From ddc10ecc10afc556282631a9b13b85abca14a18e Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Tue, 20 Feb 2024 14:55:04 +0800 Subject: [PATCH] rev:netty ndc --- wcs/nladmin-system/.gitignore | 3 +- wcs/nladmin-system/pom.xml | 6 + .../org/nl/acs/agv/server/dto/AgvDto.java | 4 + .../run/OneNDCSocketConnectionAutoRun.java | 8 +- .../run/OneNDCSocketConnectionAutoRun2.java | 146 +++ .../agv/ndcone/AgvNdcOneDeviceDriver.java | 976 ++++++++++-------- ...BoxPalletizingManipulatorDeviceDriver.java | 61 +- .../HailiangHrSsxDeviceDriver.java | 3 +- .../LampThreecolorDeviceDriver.java | 1 + .../SiemensConveyorDeviceDriver.java | 1 + ...CoveyorControlWithScannerDeviceDriver.java | 1 + .../StandardInspectSiteDeviceDriver.java | 1 + .../driver/AbstractOpcDeviceDriver.java | 8 - .../java/org/nl/config/ProtocolCodec.java | 22 + 14 files changed, 738 insertions(+), 503 deletions(-) create mode 100644 wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun2.java create mode 100644 wcs/nladmin-system/src/main/java/org/nl/config/ProtocolCodec.java diff --git a/wcs/nladmin-system/.gitignore b/wcs/nladmin-system/.gitignore index fc2ff4f7..5f3f46df 100644 --- a/wcs/nladmin-system/.gitignore +++ b/wcs/nladmin-system/.gitignore @@ -8,4 +8,5 @@ /target/* /logPath_IS_UNDEFINED/ /C:* -/D:* \ No newline at end of file +/D:* +/E:* \ No newline at end of file diff --git a/wcs/nladmin-system/pom.xml b/wcs/nladmin-system/pom.xml index 1397990a..68efebaa 100644 --- a/wcs/nladmin-system/pom.xml +++ b/wcs/nladmin-system/pom.xml @@ -282,6 +282,12 @@ spring-boot-starter-cache + + io.netty + netty-all + 4.1.59.Final + + org.springframework.boot diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java b/wcs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java index ed1333ae..74f3eb2a 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java @@ -1,10 +1,12 @@ package org.nl.acs.agv.server.dto; +import lombok.Builder; import lombok.Data; import java.io.Serializable; @Data +@Builder public class AgvDto implements Serializable { /** @@ -74,4 +76,6 @@ public class AgvDto implements Serializable { */ private String transportOrder; + public AgvDto() { + } } diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index 795b3810..d0964be9 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -32,7 +32,7 @@ import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; @Slf4j -@Component +//@Component public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { @Autowired private ParamService paramService; @@ -65,8 +65,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { public void autoRun() throws IOException { try { String ip = paramService.findByCode(AcsConfig.ONEAGVURL).getValue(); - int port = Integer.parseInt(paramService.findByCode(AcsConfig.ONEAGVPORT).getValue()); - + //int port = Integer.parseInt(paramService.findByCode(AcsConfig.ONEAGVPORT).getValue()); + int port = 10001; InetSocketAddress socketAddress = new InetSocketAddress(ip, port); socket = new Socket(); @@ -145,7 +145,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); + //agvNdcOneDeviceDriver.processSocket(arr); } } if (!ObjectUtil.isEmpty(data)) { diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun2.java b/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun2.java new file mode 100644 index 00000000..96f90e2c --- /dev/null +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun2.java @@ -0,0 +1,146 @@ +package org.nl.acs.auto.run; + +import com.alibaba.fastjson.JSON; +import io.netty.bootstrap.Bootstrap; +import io.netty.buffer.ByteBuf; +import io.netty.buffer.Unpooled; +import io.netty.channel.*; +import io.netty.channel.nio.NioEventLoopGroup; +import io.netty.channel.socket.nio.NioSocketChannel; +import lombok.SneakyThrows; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver; +import org.nl.acs.opc.Device; +import org.nl.acs.opc.DeviceAppService; +import org.nl.config.ProtocolCodec; +import org.nl.modules.common.exception.BadRequestException; +import org.nl.modules.system.service.ParamService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.util.Arrays; + +import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; + + +@Slf4j +@Component +public class OneNDCSocketConnectionAutoRun2 extends AbstractAutoRunnable { + @Autowired + private ParamService paramService; + @Autowired + private DeviceAppService deviceAppService; + + /** + * 这些phase值param代表小车Id + */ + private static final int[] PHASES_CAR_ID = {0x67, 0x70, 0x71, 0x72, 0x73, 0x74}; + + private Bootstrap consumer = new Bootstrap(); + private static EventLoopGroup group = new NioEventLoopGroup(); + private static Channel channel; + + public OneNDCSocketConnectionAutoRun2() { + //this.autoRun(); + } + + @Override + public String getCode() { + return OneNDCSocketConnectionAutoRun2.class.getSimpleName(); + } + + @Override + public String getName() { + return "单工NDC在线连接"; + } + + @Override + public void autoRun() { + try { + String ip = "127.0.0.1";//paramService.findByCode(AcsConfig.ONEAGVURL).getValue(); + int port = 12301;//Integer.parseInt(paramService.findByCode(AcsConfig.ONEAGVPORT).getValue()); + ChannelFuture boot = consumer.group(group) + //.option(ChannelOption.SO_BACKLOG, 1024) + .option(ChannelOption.SO_KEEPALIVE, true) + .option(ChannelOption.TCP_NODELAY, true) + .channel(NioSocketChannel.class) + .handler(new ChannelInitializer() { + @Override + protected void initChannel(Channel ch) { + MsgHandler msgHandler = new MsgHandler(); +// IdleStateHandler idleStateHandler = new IdleStateHandler(0, 5, 0, TimeUnit.SECONDS); + ch.pipeline() + .addLast(msgHandler);// 添加消息处理器 + } + }).connect(ip, port).sync(); + channel = boot.channel(); + channel.closeFuture().sync(); + } catch (Exception e) { + log.error("agv连接出现异常:{}", JSON.toJSONString(e)); + if (channel != null) { + channel.flush(); + channel.close(); + } + } + } + + + @Override + public void stop() { + if (channel != null) { + channel.flush(); + channel.close(); + } + } + + public static void write(byte[] b) { + try { + log.info("下发agv数据:" + Bytes2HexString(b)); + channel.writeAndFlush(Unpooled.copiedBuffer(b)); + } catch (Exception e) { + try { + log.info("再次下发agv数据:" + Bytes2HexString(b)); + channel.writeAndFlush(Unpooled.copiedBuffer(b)); + } catch (Exception e1) { + throw new BadRequestException(e1.getMessage()); + } + } + } + + class MsgHandler extends SimpleChannelInboundHandler { + @Override + @SneakyThrows + protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) { + if (msg.isReadable()) { + byte[] data = null; + byte[] bytes = ProtocolCodec.readBody(msg); + if (bytes.length > 0) { + //执行阶段 + Integer phase = (Byte.toUnsignedInt(bytes[16]) << 8) + Byte.toUnsignedInt(bytes[17]); + //agv任务号 + Integer index = (Byte.toUnsignedInt(bytes[12]) << 8) + Byte.toUnsignedInt(bytes[13]); + //任务号 + Integer ikey = (Byte.toUnsignedInt(bytes[26]) << 8) + Byte.toUnsignedInt(bytes[27]); + //站点号 + Integer param = (Byte.toUnsignedInt(bytes[18]) << 8) + Byte.toUnsignedInt(bytes[19]); + //车号 + byte carId = bytes[20]; + Device device = null; + //Phase值为这些站点号param代表小车号，否则carId代表小车号 + if (Arrays.stream(PHASES_CAR_ID).anyMatch(v -> v == phase)) { + device = deviceAppService.findDeviceByCode(Integer.toString(param)); + } else { + device = deviceAppService.findDeviceByCode(Integer.toString(carId)); + } + if (device != null) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + AgvNdcOneDeviceDriver deviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + deviceDriver.processSocket(bytes, phase, index, ikey, Byte.toUnsignedInt(carId), param); + } + } + } + } + } + } + +} diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 19ad1685..cbaa7546 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -5,12 +5,13 @@ import cn.hutool.core.util.StrUtil; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.nl.acs.acsEnum.StatusEnum; import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.agv.server.impl.NDCAgvServiceImpl; -import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; +import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun2; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; -import org.nl.acs.device_driver.basedriver.hailiang_one.RemoveDevicePhase; import org.nl.acs.device_driver.basedriver.hailiang_one.hailiang_cleaning_put_line.HailiangCleaningPutLineDeviceDriver; import org.nl.acs.device_driver.basedriver.hailiang_one.hailiang_engraving_cache.HailiangEngravingCacheDeviceDriver; import org.nl.acs.device_driver.basedriver.hailiang_one.hailiang_engraving_in.HailiangEngravingInDeviceDriver; @@ -19,25 +20,15 @@ import org.nl.acs.device_driver.basedriver.hailiang_one.hailiang_packer_station. import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.impl.InstructionServiceImpl; -import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.opc.Device; 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.system.service.ParamService; -import org.nl.modules.system.service.impl.ParamServiceImpl; import org.nl.modules.wql.util.SpringContextHolder; -import org.springframework.beans.factory.annotation.Autowired; -import java.util.HashMap; +import java.util.Arrays; import java.util.List; -import java.util.Map; /** * NDC单工位AGV @@ -47,73 +38,534 @@ import java.util.Map; @RequiredArgsConstructor public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { - ParamService acsConfigService = SpringContextHolder.getBean(ParamServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class); DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); - DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); - TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); - int agvaddr = 0; - int agvaddr_copy = 0; - int weight = 0; - String device_code = ""; - int phase = 0; - int x = 0; //x坐标 - int y = 0; //y坐标 - int angle = 0; //角度 - int electric_qty = 0; //电量 - int status = 0; //三色灯状态 - int error = 0; //车辆故障 + /** + * 当前AGV正在执行的指令信息 + */ + private List instructions = null; - int last_x = 0; - int last_y = 0; - int last_angle = 0; - int last_electric_qty = 0; - int last_status = 0; - int last_error = 0; + private String device_code; + private int agv_address = 0; + private int agv_address_copy = 0; + /** + * 存放AGV状态信息 + */ + private final AgvDto agvInfo = AgvDto.builder() + .name(this.getDevice().getDevice_code()) + .state("UNKNOWN") + .energyLevel("0") + .transportOrder(null) + .positionX("0") + .positionY("0") + .positionAngle("0") + .build(); + /** + * 当AGV上报这些phase值时,param代表小车Id,此时carId无实际用途 + */ + private static final int[] PHASES_CAR_ID = {0x67, 0x70, 0x71, 0x72, 0x73, 0x74}; + /** + * 开始任务 + */ + private static final int PHASE_01 = 0x01; + /** + * 分配车ID + */ + private static final int PHASE_02 = 0x02; + /** + * 到达取货点 + */ + private static final int PHASE_03 = 0x03; + /** + * 取货完成 + */ + private static final int PHASE_05 = 0x05; + /** + * 到达放货点 + */ + private static final int PHASE_07 = 0x07; + /** + * 放货完成 + */ + private static final int PHASE_09 = 0x09; + /** + * 任务完毕 + */ + private static final int PHASE_0A = 0x0A; + /** + * 请求删除任务 + */ + private static final int PHASE_30 = 0x30; + /** + * 任务删除确认 + */ + private static final int PHASE_FF = 0xFF; + /** + * 进入交通灯区域 + */ + private static final int PHASE_50 = 0x50; + /** + * 离开交通灯区域 + */ + private static final int PHASE_51 = 0x51; + /** + * 到达位置点 + */ + private static final int PHASE_64 = 0x64; + /** + * 称重就绪 + */ + private static final int PHASE_65 = 0x65; + /** + * 上报异常信息 + */ + private static final int PHASE_67 = 0x67; + /** + * 上报X坐标 + */ + private static final int PHASE_70 = 0x70; + /** + * 上报Y坐标 + */ + private static final int PHASE_71 = 0x71; + /** + * 上报车辆角度 + */ + private static final int PHASE_72 = 0x72; + /** + * 上报车辆电量 + */ + private static final int PHASE_73 = 0x73; + /** + * 上报三色灯状态 + */ + private static final int PHASE_74 = 0x74; - public synchronized void processSocket(int[] arr) throws Exception { - device_code = this.getDeviceCode(); + /** + * 处理NDC交互逻辑 + * + * @param arr NDC上报报文信息 + * @param phase phase值,AGV执行阶段 + * @param index NDC调度系统的任务号 + * @param ikey phase值不在phasesCarsId中，代表ACS指令号，否则代表phase值对应的上报的信息异常、X坐标、Y坐标、角度、电量、三色灯状态等信息 + * @param carId phase值不在phasesCarsId中，代表小车Id，否则暂无实际作用 + * @param param phase值在phasesCarsId中，代表小车Id,否则代表站点号-即AGV地址 + */ + public synchronized void processSocket(byte[] arr, Integer phase, Integer index, Integer ikey, Integer carId, Integer param) { + device_code = this.getDevice_code(); byte[] data = null; - phase = arr[16] * 256 + arr[17]; - // agv任务号 - int index = arr[12] * 256 + arr[13]; - //任务号 - int ikey = arr[26] * 256 + arr[27]; - //站点号 - agvaddr = arr[18] * 256 + arr[19]; - //车号 - int carno = arr[20]; - Instruction link_inst = null; - List insts = null; - boolean link_flag = false; - Device agv_device = null; - if (carno != 0) { - agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + this.setTaskCodeToAgvInfo(ikey, phase); + switch (phase) { + //开始任务 + case PHASE_01: + data = this.handleStartTask(ikey, index); + break; + //分配车Id + case PHASE_02: + this.assignCarId(ikey, carId); + break; + //到达取货点 + case PHASE_03: + data = this.toGetPoint(ikey, index); + break; + //取货完成 + case PHASE_05: + data = this.getFinish(ikey, index); + break; + //到达放货点 + case PHASE_07: + data = this.toPutPoint(ikey, index); + break; + //放货完成 + case PHASE_09: + data = this.putFinish(ikey, index); + break; + //任务完成 + case PHASE_0A: + data = this.taskFinish(ikey, index); + break; + //删除任务 + case PHASE_30: + data = this.delTask(ikey, index); + break; + //删除任务确认 + case PHASE_FF: + data = this.delTaskConfirm(ikey, index); + break; + //进入交通灯区域 + case PHASE_50: + data = this.inLightArea(); + break; + //离开交通灯区域 + case PHASE_51: + data = this.outLightArea(); + break; + //到达位置点 + case PHASE_64: + data = this.arrivedPoint(param, index); + break; + //开始称重 + case PHASE_65: + data = this.startWeighing(param); + break; + //上报异常信息 + case PHASE_67: + this.reportExceptionInfo(); + break; + //上报车辆X坐标 + case PHASE_70: + this.reportXCoordinate(ikey); + break; + //上报车辆Y坐标 + case PHASE_71: + this.reportYCoordinate(ikey); + break; + //上报车辆角度 + case PHASE_72: + this.reportAngle(ikey); + break; + //上报车辆电量 + case PHASE_73: + this.reportElectric(ikey); + break; + //上报三色灯状态 + case PHASE_74: + this.reportThreeColorStatus(ikey); + break; + default: + break; } - if (ikey != 0) { - insts = instructionService.findByLinkNum(String.valueOf(ikey)); + if (data != null) { + OneNDCSocketConnectionAutoRun2.write(data); } - if (!ObjectUtil.isEmpty(link_inst)) { - link_flag = true; - } - logServer.deviceExecuteLog(this.device_code, "", "", "接收AGV上报信息:" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno); - - Device device = null; - String old_device_code = null; - String emptyNum = null; - String device_code = null; - - if (phase == 0x67) { - //故障信息 - if (arr[18] * 256 + arr[19] == 0) { + } + /** + * 开始任务 + * + * @param ikey 指令号或关联编号 + * @param index NDC的任务号 + */ + private byte[] handleStartTask(Integer ikey, Integer index) { + List instructions = this.getInstructions(ikey); + if (ObjectUtil.isNotEmpty(instructions)) { + for (Instruction inst : instructions) { + inst.setInstruction_status(StatusEnum.INST_RUNNING.getCode()); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status(StatusEnum.YES.getCode()); + instructionService.update(inst); } - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); } + return ndcAgvService.sendAgvOneModeInst(PHASE_01, index, 0); + } + + /** + * 上报车号 + * + * @param ikey 指令号或关联编号 + * @param carId 车辆Id + */ + private void assignCarId(Integer ikey, Integer carId) { + List instructions = this.getInstructions(ikey); + for (Instruction inst : instructions) { + inst.setCarno(String.valueOf(carId)); + instructionService.update(inst); + } + } + + /** + * 到达取货点 + * + * @param ikey 指令号或关联编号 + * @param index AGV任务号 + */ + private byte[] toGetPoint(Integer ikey, Integer index) { + Device device = this.getDeviceCodeByAgvAddress(agv_address); + if (ObjectUtil.isEmpty(device)) { + //打日志 + return null; + } + for (Instruction inst : this.getInstructions(ikey)) { + if (ObjectUtil.isEmpty(inst)) { + //打日志 + break; + } + //校验agv上报站点编号与指令起始点相同 + if (StrUtil.equals(inst.getStart_device_code(), device.getDevice_code())) { + this.setPhaseToDriver(device, PHASE_03, index, inst); + if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { + return ndcAgvService.sendAgvOneModeInst(PHASE_03, index, 0); + } + } + } + return null; + } + + /** + * 取货完成 + * + * @param ikey 指令号或关联编号 + * @param index AGV任务号 + */ + private byte[] getFinish(Integer ikey, Integer index) { + Device device = this.getDeviceCodeByAgvAddress(agv_address); + if (device == null) { + //打日志 + return null; + } + for (Instruction inst : this.getInstructions(ikey)) { + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + //打日志 + break; + } + + if (StrUtil.equals(inst.getStart_device_code(), device.getDevice_code())) { + this.setPhaseToDriver(device, PHASE_05, index, inst); + if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { + return ndcAgvService.sendAgvOneModeInst(PHASE_05, index, 0); + } + } + } + return null; + } + + /** + * 到达放货点 + * + * @param ikey 指令号或关联编号 + * @param index AGV任务号 + */ + private byte[] toPutPoint(Integer ikey, Integer index) { + Device device = this.getDeviceCodeByAgvAddress(agv_address); + if (device == null) { + //打日志 + return null; + } + for (Instruction inst : this.getInstructions(ikey)) { + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + //打印日志 + break; + } + if (StrUtil.equals(inst.getNext_device_code(), device.getDevice_code())) { + this.setPhaseToDriver(device, PHASE_07, index, inst); + if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { + return ndcAgvService.sendAgvOneModeInst(PHASE_07, index, 0); + } + } + } + return null; + } + + /** + * 放货完成 + * + * @param ikey 指令号或关联编号 + * @param index AGV任务号 + */ + private byte[] putFinish(Integer ikey, Integer index) { + Device device = this.getDeviceCodeByAgvAddress(agv_address); + if (device == null) { + //打日志 + return null; + } + for (Instruction inst : this.getInstructions(ikey)) { + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + //打日志 + break; + } + if (StrUtil.equals(inst.getNext_device_code(), device.getDevice_code())) { + this.setPhaseToDriver(device, PHASE_09, index, inst); + if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { + return ndcAgvService.sendAgvOneModeInst(PHASE_09, index, 0); + } + } + } + return null; + } + + /** + * 任务完成 + * + * @param ikey 指令号或关联编号 + */ + private byte[] taskFinish(Integer ikey, Integer index) { + instructionService.finishByLinkNum(String.valueOf(ikey)); + this.instructions = null; + this.agvInfo.setTransportOrder(null); + return ndcAgvService.sendAgvOneModeInst(PHASE_0A, index, 0); + } + + /** + * 删除任务 + * + * @param ikey 指令号或关联编号 + */ + private byte[] delTask(Integer ikey, Integer index) { + this.instructions = null; + this.agvInfo.setTransportOrder(null); + return ndcAgvService.sendAgvOneModeInst(143, index, 0); + } + + /** + * 删除任务确认 + * + * @param ikey 指令号或关联编号 + */ + private byte[] delTaskConfirm(Integer ikey, Integer index) { + try { + instructionService.forceCancelByLinkNum(String.valueOf(ikey)); + this.instructions = null; + this.agvInfo.setTransportOrder(null); + } catch (Exception e) { + e.printStackTrace(); + } + return ndcAgvService.sendAgvOneModeInst(PHASE_FF, index, 0); + } + + /** + * 到达位置点 + * + * @param param AGV站点 + */ + private byte[] arrivedPoint(Integer param, Integer index) { + agv_address = param; + agv_address_copy = agv_address; + return ndcAgvService.sendAgvOneModeInst(PHASE_64, index, 0); + } + + /** + * 开始称重 + * + * @param param AGV称重信息 + */ + private byte[] startWeighing(Integer param) { + return null; + } + + private void reportExceptionInfo() { + + } + + private byte[] inLightArea() { + return null; + } + + private byte[] outLightArea() { + return null; + } + + /** + * 上报x坐标 + * + * @param ikey x坐标 + */ + private void reportXCoordinate(Integer ikey) { + this.agvInfo.setPositionX(String.valueOf(ikey)); + } + + /** + * 上报y坐标 + * + * @param ikey y坐标 + */ + private void reportYCoordinate(Integer ikey) { + this.agvInfo.setPositionY(String.valueOf(ikey)); + } + + /** + * 上报AGV角度 + * + * @param ikey 角度 + */ + private void reportAngle(Integer ikey) { + this.agvInfo.setPositionAngle(String.valueOf(ikey)); + } + + /** + * 上报AGV电量 + * + * @param ikey 电量 + */ + private void reportElectric(Integer ikey) { + this.agvInfo.setEnergyLevel(String.valueOf(ikey)); + } + + /** + * 上报三色灯状态 + * + * @param ikey 三色灯状态 + */ + private void reportThreeColorStatus(Integer ikey) { + this.agvInfo.setState(""); + } + + /** + * 向AGV设置任务号 + * + * @param ikey 指令号或者关联编号 + * @param phase 执行阶段 + */ + private void setTaskCodeToAgvInfo(Integer ikey, Integer phase) { + if (ikey != 0 && ikey != null) { + if (!Arrays.asList(PHASES_CAR_ID).contains(phase)) { + if (this.instructions == null) { + this.instructions = this.getInstructions(ikey); + for (Instruction inst : this.instructions) { + this.agvInfo.setTransportOrder(inst.getTask_code()); + } + } + } + } + } + + /** + * 根据ikey查询指令信息 + * + * @param ikey 指令编号或者关联编号 + * @return + */ + private List getInstructions(Integer ikey) { + return instructionService.findByLinkNum(String.valueOf(ikey)); + } + + /** + * 抽取取放货公共逻辑 + * + * @param agvAddress + * @return + */ + private Device getDeviceCodeByAgvAddress(Integer agvAddress) { + if (agv_address == 0) { + agv_address = agv_address_copy; + } + if (agv_address < 1) { + //打日志 + return null; + } + String device_code = deviceService.queryDeviceCodeByAddress(agvAddress); + if (agvAddress != 0) { + String old_device_code = deviceService.queryDeviceCodeByAddress(agvAddress); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + } else { + device_code = old_device_code; + } + } + Device device = deviceAppService.findDeviceByCode(device_code); + return device; + } + + private void setPhaseToDriver(Device device, Integer phase, Integer index, Instruction inst) { //刻字缓存位 HailiangEngravingCacheDeviceDriver hailiangEngravingCacheDeviceDriver; //刻字机工位 @@ -128,370 +580,36 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic HailiangEngravingInDeviceDriver hailiangEngravingInDeviceDriver; // HailiangCleaningPutLineDeviceDriver hailiangCleaningPutLineDeviceDriver; - - //开始任务/上报订单号 - if (phase == 0x02) { - for (Instruction inst : insts) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - //请求取货 - } else if (phase == 0x03) { - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - - 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"); - return; - } - for (Instruction inst : insts) { - //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); - break; - } - - if (StrUtil.equals(inst.getStart_device_code(), device_code)) { - -// if (device.getDeviceDriver() instanceof RemoveDevicePhase) { -// RemoveDevicePhase removeDevicePhase = (RemoveDevicePhase) device.getDeviceDriver(); -// removeDevicePhase.set(phase, index, inst); -// } - - if (device.getDeviceDriver() instanceof HailiangEngravingMachineDeviceDriver) { - hailiangEngravingMachineDeviceDriver = (HailiangEngravingMachineDeviceDriver) device.getDeviceDriver(); - hailiangEngravingMachineDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangEngravingCacheDeviceDriver) { - hailiangEngravingCacheDeviceDriver = (HailiangEngravingCacheDeviceDriver) device.getDeviceDriver(); - hailiangEngravingCacheDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { - hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) device.getDeviceDriver(); - hailiangPackerStationDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangEngravingInDeviceDriver) { - hailiangEngravingInDeviceDriver = (HailiangEngravingInDeviceDriver) device.getDeviceDriver(); - hailiangEngravingInDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangCleaningPutLineDeviceDriver) { - hailiangCleaningPutLineDeviceDriver = (HailiangCleaningPutLineDeviceDriver) device.getDeviceDriver(); - hailiangCleaningPutLineDeviceDriver.set(phase, index, inst); - } - - - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - - } else if (phase == 0x65) {//param,重量待定 - int weight = 0; - //称重在包装机1上面 - Device a1_bzj_1 = deviceAppService.findDeviceByCode("A1_BZJ_1"); - if (a1_bzj_1 != null) { - if (a1_bzj_1.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { - hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) a1_bzj_1.getDeviceDriver(); - if (hailiangPackerStationDeviceDriver.getCache_weight() > 0) { - weight = hailiangPackerStationDeviceDriver.getCache_weight(); - for (Instruction inst : insts) { - TaskDto taskDto = taskService.findByCodeFromCache(inst.getTask_code()); - if (taskDto != null) { - Map map = new HashMap<>(); - map.put("weight", String.valueOf(weight)); - taskDto.setExt_param(map); - taskDto.setWeight(String.valueOf(weight)); - taskService.update(taskDto); - } - } - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - } - } - } - //取货完毕/取满框完毕1/点对点取货完毕 - } else if (phase == 0x64) {//param,agv货位id待定 - //1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备 - agvaddr = arr[18] * 256 + arr[19]; - agvaddr_copy = agvaddr; - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - //取货完毕 - } else if (phase == 0x05) { - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - 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, "", "", "对应设备号为空" + device_code); - return; - } - for (Instruction inst : insts) { - //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); - break; - } - - if (StrUtil.equals(inst.getStart_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof HailiangEngravingMachineDeviceDriver) { - hailiangEngravingMachineDeviceDriver = (HailiangEngravingMachineDeviceDriver) device.getDeviceDriver(); - hailiangEngravingMachineDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangEngravingCacheDeviceDriver) { - hailiangEngravingCacheDeviceDriver = (HailiangEngravingCacheDeviceDriver) device.getDeviceDriver(); - hailiangEngravingCacheDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { - hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) device.getDeviceDriver(); - hailiangPackerStationDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangEngravingInDeviceDriver) { - hailiangEngravingInDeviceDriver = (HailiangEngravingInDeviceDriver) device.getDeviceDriver(); - hailiangEngravingInDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangCleaningPutLineDeviceDriver) { - hailiangCleaningPutLineDeviceDriver = (HailiangCleaningPutLineDeviceDriver) device.getDeviceDriver(); - hailiangCleaningPutLineDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - - //请求放货 - } else if (phase == 0x07) { - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device_code)) { - log.info(agvaddr + "对应设备号为空!"); - return; - } - for (Instruction inst : insts) { - //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); - break; - } - if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof HailiangEngravingMachineDeviceDriver) { - hailiangEngravingMachineDeviceDriver = (HailiangEngravingMachineDeviceDriver) device.getDeviceDriver(); - hailiangEngravingMachineDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangEngravingCacheDeviceDriver) { - hailiangEngravingCacheDeviceDriver = (HailiangEngravingCacheDeviceDriver) device.getDeviceDriver(); - hailiangEngravingCacheDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { - hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) device.getDeviceDriver(); - hailiangPackerStationDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangEngravingInDeviceDriver) { - hailiangEngravingInDeviceDriver = (HailiangEngravingInDeviceDriver) device.getDeviceDriver(); - hailiangEngravingInDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangCleaningPutLineDeviceDriver) { - hailiangCleaningPutLineDeviceDriver = (HailiangCleaningPutLineDeviceDriver) device.getDeviceDriver(); - hailiangCleaningPutLineDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - - //放货完成 - } else if (phase == 0x09) { - if (agvaddr == 0) { - agvaddr = agvaddr_copy; - } - if (agvaddr < 1) { - logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); - return; - } - if (agvaddr != 0) { - old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); - if (StrUtil.contains(old_device_code, "-")) { - String[] point = old_device_code.split("-"); - device_code = point[0]; - } else if (StrUtil.contains(old_device_code, ".")) { - String[] point = old_device_code.split("\\."); - device_code = point[0]; - emptyNum = point[1]; - } else { - device_code = old_device_code; - } - } - - device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device_code)) { - log.info(agvaddr + "对应设备号为空!"); - return; - } - for (Instruction inst : insts) { - //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); - break; - } - if (StrUtil.equals(inst.getNext_device_code(), device_code)) { - if (device.getDeviceDriver() instanceof HailiangEngravingMachineDeviceDriver) { - hailiangEngravingMachineDeviceDriver = (HailiangEngravingMachineDeviceDriver) device.getDeviceDriver(); - hailiangEngravingMachineDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof HailiangEngravingCacheDeviceDriver) { - hailiangEngravingCacheDeviceDriver = (HailiangEngravingCacheDeviceDriver) device.getDeviceDriver(); - hailiangEngravingCacheDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { - hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) device.getDeviceDriver(); - hailiangPackerStationDeviceDriver.set(phase, index, inst); - } - - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - standardOrdinarySiteDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangEngravingInDeviceDriver) { - hailiangEngravingInDeviceDriver = (HailiangEngravingInDeviceDriver) device.getDeviceDriver(); - hailiangEngravingInDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof HailiangCleaningPutLineDeviceDriver) { - hailiangCleaningPutLineDeviceDriver = (HailiangCleaningPutLineDeviceDriver) device.getDeviceDriver(); - hailiangCleaningPutLineDeviceDriver.set(phase, index, inst); - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - - } else if (phase == 0x71) { - x = ikey; - if (x != last_x) { - logServer.deviceItemValue(this.device_code, "x", String.valueOf(x)); - } - } else if (phase == 0x72) { - y = ikey; - if (y != last_y) { - logServer.deviceItemValue(this.device_code, "y", String.valueOf(y)); - } - } else if (phase == 0x73) { - angle = last_angle; - if (angle != last_angle) { - logServer.deviceItemValue(this.device_code, "angle", String.valueOf(angle)); - } - } else if (phase == 0x74) { - electric_qty = ikey; - if (electric_qty != last_electric_qty) { - logServer.deviceItemValue(this.device_code, "electric_qty", String.valueOf(electric_qty)); - } - } else if (phase == 0x75) { - status = ikey; - if (status != last_status) { - logServer.deviceItemValue(this.device_code, "status", String.valueOf(status)); - } - } else if (phase == 0x76) { - error = ikey; - if (error != last_error) { - logServer.deviceItemValue(this.device_code, "error", String.valueOf(error)); - } + if (device.getDeviceDriver() instanceof HailiangEngravingMachineDeviceDriver) { + hailiangEngravingMachineDeviceDriver = (HailiangEngravingMachineDeviceDriver) device.getDeviceDriver(); + hailiangEngravingMachineDeviceDriver.set(phase, index, inst); } - if (!ObjectUtil.isEmpty(data)) { - logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); - OneNDCSocketConnectionAutoRun.write(data); + + if (device.getDeviceDriver() instanceof HailiangEngravingCacheDeviceDriver) { + hailiangEngravingCacheDeviceDriver = (HailiangEngravingCacheDeviceDriver) device.getDeviceDriver(); + hailiangEngravingCacheDeviceDriver.set(phase, index, inst); + } + + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); + standardOrdinarySiteDeviceDriver.set(phase, index, inst); + } + + if (device.getDeviceDriver() instanceof HailiangPackerStationDeviceDriver) { + hailiangPackerStationDeviceDriver = (HailiangPackerStationDeviceDriver) device.getDeviceDriver(); + hailiangPackerStationDeviceDriver.set(phase, index, inst); + } + + if (device.getDeviceDriver() instanceof HailiangEngravingInDeviceDriver) { + hailiangEngravingInDeviceDriver = (HailiangEngravingInDeviceDriver) device.getDeviceDriver(); + hailiangEngravingInDeviceDriver.set(phase, index, inst); + } + + if (device.getDeviceDriver() instanceof HailiangCleaningPutLineDeviceDriver) { + hailiangCleaningPutLineDeviceDriver = (HailiangCleaningPutLineDeviceDriver) device.getDeviceDriver(); + hailiangCleaningPutLineDeviceDriver.set(phase, index, inst); } } + } diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java index bf9c5582..0929aca9 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/box_palletizing_manipulator/BoxPalletizingManipulatorDeviceDriver.java @@ -5,25 +5,13 @@ import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.nl.acs.device.device_driver.standard_inspect.ReadUtil; -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.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; -import org.nl.acs.opc.DeviceAppService; -import org.nl.acs.opc.DeviceAppServiceImpl; -import org.nl.acs.route.service.RouteLineService; -import org.nl.acs.task.service.TaskService; -import org.nl.modules.wql.util.SpringContextHolder; -import org.openscada.opc.lib.da.Server; -import org.springframework.beans.factory.annotation.Autowired; import java.util.*; @@ -35,18 +23,6 @@ import java.util.*; @RequiredArgsConstructor public class BoxPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { protected ItemProtocol itemProtocol = new ItemProtocol(this); - @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 - AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl"); - @Autowired - DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); //工作模式 int mode = 0; @@ -145,50 +121,15 @@ public class BoxPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDriv } - - public boolean exe_error() { - if (this.error == 0) { - return true; - } else { - log.debug("设备报警"); - return false; - } - } - - public boolean exe_business() { - return true; - } - - public synchronized boolean finish_instruction(Instruction inst) throws Exception { - instructionService.finish(inst); - return true; - } - + @Override public void writing(String param, String value) { - String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + "." + param; - //String opcservcerid = this.getDevice().getOpc_server_id(); -//Server server = ReadUtil.getServer(opcservcerid); Map itemMap = new HashMap(); - itemMap.put(to_param, value); -// itemMap.put(to_param, Integer.parseInt(value)); this.control(itemMap); } - public void executing(Server server, Map itemMap) { - this.control(itemMap); - } - - public void writing(int command) { - - //String opcservcerid = this.getDevice().getOpc_server_id(); -//Server server = ReadUtil.getServer(opcservcerid); - Map itemMap = new HashMap(); - this.control(itemMap); - - } //将扩展表中的字符串数据转换成集合 public List getExtraDeviceCodes(String extraName) { diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_old/hailiang_hr_ssx/HailiangHrSsxDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_old/hailiang_hr_ssx/HailiangHrSsxDeviceDriver.java index 23dab1eb..11312dda 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_old/hailiang_hr_ssx/HailiangHrSsxDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/hailiang_old/hailiang_hr_ssx/HailiangHrSsxDeviceDriver.java @@ -29,7 +29,6 @@ import org.nl.acs.history.service.dto.DeviceErrorLogDto; import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.dto.Instruction; -import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.Device; import org.nl.acs.order.service.dto.EalingOrderDto; @@ -138,6 +137,7 @@ public class HailiangHrSsxDeviceDriver extends AbstractOpcDeviceDriver implement if (mode == 0) { message = "未联机"; } else { + Instruction instruction = null; List toInstructions; @@ -148,6 +148,7 @@ public class HailiangHrSsxDeviceDriver extends AbstractOpcDeviceDriver implement } } + String applyEmpty = ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("apply_task")) ? "false" : this.getDevice().getExtraValue().get("apply_task").toString(); if (StrUtil.equals("true", applyEmpty)) { //申请空框任务 diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lamp_three_color/LampThreecolorDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lamp_three_color/LampThreecolorDeviceDriver.java index 6c3b391c..38c9aa16 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lamp_three_color/LampThreecolorDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/lamp_three_color/LampThreecolorDeviceDriver.java @@ -97,6 +97,7 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen } + @Override public void writing(String param, String value) { String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java index 58497d23..09cff7fc 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor/SiemensConveyorDeviceDriver.java @@ -405,6 +405,7 @@ public class SiemensConveyorDeviceDriver extends AbstractOpcDeviceDriver impleme } + @Override public void writing(String param, String value) { String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java index 25e3a0a0..61a716a3 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java @@ -804,6 +804,7 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe // } + @Override public void writing(String param, String value) { String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java index a82eba14..a758c39b 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_inspect_site/StandardInspectSiteDeviceDriver.java @@ -231,6 +231,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver imp } + @Override public void writing(String param, String value) { String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + "." + param; diff --git a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java index 626dba50..7dfa2908 100644 --- a/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java +++ b/wcs/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java @@ -1,16 +1,12 @@ package org.nl.acs.device_driver.driver; import cn.hutool.core.util.ObjectUtil; -import cn.hutool.core.util.StrUtil; -import com.alibaba.fastjson.JSONObject; import org.jinterop.dcom.common.JIException; import org.nl.acs.device.device_driver.standard_inspect.ReadUtil; import org.nl.acs.ext.wms.data.JsonUtl; -import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.opc.*; import org.nl.acs.udw.UnifiedDataAccessor; import org.nl.acs.udw.UnifiedDataAccessorFactory; -import org.nl.acs.udw.UnifiedDataAppService; import org.nl.modules.lucene.service.LuceneExecuteLogService; import org.nl.modules.lucene.service.dto.LuceneLogDto; import org.nl.modules.wql.exception.WDKException; @@ -314,7 +310,6 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc */ public void writing(String key, String value) { LuceneExecuteLogService lucene = SpringContextHolder.getBean(LuceneExecuteLogService.class); - DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); String opcServerId = this.getDevice().getOpc_server_id(); Server server = ReadUtil.getServer(opcServerId); Map itemMap = new HashMap(); @@ -322,7 +317,6 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc ReadUtil.write(itemMap, server); server.disconnect(); lucene.deviceExecuteLog(new LuceneLogDto(this.getDeviceCode(), "下发单个电气信号:" + key + ",下发电气信号值:" + value)); - logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发单个电气信号:" + key + ",下发电气信号值:" + value); } @@ -333,7 +327,6 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc */ public void writing(Map map) { LuceneExecuteLogService lucene = SpringContextHolder.getBean(LuceneExecuteLogService.class); - DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); Map itemMap = new LinkedHashMap<>(); map.forEach((key, value) -> { if (ObjectUtil.isNotEmpty(value)) { @@ -342,7 +335,6 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc }); if (ObjectUtil.isNotEmpty(itemMap)) { this.control(itemMap); - logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap); lucene.deviceExecuteLog(new LuceneLogDto(this.getDeviceCode(), "下发多个电气信号:" + itemMap)); } } diff --git a/wcs/nladmin-system/src/main/java/org/nl/config/ProtocolCodec.java b/wcs/nladmin-system/src/main/java/org/nl/config/ProtocolCodec.java new file mode 100644 index 00000000..2e2f031b --- /dev/null +++ b/wcs/nladmin-system/src/main/java/org/nl/config/ProtocolCodec.java @@ -0,0 +1,22 @@ +package org.nl.config; + +import io.netty.buffer.ByteBuf; + +/* + * @author ZZQ + * @Date 2024/1/3 17:18 + */ +public class ProtocolCodec { + + public static void readEmp(ByteBuf buf, int size){ + buf.readBytes(size); + } + public static byte[] readBody(ByteBuf buf){ + byte[] body = new byte[buf.readableBytes()]; + buf.readBytes(body); + if ((Byte.toUnsignedInt(body[0])<<8) + Byte.toUnsignedInt(body[1]) == 0X87CD){ + return body; + } + return new byte[0]; + } +}