agv.xg_agv_car.XgAgvCarDeviceDriver; import org.nl.acs.device_driver.agv.xg_agv_car.XgAgvCarDeviceDriver;
import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.instruction.domain.Instruction;
@@ -45,23 +46,27 @@ public class QueryAGVStatus {
TaskService taskService = SpringContextHolder.getBean(TaskService.class); TaskService taskService = SpringContextHolder.getBean(TaskService.class);
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class); ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
List<Instruction> allInstFromCache = instructionService.findAllInstFromCache(); List<Instruction> allInstFromCache = instructionService.findAllInstFromCache();
List<Instruction> agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList()); // List<Instruction> agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList());
if (CollUtil.isEmpty(agvInstruction) || agvInstruction.size() < 1) { if (CollUtil.isEmpty(allInstFromCache) || allInstFromCache.size() < 1) {
return; return;
} }
for (Instruction instruction : agvInstruction) { for (Instruction instruction : allInstFromCache) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
JSONObject param = new JSONObject(); JSONObject param = new JSONObject();
agvurl = agvurl + ":" + agvport + "/orderDetails/" + instruction.getInstruction_code(); agvurl = agvurl + ":" + agvport + "/api/fms/taskStatus ";
param.put("TaskNo", instruction.getInstruction_code());
log.info("根据运单号查询运单状态的请求:{}", agvurl); log.info("根据运单号查询运单状态的请求:{}", agvurl);
HttpResponse result = HttpRequest.get(agvurl) HttpResponse result = HttpRequest.get(agvurl)
.body(String.valueOf(param))
.timeout(20000)//超时，毫秒 .timeout(20000)//超时，毫秒
.execute(); .execute();
log.info("根据运单号查询运单状态的请求反馈:{}", result); log.info("根据运单号查询运单状态的请求反馈:{}", result);
String body = result.body(); String body = result.body();
JSONObject json = JSONObject.parseObject(body); JSONObject json = JSONObject.parseObject(body);
if (result.getStatus() == 200 && json.getString("id").equals(instruction.getInstruction_code())) { JSONObject taskStatus = json.getJSONObject("TaskStatus");
String taskNo = taskStatus.getString("TaskNo");
if ("true".equals(json.getString("Result")) && taskNo.equals(instruction.getInstruction_code())) {
// 已创建=CREATED， // 已创建=CREATED，
// 待分配=TOBEDISPATCHED， // 待分配=TOBEDISPATCHED，
// 正在执行=RUNNING， // 正在执行=RUNNING，
@@ -71,10 +76,10 @@ public class QueryAGVStatus {
// 无法执行=Error(参数错误)， // 无法执行=Error(参数错误)，
// 等待=WAITING // 等待=WAITING
//执行中 //执行中
String state = json.getString("state"); String state = json.getString("Status");
String carNo = json.getString("vehicle"); String carNo = json.getString("VehicleNo");
String instructionCode = json.getString("id"); String instructionCode = json.getString("id");
if ("RUNNING".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) { if ("running".equals(state)) {
if ("1".equals(instruction.getInstruction_status())) { if ("1".equals(instruction.getInstruction_status())) {
instruction.setCarno(carNo); instruction.setCarno(carNo);
TaskDto task = new TaskDto(); TaskDto task = new TaskDto();
@@ -83,19 +88,19 @@ public class QueryAGVStatus {
task.setTask_id(instruction.getTask_id()); task.setTask_id(instruction.getTask_id());
instructionService.update(instruction); instructionService.update(instruction);
taskService.update(task); taskService.update(task);
if (StrUtil.isNotEmpty(instructionCode)) { // if (StrUtil.isNotEmpty(instructionCode)) {
Device carCode = deviceAppService.findDeviceByCode(instructionCode); // Device carCode = deviceAppService.findDeviceByCode(instructionCode);
XgAgvCarDeviceDriver xgAgvCarDeviceDriver; // XgAgvCarDeviceDriver xgAgvCarDeviceDriver;
if (null != carCode) { // if (null != carCode) {
if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) { // if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) {
xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver(); // xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver();
xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type())); // xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type()));
} // }
} // }
} // }
} }
} else if ("FINISHED".equals(state)) { } else if ("finish".equals(state)) {
if (!"2".equals(instruction.getInstruction_status())) { if (!"2".equals(instruction.getInstruction_status())) {
instruction.setInstruction_status("2"); instruction.setInstruction_status("2");
try { try {
@@ -105,7 +110,7 @@ public class QueryAGVStatus {
e.printStackTrace(); e.printStackTrace();
} }
} }
} else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) { } else if ("paused".equals(state) || "aborted".equals(state) || "Error".equals(state)) {
if (!"1".equals(instruction.getInstruction_status())) { if (!"1".equals(instruction.getInstruction_status())) {
instruction.setInstruction_status("1"); instruction.setInstruction_status("1");
instructionService.update(instruction); instructionService.update(instruction);

44
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/KeCongAgvController.java Normal file
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@@ -0,0 +1,44 @@
package org.nl.acs.agv.rest;
import cn.dev33.satoken.annotation.SaIgnore;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.KeCongAgvService;
import org.nl.acs.agv.server.dao.AgvResponse;
import org.nl.common.logging.annotation.Log;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.*;
@RestController
@RequiredArgsConstructor
@RequestMapping("/api/fms")
@Slf4j
public class KeCongAgvController {
private final KeCongAgvService keCongAgvService;
@PostMapping("/waitPointRequest")
@Log("等待点请求")
@SaIgnore
public ResponseEntity<AgvResponse> waitPointRequest(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(keCongAgvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
}
@PostMapping("/requestResource")
@Log("请求资源")
@SaIgnore
public ResponseEntity<AgvResponse> requestResource(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(keCongAgvService.requestResource(requestParam), HttpStatus.OK);
}
@PostMapping("/releaseResource")
@Log("释放资源")
@SaIgnore
public ResponseEntity<AgvResponse> releaseResource(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(keCongAgvService.releaseResource(requestParam), HttpStatus.OK);
}
}

50
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/KeCongAgvService.java Normal file
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@@ -0,0 +1,50 @@
package org.nl.acs.agv.server;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.agv.server.dao.AgvResponse;
import org.nl.acs.instruction.domain.Instruction;
public interface KeCongAgvService {
/**
* 下发运单序列
*
* @param inst
* @return
* @throws Exception
*/
public HttpResponse addTask(Instruction inst) throws Exception;
/**
* 查询AGV任务状态
* @param instCode
* @return
*/
public HttpResponse queryKZAgvInstStatus(String instCode);
/**
* 查询AGV状态
* @param vehicleCode
* @return
*/
public HttpResponse queryKZAgvStatus(String vehicleCode);
AgvResponse xgAGVWaitPointRequest(JSONObject requestParam);
public AgvResponse updateKZAgvInst(JSONObject requestParam);
AgvResponse requestResource(JSONObject requestParam);
AgvResponse releaseResource(JSONObject requestParam);
HttpResponse getRobotInfo(String robotCode);
/**
* 更新任务状态
* @param instCode
* @return
*/
// public JSONObject updateKZAgvInstStatus(String instCode);
}

4
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvRequest.java Normal file
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@@ -0,0 +1,4 @@
package org.nl.acs.agv.server.dao;
public class AgvRequest {
}

18
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvResponse.java Normal file
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@@ -0,0 +1,18 @@
package org.nl.acs.agv.server.dao;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class AgvResponse {
private int ErrCode;
private String ErrMsg;
private String result;//Result: true;
}

346
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/KeCongAgvServiceImpl.java Normal file
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@@ -0,0 +1,346 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.KeCongAgvService;
import org.nl.acs.agv.server.MagicAgvService;
import org.nl.acs.agv.server.dao.AgvResponse;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.common.exception.BadRequestException;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@Slf4j
@Service
@RequiredArgsConstructor
public class KeCongAgvServiceImpl implements KeCongAgvService {
@Autowired
private LuceneExecuteLogService luceneExecuteLogService;
@Autowired
private InstructionService instructionService;
private final ISysParamService paramService;
@Override
public HttpResponse addTask(Instruction inst) throws Exception {
JSONObject jo = new JSONObject();
JSONArray arr = new JSONArray();
jo.put("TaskType", inst.getInstruction_type());
JSONObject json1 = new JSONObject();
json1.put("Key", "TaskId");
json1.put("Value", inst.getInstruction_code());
arr.add(json1);
JSONObject json2 = new JSONObject();
json2.put("Key", "VehicleNo");
json2.put("Value", "3");
arr.add(json2);
JSONObject json3 = new JSONObject();
json3.put("Key", "point1");
json3.put("Value", inst.getStart_device_code());
arr.add(json3);
JSONObject json4 = new JSONObject();
json4.put("Key", "point2");
json4.put("Value", inst.getNext_device_code());
arr.add(json4);
if ("任务1" .equals(inst.getInstruction_type())) {
JSONObject json5 = new JSONObject();
json5.put("Key", "point3");
json5.put("Value", inst.getStart_device_code2());
arr.add(json5);
JSONObject json6 = new JSONObject();
json6.put("Key", "point4");
json6.put("Value", inst.getNext_device_code2());
arr.add(json6);
} else if ("任务11" .equals(inst.getInstruction_type())) {
JSONObject json5 = new JSONObject();
json5.put("Key", "isget");
json5.put("Value", "0");
arr.add(json5);
} else if ("任务12" .equals(inst.getInstruction_type())) {
JSONObject json6 = new JSONObject();
json6.put("Key", "isput");
json6.put("Value", "0");
arr.add(json6);
} else if ("任务13" .equals(inst.getInstruction_type())) {
JSONObject json5 = new JSONObject();
json5.put("Key", "isget");
json5.put("Value", "0");
arr.add(json5);
JSONObject json6 = new JSONObject();
json6.put("Key", "isput");
json6.put("Value", "0");
arr.add(json6);
}
jo.put("Params", arr);
System.out.println(jo);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code("下发科聪任务")
.content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发agv任务序列参数:" + jo)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
log.info("任务号：{},指令号{},下发科聪任务序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo);
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).
getValue(), CommonFinalParam.ONE)) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/api/fms/addTaskV2";
log.info(agvurl);
HttpResponse result = HttpRequest.post(agvurl)
//表单内容
.body(String.valueOf(jo))
//超时，毫秒
.timeout(20000)
.execute();
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code("下发科聪任务")
.content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发科聪任务序列反馈参数:" + jo)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body());
return result;
} else {
return null;
}
}
@Override
public HttpResponse queryKZAgvInstStatus(String instCode) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/api/fms/taskStatus/" + instCode;
HttpResponse result = HttpRequest.get(agvurl)
//超时，毫秒
.timeout(20000)
.execute();
System.out.println("查询agv指令数据:" + result.body());
return result;
} else {
return null;
}
}
@Override
public HttpResponse queryKZAgvStatus(String vehicleCode) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/api/fms/vehicleStatus/" + vehicleCode;
HttpResponse result = HttpRequest.get(agvurl)
//超时，毫秒
.timeout(20000)
.execute();
System.out.println("查询agv数据:" + result.body());
return result;
} else {
return null;
}
}
@Override
public AgvResponse xgAGVWaitPointRequest(JSONObject requestParam) {
System.out.println("请求kc参数:" + requestParam);
String taskId = requestParam.getString("TaskId");
String type = requestParam.getString("type"); // 1 取货点等待 2 放货点等待
Instruction inst = instructionService.findByCodeFromCache(taskId);
if (ObjectUtil.isEmpty(inst)) {
throw new BadRequestException("请求失败，未找到指令！");
}
JSONObject jo = new JSONObject();
JSONArray arr = new JSONArray();
jo.put("TaskNo", taskId);
if ("任务11" .equals(inst.getInstruction_type())) {
//todo :需要跟上位申请新的点位
JSONObject json1 = new JSONObject();
json1.put("Name", "point1");
json1.put("Value", "3");
arr.add(json1);
} else if ("任务12" .equals(inst.getInstruction_type())) {
//todo :需要跟上位申请新的点位
JSONObject json1 = new JSONObject();
json1.put("Name", "point2");
json1.put("Value", "4");
arr.add(json1);
} else if ("任务13" .equals(inst.getInstruction_type())) {
if ("1" .equals(type)) {
//todo :需要跟上位申请新的点位
JSONObject json1 = new JSONObject();
json1.put("Name", "point1");
json1.put("Value", "1");
arr.add(json1);
} else if ("2" .equals(type)) {
//todo :需要跟上位申请新的点位
JSONObject json1 = new JSONObject();
json1.put("Name", "point2");
json1.put("Value", "1");
arr.add(json1);
}
}
if ("任务11" .equals(inst.getInstruction_type())) {
JSONObject json2 = new JSONObject();
json2.put("Name", "isget");
json2.put("Value", "1");
arr.add(json2);
} else if ("任务12" .equals(inst.getInstruction_type())) {
JSONObject json2 = new JSONObject();
json2.put("Name", "isput");
json2.put("Value", "1");
arr.add(json2);
} else if ("任务13" .equals(inst.getInstruction_type())) {
if ("1" .equals(type)) {
JSONObject json3 = new JSONObject();
json3.put("Name", "isget");
json3.put("Value", "1");
arr.add(json3);
} else if ("2" .equals(type)) {
JSONObject json2 = new JSONObject();
json2.put("Name", "isput");
json2.put("Value", "1");
arr.add(json2);
}
}
jo.put("Params", arr);
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
//更新任务参数
agvurl = agvurl + ":" + agvport + "/api/fms/updateTaskParam";
log.info(agvurl);
HttpResponse result = HttpRequest.post(agvurl)
//表单内容
.body(String.valueOf(jo))
//超时，毫秒
.timeout(20000)
.execute();
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code("下发科聪任务")
.content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发科聪任务序列反馈参数:" + jo)
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body());
JSONObject jsonObject = null;
if (ObjectUtil.isNotEmpty(result)) {
String body = result.body();
jsonObject = JSONObject.parseObject(body);
if (ObjectUtil.isNotNull(jsonObject) && "true" .equals(jsonObject.getString("Result"))) {
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("true");
agvResponse.setErrMsg("");
return agvResponse;
} else {
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("false");
agvResponse.setErrMsg("");
return agvResponse;
}
} else {
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("false");
agvResponse.setErrMsg("");
return agvResponse;
}
}
@Override
public AgvResponse updateKZAgvInst(JSONObject requestParam) {
// JSONObject ja = new JSONObject();
// ja.put("Key","Result");
// ja.put("Value","true");
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("true");
agvResponse.setErrMsg("");
return agvResponse;
}
@Override
public AgvResponse requestResource(JSONObject requestParam) {
//todo: 延迟十秒
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("true");
agvResponse.setErrMsg("请求失败");
return agvResponse;
}
@Override
public AgvResponse releaseResource(JSONObject requestParam) {
AgvResponse agvResponse = new AgvResponse();
agvResponse.setResult("true");
agvResponse.setErrMsg("请求失败");
return agvResponse;
}
@Override
public HttpResponse getRobotInfo(String robotCode) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/" + "robotsStatus?vehicles=" + robotCode;
log.info("根据指定机器人查询状态的请求:{}", agvurl);
JSONObject param = new JSONObject();
param.put("VehicleNo", robotCode);
HttpResponse result = HttpRequest.get(agvurl)
.body(String.valueOf(param))
.timeout(20000)//超时，毫秒
.execute();
log.info("根据指定机器人查询状态的请求反馈:{}", result);
return result;
} else {
return null;
}
}
// @Override
// public JSONObject updateKZAgvInstStatus(String instCode) {
// if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
// String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
// String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
//
// agvurl = agvurl + ":" + agvport + "/api/fms/updateTaskParam";
//
// HttpResponse result = HttpRequest.get(agvurl)
// //超时，毫秒
// .timeout(20000)
// .execute();
// System.out.println("查询agv数据:" + result.body());
//
// return result;
// } else {
//
// return null;
// }
// }
}

46
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDefination.java Normal file
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@@ -0,0 +1,46 @@
package org.nl.acs.device_driver.agv.kc_agv;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.DeviceDriverDefination;
import org.springframework.stereotype.Service;
import java.util.LinkedList;
import java.util.List;
@Service
public class KcagvDefination implements DeviceDriverDefination {
@Override
public String getDriverCode() {
return "kc_agv";
}
@Override
public String getDriverName() {
return "科聪AGV车";
}
@Override
public String getDriverDescription() {
return "科聪AGV车";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new KcagvDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return KcagvDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.agv);
return types;
}
}

255
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDeviceDriver.java Normal file
View File

@@ -0,0 +1,255 @@
package org.nl.acs.device_driver.agv.kc_agv;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.task.service.TaskService;
import org.nl.config.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.Date;
import java.util.LinkedHashMap;
import java.util.Map;
@Slf4j
@Data
@RequiredArgsConstructor
public class KcagvDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
@Autowired
DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@Autowired
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
@Autowired
DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
@Autowired
RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
@Autowired
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
@Autowired
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@Autowired
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
@Autowired
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
@Autowired
NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
Integer hasGoods = 0;
int error = 0;
Boolean iserror = false;
Boolean islock = false;
int branchProtocol = 0;
int last_branchProtocol = 0;
/**
* 是否需要输入物料
*/
String input_material = "0";
/**
* 备注
*/
String remark = "";
/**
* 数量
*/
String qty = "";
/**
* 批次
*/
String batch = "";
/**
* 物料
*/
String material = "";
/**
* 目标点位
*/
String purpose = "";
/**
* 当前指令
*/
Instruction inst = null;
/**
* 上次指令
*/
Instruction last_inst = null;
boolean requireSucess = false;
/**
* 触摸屏手动触发任务
*/
private Boolean is_has_task = false;
/**
* 申请搬运任务
*/
private Boolean apply_handling = false;
/**
* 申请物料
*/
private Boolean apply_material = false;
/**
* 1取货完成 2放货完成 3进入区域 4离开区域
*/
private int flag;
/**
* 人工确认信号 默认0 agv到达后请求置1 等人工确认后变为2 反馈agv后继续为0
*/
private int manua_confirm = 0;
/**
* 是否推送场景的状态 0=可推送 1=正在更新场景 2=正在执行运单
*/
private String upload_scene_status = "";
/**
* 机器人当前运单
*/
private String current_order = "";
/**
* 机器人连接状态 0表示断连 1表示连接上
*/
private String connection_status = "";
/**
* 机器人可接单状态 true=可接单 false=不可接单
*/
private boolean dispatchable = false;
/**
* core出错标识
*/
private boolean is_error = false;
/**
* 是否正在执行用户下发的运单
*/
private boolean procBusiness = false;
/**
* 机器人当前地图不在场景中
*/
private boolean current_map_invalid = false;
/**
* 机器人是否断连
*/
private boolean disconnect = false;
/**
* 1 = api 设置可接单，2 = api 设置不可接单(小车占用资源)， 3 = api 设置不可接单(小车不占用资源)
*/
private int dispatchable_status = 0;
/**
* 低电量
*/
private boolean low_battery = false;
/**
* 暂停运单
*/
private boolean suspended = false;
/**
* 未确认定位
*/
private boolean unconfirmed_reloc = false;
/**
* 0: 控制权在core手上 1; 控制权被其他人抢走; 2: 控制权没有被抢占
*/
private int unlock = 0;
/**
* agv二次分配类型（1、普通任务 2、取货二次分配 3、防货二次分配 4、取放货二次分配）
*/
private String taskType = "";
String device_code = null;
String container;
String container_type_desc;
String last_container_type_desc;
String last_container;
private Date instruction_require_time = new Date();
private Date instruction_finished_time = new Date();
private int instruction_require_time_out;
String message;
// 1 上位系统允许进入 2 上位系统允许离开
int status = 0;
int agvphase = 0;
int index = 0;
int mode = 2;
int move;
@Override
public void execute() {
try {
// getAgvStatus();
} catch (Exception e) {
message = "获取机器人状态报错";
}
}
@Override
public JSONObject getDeviceStatusName() {
Map<String, Object> map = new LinkedHashMap<>();
// try {
// getAgvStatus();
// } catch (Exception e) {
// message = "获取机器人状态报错";
// }
String isError;
if (is_error) {
isError = "出错,不执行任何运单";
} else {
isError = "正常";
}
if (CommonFinalParam.ONE.equals(upload_scene_status)) {
upload_scene_status = "正在更新场景";
} else if (CommonFinalParam.TWO.equals(upload_scene_status)) {
upload_scene_status = "正在执行运单";
} else if (CommonFinalParam.DELETE.equals(upload_scene_status)) {
upload_scene_status = "可推送";
}
map.put("errors", isError);
map.put("upload_scene_status", upload_scene_status);
map.put("procBusiness", procBusiness ? "是": "否");
// map.put("current_order", current_order);
map.put("connection_status", "1".equals(connection_status) ? "连接上" : "断连");
map.put("dispatchable", dispatchable ? "可接单" : "不可接单");
map.put("dispatchable_status", dispatchable_status == 1?"设置可接单" : dispatchable_status == 2?"设置不可接单(小车占用资源)" : dispatchable_status == 3?"设置不可接单(小车不占用资源)" : "未知");
map.put("current_map_invalid", current_map_invalid ? "机器人不在地图场景中": "机器人在地图场景中");
map.put("disconnect", disconnect ? "机器人断连" : "机器人连接上");
map.put("low_battery", low_battery ? "低电量": "正常");
map.put("suspended", suspended ? "订单被暂停,需要人工手动恢复": "正常");
map.put("message", message);
map.put("agv_task_type", taskType);
map.put("unconfirmed_reloc", unconfirmed_reloc ? "未确认定位" : "正常");
map.put("unlock", unlock == 0 ? "控制权在core手上" : unlock == 1 ? "控制权被其他人抢走" : unlock == 2 ? "控制权没有被抢占" : "未知");
map.put("move_2","有货");
JSONObject jo = new JSONObject(map);
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
}

96
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -20,6 +20,7 @@ import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapp
import lombok.extern.slf4j.Slf4j; import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils; import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.AcsConfig; import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.KeCongAgvService;
import org.nl.acs.agv.server.MagicAgvService; import org.nl.acs.agv.server.MagicAgvService;
import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.agv.server.XianGongAgvService; import org.nl.acs.agv.server.XianGongAgvService;
@@ -121,6 +122,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
private LimitRegionalService limitRegionalService; private LimitRegionalService limitRegionalService;
@Autowired @Autowired
private LuceneExecuteLogService luceneExecuteLogService; private LuceneExecuteLogService luceneExecuteLogService;
@Autowired
private KeCongAgvService keCongAgvService;
private List<Instruction> instructions = new CopyOnWriteArrayList(); private List<Instruction> instructions = new CopyOnWriteArrayList();
@@ -456,37 +459,24 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
if (ObjectUtils.isEmpty(shortPathsList)) { if (ObjectUtils.isEmpty(shortPathsList)) {
throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通"); throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通");
} }
if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { // if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型"); // throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型");
} // }
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) { if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
} }
//判断是否是仙工AGV if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "5")) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) { HttpResponse response = keCongAgvService.addTask(dto);
JSONObject jsonObject = null;
if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) { if (ObjectUtil.isNotEmpty(response)) {
String interactionJson = task.getInteraction_json(); String body = response.body();
if (StrUtil.isEmpty(interactionJson)) { jsonObject = JSONObject.parseObject(body);
throw new BadRequestException("agv叉车调整长宽参数为空"); }
} if (ObjectUtil.isNotNull(jsonObject) && "true" .equals(jsonObject.getString("Result"))) {
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class); dto.setSend_status("1");
//仙工叉车 } else {
HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto, interactionJsonDTO); dto.setSend_status("2");
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//一楼agv任务创建运单序列
HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} }
} }
} catch (Exception e) { } catch (Exception e) {
@@ -620,47 +610,17 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
} }
//判断是否是仙工AGV //判断是否是仙工AGV
if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "5")) {
Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code()); HttpResponse response = keCongAgvService.addTask(dto);
if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) { JSONObject jsonObject = null;
String interactionJson = task.getInteraction_json(); if(ObjectUtil.isNotEmpty(response)){
if (StrUtil.isEmpty(interactionJson)) { String body = response.body();
throw new BadRequestException("agv叉车调整长宽参数为空"); jsonObject = JSONObject.parseObject(body);
} }
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class); if (ObjectUtil.isNotNull(jsonObject) && "true".equals(jsonObject.getString("Result"))) {
//仙工叉车 dto.setSend_status("1");
HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto, interactionJsonDTO); } else {
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) { dto.setSend_status("2");
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//一楼agv任务创建运单序列
HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type());
try {
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
dto.setSend_status("1");
} catch (Exception e) {
dto.setSend_status("2");
dto.setRemark(e.getMessage());
e.printStackTrace();
log.warn("下发AGV指令异常:" + e);
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code(start_device_code)
.content("下发AGV指令异常")
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
}
} }
} }
} catch (Exception e) { } catch (Exception e) {

80
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
View File

@@ -101,47 +101,47 @@ public class AutoCreateInst {
} }
//校验路由关系 //校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); // List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) { // if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令"); // acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask); // taskserver.updateByCodeFromCache(acsTask);
continue; // continue;
} // }
//
// if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
// continue;
// }
if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { // RouteLineDto routeLineDto = shortPathsList.get(0);
continue; // String path = routeLineDto.getPath();
} // String type = routeLineDto.getType();
// String[] str = path.split("->");
RouteLineDto routeLineDto = shortPathsList.get(0); // List<String> pathlist = Arrays.asList(str);
String path = routeLineDto.getPath(); // int index = 0;
String type = routeLineDto.getType(); // boolean flag = false;
String[] str = path.split("->"); // for (int m = 0; m < pathlist.size(); m++) {
List<String> pathlist = Arrays.asList(str); // if (pathlist.get(m).equals(start_device_code)) {
int index = 0; // if("1".equals(acsTask.getTask_type()) && !pathlist.get(m+1).equals(next_device_code)){
boolean flag = false; // flag = true;
for (int m = 0; m < pathlist.size(); m++) { // break;
if (pathlist.get(m).equals(start_device_code)) { // }
if("1".equals(acsTask.getTask_type()) && !pathlist.get(m+1).equals(next_device_code)){ // index = m + 1;
flag = true; // break;
break; // }
} // }
index = m + 1; // if (flag) {
break; // acsTask.setRemark("路由不通无法生成指令");
} // taskserver.update(acsTask);
} // taskserver.updateByCodeFromCache(acsTask);
if (flag) { // continue;
acsTask.setRemark("路由不通无法生成指令"); // }
taskserver.update(acsTask); // next_device_code = pathlist.get(index);
taskserver.updateByCodeFromCache(acsTask); //
continue; // if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
} // next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
next_device_code = pathlist.get(index); // } else {
// next_point_code = next_device_code;
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) { // }
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
Instruction instdto = new Instruction(); Instruction instdto = new Instruction();

4
acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
View File

@@ -10,7 +10,7 @@ spring:
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
# url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:ynfj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true url: jdbc:log4jdbc:mysql://${DB_HOST:localhost}:${DB_PORT:3306}/${DB_NAME:ynfj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
username: ${DB_USER:root} username: ${DB_USER:root}
# password: ${DB_PWD:Root.123456} # password: ${DB_PWD:Root.123456}
@@ -76,7 +76,7 @@ spring:
redis: redis:
#数据库索引 #数据库索引
database: ${REDIS_DB:2} database: ${REDIS_DB:2}
host: ${REDIS_HOST:127.0.0.1} host: ${REDIS_HOST:localhost}
port: ${REDIS_PORT:6379} port: ${REDIS_PORT:6379}
# password: ${REDIS_PWD:} # password: ${REDIS_PWD:}

4
acs2/nladmin-ui/src/views/acs/device/config.vue
View File

@@ -80,6 +80,7 @@ import belt_conveyor from '@/views/acs/device/driver/belt_conveyor'
import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one' import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one'
import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two' import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two'
import xg_agv from '@/views/acs/device/driver/agv/xg_agv' import xg_agv from '@/views/acs/device/driver/agv/xg_agv'
import kc_agv from '@/views/acs/device/driver/agv/kc_agv'
import xg_agv_car from '@/views/acs/device/driver/agv/xg_agv_car.vue' import xg_agv_car from '@/views/acs/device/driver/agv/xg_agv_car.vue'
import standard_manipulator from '@/views/acs/device/driver/one_manipulator/standard_manipulator.vue' import standard_manipulator from '@/views/acs/device/driver/one_manipulator/standard_manipulator.vue'
import standard_storage from '@/views/acs/device/driver/standard_storage' import standard_storage from '@/views/acs/device/driver/standard_storage'
@@ -95,7 +96,8 @@ export default {
belt_conveyor, belt_conveyor,
standard_manipulator, standard_manipulator,
xg_agv_car, xg_agv_car,
standard_storage standard_storage,
kc_agv
}, },
dicts: ['device_type'], dicts: ['device_type'],
mixins: [crud], mixins: [crud],

423
acs2/nladmin-ui/src/views/acs/device/driver/agv/kc_agv.vue Normal file
View File

@@ -0,0 +1,423 @@
<template>
<!--自动门-->
<div>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">设备协议：</span>
</div>
<el-row>
<el-col :span="12">
OpcServer:
<el-select
v-model="opc_id"
placeholder="无"
clearable
@change="changeOpc"
>
<el-option
v-for="item in dataOpcservers"
:key="item.opc_id"
:label="item.opc_name"
:value="item.opc_id"
/>
</el-select>
</el-col>
<el-col :span="12">
PLC:
<el-select
v-model="plc_id"
placeholder="无"
clearable
@change="changePlc"
>
<el-option
v-for="item in dataOpcPlcs"
:key="item.plc_id"
:label="item.plc_name"
:value="item.plc_id"
/>
</el-select>
</el-col>
</el-row>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">输送系统：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-row>
<el-col :span="8">
<el-form-item label="车辆ip" label-width="150px">
<el-input v-model="form.agv_ip" clearable />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="休息点" prop="next_point_code" label-width="150px">
<el-select
v-model="form.relax_point"
style="width: 190px;"
filterable
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_code"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="充电点" prop="charge_point" label-width="150px">
<el-select
v-model="form.charge_point"
style="width: 190px;"
filterable
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_code"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
</el-row>
<el-row>
<el-col :span="8">
<el-form-item label="最小电量" label-width="150px">
<el-input v-model="form.min_electric" clearable />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="最大电量" label-width="150px">
<el-input v-model="form.cancle_electric" clearable />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="可执行任务电量" label-width="150px">
<el-input v-model="form.task_electric" clearable />
</el-form-item>
</el-col>
</el-row>
</el-form>
</el-card>
<!-- <el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">PLC读取字段：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-table
v-loading="false"
:data="data1"
:max-height="550"
size="small"
style="width: 100%;margin-bottom: 15px"
>
<el-table-column prop="name" label="用途" />
<el-table-column prop="code" label="别名要求" />
<el-table-column prop="db" label="DB块">
<template slot-scope="scope">
<el-input
v-model="data1[scope.$index].db"
size="mini"
class="edit-input"
@input="finishReadEdit(data1[scope.$index])"
/>
</template>
</el-table-column>
<el-table-column prop="dbr_value">
<template slot="header">
<el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
</template>
<template slot-scope="scope">
<el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
</template>
</el-table-column>
</el-table>
</el-form>
</el-card> -->
<!-- <el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">PLC写入字段：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-table
v-loading="false"
:data="data2"
:max-height="550"
size="small"
style="width: 100%;margin-bottom: 15px"
>
<el-table-column prop="name" label="用途" />
<el-table-column prop="code" label="别名要求" />
<el-table-column prop="db" label="DB块">
<template slot-scope="scope">
<el-input
v-model="data2[scope.$index].db"
size="mini"
class="edit-input"
@input="finishWriteEdit(data2[scope.$index])"
/>
</template>
</el-table-column>
<el-table-column prop="dbr_value2">
<template slot="header">
<el-link type="primary" :underline="false" @click.native="test_read2()">测试读</el-link>
</template>
<template slot-scope="scope">
<el-input v-model="data2[scope.$index].dbr_value" size="mini" class="edit-input" />
</template>
</el-table-column>
<el-table-column prop="dbw_value">
<template slot="header">
<el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
</template>
<template slot-scope="scope">
<el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
</template>
</el-table-column>
</el-table>
</el-form>
</el-card> -->
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span" />
<el-button
:loading="false"
icon="el-icon-check"
size="mini"
style="float: right; padding: 6px 9px"
type="primary"
@click="doSubmit"
>保存
</el-button>
</div>
</el-card>
</div>
</template>
<script>
import {
queryDriverConfig,
updateConfig,
testRead,
testwrite
} from '@/api/acs/device/driverConfig'
import { selectOpcList } from '@/api/acs/device/opc'
import { selectPlcList } from '@/api/acs/device/opcPlc'
import { selectListByOpcID } from '@/api/acs/device/opcPlc'
import crud from '@/mixins/crud'
import deviceCrud from '@/api/acs/device/device'
export default {
name: 'StandardAutodoor',
mixins: [crud],
props: {
parentForm: {
type: Object,
required: true
}
},
data() {
return {
device_code: '',
device_id: '',
plc_id: '',
plc_code: '',
opc_id: '',
opc_code: '',
configLoading: false,
dataOpcservers: [],
dataOpcPlcs: [],
data1: [],
data2: [],
form: {
inspect_in_stocck: true,
ignore_pickup_check: true,
ignore_release_check: true,
apply_task: true,
manual_create_task: true,
is_pickup: true,
is_release: true
},
rules: {}
}
},
created() {
this.$nextTick(() => {
// 从父表单获取设备编码
this.device_id = this.$props.parentForm.device_id
this.device_code = this.$props.parentForm.device_code
queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
// 给表单赋值，并且属性不能为空
if (data.form) {
const arr = Object.keys(data.form)
// 不为空
if (arr.length > 0) {
this.form = data.form
}
}
// 给表单赋值，并且属性不能为空
if (data.parentForm) {
const arr = Object.keys(data.parentForm)
// 不为空
if (arr.length > 0) {
this.opc_code = data.parentForm.opc_code
this.plc_code = data.parentForm.plc_code
}
}
this.data1 = data.rs
this.data2 = data.ws
this.sliceItem()
})
selectPlcList().then(data => {
this.dataOpcPlcs = data
this.plc_id = this.$props.parentForm.opc_plc_id
})
selectOpcList().then(data => {
this.dataOpcservers = data
this.opc_id = this.$props.parentForm.opc_server_id
})
deviceCrud.selectDeviceList().then(data => {
this.deviceList = data
})
})
},
methods: {
changeOpc(val) {
this.dataOpcservers.forEach(item => {
if (item.opc_id === val) {
this.opc_code = item.opc_code
}
})
selectListByOpcID(val).then(data => {
this.dataOpcPlcs = data
this.plc_id = ''
this.plc_code = ''
if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
this.plc_id = this.dataOpcPlcs[0].plc_id
this.plc_code = this.dataOpcPlcs[0].plc_code
}
this.sliceItem()
})
},
finishReadEdit(data) {
// 编辑的是code列,并且值包含mode
if (data.code.indexOf('mode') !== -1) {
const dbValue = data.db
// .之前的字符串
const beforeStr = dbValue.match(/(\S*)\./)[1]
// .之后的字符串
const afterStr = dbValue.match(/\.(\S*)/)[1]
// 取最后数字
const endNumber = afterStr.substring(1)
// 最后为非数字
if (isNaN(parseInt(endNumber))) {
return
}
for (const val in this.data1) {
if (this.data1[val].code.indexOf('action') !== -1) {
this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
}
if (this.data1[val].code.indexOf('error') !== -1) {
this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
}
}
}
},
changePlc(val) {
this.dataOpcPlcs.forEach(item => {
if (item.plc_id === val) {
this.plc_code = item.plc_code
this.sliceItem()
return
}
})
},
test_read1() {
testRead(this.data1, this.opc_id).then(data => {
this.data1 = data
this.notify('操作成功!', 'success')
}).catch(err => {
console.log(err.response.data.message)
})
},
test_read2() {
testRead(this.data2, this.opc_id).then(data => {
this.data2 = data
console.log(this.data2)
this.notify('操作成功!', 'success')
}).catch(err => {
console.log(err.response.data.message)
})
},
test_write1() {
testwrite(this.data2, this.opc_id).then(data => {
this.notify('操作成功!', 'success')
}).catch(err => {
console.log(err.response.data.message)
})
},
doSubmit() {
this.$refs['form'].validate((valid) => {
if (valid) {
this.configLoading = true
// 根据驱动类型判断是否为路由设备
const parentForm = this.parentForm
parentForm.is_route = true
parentForm.plc_id = this.plc_id
parentForm.opc_id = this.opc_id
updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
this.notify('保存成功', 'success')
this.configLoading = false
}).catch(err => {
this.configLoading = false
console.log(err.response.data.message)
})
}
})
},
sliceItem() { // 拼接DB的Item值
this.data1.forEach(item => {
const str = item.code
// 是否包含.
if (str.search('.') !== -1) {
// 截取最后一位
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
} else {
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
}
})
this.data2.forEach(item => {
const str = item.code
// 是否包含.
if (str.search('.') !== -1) {
// 截取最后一位
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
} else {
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
}
})
}
}
}
</script>
<style scoped>
</style>