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fix：修复联调测试出现的问题

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This commit is contained in:
tuqiang
2024-06-17 22:02:18 +08:00
parent 9c44559e67
commit 27976b0faa
17 changed files with 1024 additions and 421 deletions
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3
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -34,7 +34,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
DeviceAppService deviceAppService;
@Autowired
ParamService paramService;
private final AcsToWmsService acsToWmsService;
@Autowired
AcsToWmsService acsToWmsService;
private final DeviceExecuteLogService logServer;

4
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@@ -191,8 +191,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} else {
//上报异常信息
//（不需要WCS反馈）
if (phase == 0x67) {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x50 || phase == 0x51 ) {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
} else {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
}

299
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -3,16 +3,21 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import cn.hutool.http.HttpStatus;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.agv.utils.ErrorUtil;
import org.nl.acs.device_driver.basedriver.agv.utils.OneAgvPhase;
import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
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;
@@ -24,6 +29,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.LokiLog;
import org.nl.acs.log.LokiLogType;
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.task.service.TaskService;
@@ -43,7 +49,7 @@ import java.util.Map;
@Slf4j
@Data
@RequiredArgsConstructor
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -53,6 +59,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
OneAgvPhase oneAgvPhase = new OneAgvPhase();
int agvaddr = 0;
int agvaddr_copy = 0;
int weight = 0;
@@ -73,6 +82,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int last_status = 0;
int last_error = 0;
String error_code = "0";
String error_message = "";
String message = "";
private Instruction instruction;
String order = "";
int mode = 2;
@LokiLog(type = LokiLogType.ACS_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
@@ -89,15 +106,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
Instruction link_inst = null;
List<Instruction> insts = null;
Instruction inst = null;
boolean wcsFlag = false;
boolean wmsFlag = false;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
if (ObjectUtil.isEmpty(inst)) {
inst = instructionService.findByCode(String.valueOf(ikey));
if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
this.instruction = inst;
}
if(ObjectUtil.isNotEmpty(inst)) {
order = inst.getTask_code();
}
}
if (!ObjectUtil.isEmpty(link_inst)) {
@@ -109,24 +127,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
String emptyNum = null;
String device_code = null;
if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
//货架
StandardStorageDeviceDriver standardStorageDeviceDriver;
//
SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
//分配 车id
//(不需要WCS反馈)
if (phase == 0x02) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到编号{}对应的指令", ikey);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
inst.setCarno(String.valueOf(carno));
instructionService.update(inst);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
@@ -150,7 +158,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -158,8 +165,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
log.info(agvaddr + "对应设备号为空！");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空！");
return;
}
//校验agv上报站点编号与指令起始点相同
@@ -193,32 +200,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (ObjectUtil.isNotEmpty(inst)){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("device_code", inst.getStart_point_code());
map.put("device_status",inst.getExecute_status());
map.put("energyLevel",electric_qty);
map.put("transportOrder",inst.getTask_code());
map.put("positionX",x);
map.put("positionY",y);
map.put("positionAngle",angle);
HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//取货完毕
//(需要WCS反馈)
} else if (phase == 0x05) {
@@ -237,7 +218,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -281,31 +261,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (ObjectUtil.isNotEmpty(inst)){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("device_code", inst.getStart_point_code());
map.put("device_status",inst.getExecute_status());
map.put("energyLevel",electric_qty);
map.put("transportOrder",inst.getTask_code());
map.put("positionX",x);
map.put("positionY",y);
map.put("positionAngle",angle);
HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//到达放货点
//(需要WCS反馈)
} else if (phase == 0x07) {
@@ -324,7 +279,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -339,6 +293,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到关联编号{}对应的指令", ikey);
return;
}
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
@@ -364,31 +319,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (ObjectUtil.isNotEmpty(inst)){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("device_code", inst.getStart_point_code());
map.put("device_status",inst.getExecute_status());
map.put("energyLevel",electric_qty);
map.put("transportOrder",inst.getTask_code());
map.put("positionX",x);
map.put("positionY",y);
map.put("positionAngle",angle);
HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
@@ -407,7 +337,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -423,6 +352,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到编号{}对应的指令", ikey);
return;
}
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
@@ -442,31 +372,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (ObjectUtil.isNotEmpty(inst)){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("device_code", inst.getStart_point_code());
map.put("device_status",inst.getExecute_status());
map.put("energyLevel",electric_qty);
map.put("transportOrder",inst.getTask_code());
map.put("positionX",x);
map.put("positionY",y);
map.put("positionAngle",angle);
HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//到达位置点
//(需要WCS反馈)
@@ -476,32 +381,142 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x50) {//进入交通灯区域
} else if (phase == 0x50) {//进入区域
agvaddr = arr[18] * 256 + arr[19];
String device_code1 = deviceService.queryDeviceCodeByAddress(agvaddr);
if (ObjectUtil.isEmpty(device_code1)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("status", "5");
map.put("device_code", device_code1);
map.put("vehicle_code", "");
map.put("task_code", "");
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
} else if (phase == 0x51) {//离开区域
agvaddr = arr[18] * 256 + arr[19];
String device_code2 = deviceService.queryDeviceCodeByAddress(agvaddr);
if (ObjectUtil.isEmpty(device_code2)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("status", "6");
map.put("device_code", device_code2);
map.put("vehicle_code", "");
map.put("task_code", "");
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
} else if (phase == 0x67) {//agv异常
if (ikey == 0) {
this.setErrorInfo(ikey, "0", "正常");
} else {
Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
String code = error.get("code");
String info = error.get("info");
this.setErrorInfo(ikey, code, info);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x51) {//离开交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
last_error = error;
} else if (phase == 0x70) {
//x坐标
//x坐标
x = ikey;
} else if (phase == 0x71) {
//y坐标
y = ikey;
} else if (phase == 0x72) {
//车辆角度
//车辆角度
angle = ikey;
} else if (phase == 0x73) {
//agv电量
electric_qty = ikey;
//agv电量
electric_qty = ikey;
} else if (phase == 0x74) {
//三色灯状态
status = ikey;
}
//三色灯状态
status = ikey;
if(status==4) {
order = "";
}
last_status = status;
}
if (!ObjectUtil.isEmpty(data)) {
phase = 0;
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
OneNDCSocketConnectionAutoRun.write(data);
}
}
private synchronized void setErrorInfo(int error, String error_code, String error_message) {
this.error = error;
this.error_code = error_code;
this.error_message = error_message;
}
// @Override
// public JSONObject getDeviceStatusName() throws Exception {
// JSONObject jo = new JSONObject();
// jo.put("device_name", this.getDevice().getDevice_name());
// jo.put("x", this.x);
// jo.put("y", this.y);
// jo.put("angle", this.angle);
// jo.put("electric_qty", this.electric_qty);
// jo.put("status", this.status);
// jo.put("error", this.error);
// jo.put("error_message", this.error_message);
// jo.put("device_status", this.device_status);
// jo.put("message", this.message);
// return jo;
// }
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
//agv编码
jo.put("car_no", this.getDevice().getDevice_code());
//agv名称
jo.put("device_name", this.getDevice().getDevice_name());
//x坐标
jo.put("x", this.getX());
//y坐标
jo.put("y", this.getY());
//角度
jo.put("angle", this.getAngle());
jo.put("phase", phase);
jo.put("phase_name", oneAgvPhase.getPhaseName(phase));
//电量
jo.put("electricity", this.getElectric_qty());
String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
//agv状态
jo.put("status_name", status_name);
//任务号
jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
//异常
jo.put("fault", this.getError_message());
jo.put("message", this.getMessage());
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
}

124
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java Normal file
View File

@@ -0,0 +1,124 @@
package org.nl.acs.device_driver.basedriver.agv.utils;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import org.nl.modules.system.domain.Dict;
import org.nl.modules.system.service.DictDetailService;
import org.nl.modules.system.service.DictService;
import org.nl.modules.system.service.dto.DictDetailDto;
import org.nl.modules.system.service.impl.DictDetailServiceImpl;
import org.nl.modules.system.service.impl.DictServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.function.Function;
import java.util.stream.Collectors;
/**
* @author: tu qiang
* @createDate: 2024/1/12
*/
public class ErrorUtil {
public static ConcurrentHashMap<String, List<DictDetailDto>> dictMap = new ConcurrentHashMap<>();
public static String getDictDetail(String type, String error_code) {
getDict();
List<DictDetailDto> dictDetailDtos = dictMap.get(type);
String detail = null;
if (ObjectUtil.isNotEmpty(dictDetailDtos)) {
for (int i = 0; i < dictDetailDtos.size(); i++) {
DictDetailDto dictDetailDto = dictDetailDtos.get(i);
String value = dictDetailDto.getValue();
String label = dictDetailDto.getLabel();
if (StrUtil.equals(value, error_code)) {
detail = label;
break;
}
}
}
return detail == null ? "字典表未配置对应的报警信息" : detail;
}
public static Map<Integer, String> getDictDetailByName(String type) {
getDict();
List<DictDetailDto> dictDetailDtos = dictMap.get(type);
Map<Integer, String> map = new HashMap<>();
if (ObjectUtil.isNotEmpty(dictDetailDtos)) {
List<DictDetailDto> dtos = dictDetailDtos
.stream()
.filter(dictDetailDto -> !dictDetailDto.getValue().equals("0"))
.filter(dictDetailDto -> !dictDetailDto.getValue().equals("-1"))
.collect(Collectors.toList());
dtos.forEach(dictDetailDto -> map.put(Integer.parseInt(dictDetailDto.getValue()), dictDetailDto.getLabel()));
}
return map;
}
public static void getDict() {
if (ObjectUtil.isEmpty(dictMap)) {
DictDetailService dictDetailService = SpringContextHolder.getBean(DictDetailServiceImpl.class);
DictService dictService = SpringContextHolder.getBean(DictServiceImpl.class);
List<Dict> dictDtos = dictService.queryAll();
for (int i = 0; i < dictDtos.size(); i++) {
Dict dictDto = dictDtos.get(i);
dictMap.put(dictDto.getName(), getDict(dictDto.getName(), t -> {
return dictDetailService.getDictByName(t);
}));
}
}
}
public static List<DictDetailDto> getDict(String name, Function<String, List<DictDetailDto>> f) {
return f.apply(name);
}
public static Map<String, String> getAgvErrorMsg(Integer ageErrorNum) {
Map<Integer, String> agvMap = getDictDetailByName("agv_error_type");
Integer[] keys = agvMap.keySet().toArray(new Integer[0]);
String message = "";
String code = "";
out:
for (int i = 1; i < 1 << keys.length; i++) {
int sum = 0;
StringBuffer sb = new StringBuffer();
StringBuffer sbCode = new StringBuffer();
inner:
for (int j = 0; j < keys.length; j++) {
if ((i & 1 << j) != 0) {
sum += keys[j];
sb.append(agvMap.get(keys[j])).append(",");
sbCode.append(keys[j]).append(",");
}
}
if (sum == ageErrorNum) {
code = sbCode.toString();
message = sb.toString();
break out;
}
}
Map<String, String> map = new HashMap<>();
String info = replace(message);
code = replace(code);
map.put("code", StrUtil.isEmpty(code) ? "-1" : code);
map.put("info", StrUtil.isEmpty(info) ? "AGV上报报警代码有误" : info);
return map;
}
public static String replace(String message) {
if (StrUtil.isEmpty(message)) {
return null;
}
if (message.endsWith(",")) {
return message.substring(0, message.length() - 1);
}
return message;
}
}

14
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/OneAgvPhase.java
View File

@@ -28,6 +28,20 @@ public class OneAgvPhase implements IAgv{
return "到达位置点";
} else if (phase == 0x65){
return "称重就绪";
}else if (phase == 0x50){
return "请求开门";
} else if (phase == 0x51){
return "请求关门";
} else if (phase == 0x70){
return "上报X坐标";
} else if (phase == 0x71){
return "上报Y坐标";
} else if (phase == 0x72){
return "上报角度";
} else if (phase == 0x73){
return "上报电量";
} else if (phase == 0x74){
return "上报状态";
}
return null;
}

14
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/ItemProtocol.java
View File

@@ -21,6 +21,7 @@ public class ItemProtocol {
public static String DO0 = "DO0";
public static String DO1 = "DO1";
public static String DO2 = "DO2";
public static String DO8 = "DO8";
public static String x = "x";
public static String y = "y";
public static String angle = "angle";
@@ -53,6 +54,7 @@ public class ItemProtocol {
public static String to_pause_navigation = "to_pause_navigation";
public static String to_continue_navigation = "to_continue_navigation";
public static String to_cancle_navigation = "to_cancle_navigation";
public static String to_reclaim_control = "to_reclaim_control";
public static String to_DO0_height = "to_DO0_height";
public static String to_DO0_low = "to_DO0_low";
public static String to_DO1_height = "to_DO1_height";
@@ -124,6 +126,11 @@ public class ItemProtocol {
}
public int getDO8() {
return this.getOpcIntegerValue(DO8);
}
public Float getX() {
return this.getOpcFloatValue(x);
@@ -219,6 +226,11 @@ public class ItemProtocol {
ItemProtocol.to_cancle_navigation = to_cancle_navigation;
}
public static void setTo_reclaim_control(String to_reclaim_control) {
ItemProtocol.to_reclaim_control = to_reclaim_control;
}
public static void setTo_DO0_height(String to_DO0_height) {
ItemProtocol.to_DO0_height = to_DO0_height;
}
@@ -313,6 +325,7 @@ public class ItemProtocol {
list.add(new ItemDto(DI4, "DI4", "10024"));
list.add(new ItemDto(DO1, "DO1", "10061"));
list.add(new ItemDto(DO2, "DO2", "10062"));
list.add(new ItemDto(DO8, "DO8", "10068"));
list.add(new ItemDto(DI11, "DI11", "10031"));
list.add(new ItemDto(DI12, "DI12", "10032"));
list.add(new ItemDto(x, "x", "30001"));
@@ -344,6 +357,7 @@ public class ItemProtocol {
list.add(new ItemDto(to_pause_navigation, "to_暂停导航", "00004"));
list.add(new ItemDto(to_continue_navigation, "to_继续导航", "00005"));
list.add(new ItemDto(to_cancle_navigation, "to_取消导航", "00006"));
list.add(new ItemDto(to_reclaim_control, "to_回收控制权", "00010"));
list.add(new ItemDto(to_DO0_height, "to_DO0置为高电平", "00061"));
list.add(new ItemDto(to_DO0_low, "to_DO0置为低电平", "00020"));
list.add(new ItemDto(to_DO1_height, "to_DO1置为高电平", "00062"));

262
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java
View File

@@ -22,6 +22,7 @@ import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.common.exception.BadRequestException;
import org.nl.modules.logging.DeviceCodeDir;
import org.nl.modules.lucence.service.LuceneExecuteLogService;
import org.nl.modules.lucence.service.dto.LuceneLogDto;
@@ -30,10 +31,7 @@ import org.openscada.opc.lib.da.Server;
import org.springframework.beans.factory.annotation.Autowired;
import java.io.IOException;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
/**
@@ -74,6 +72,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
int DO0 = 0;
int DO1 = 0;
int DO2 = 0;
int DO8 = 0;
Float x = 0f;
Float y = 0f;
Float angle = 0f;
@@ -103,6 +102,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
int last_DO0 = 0;
int last_DO1 = 0;
int last_DO2 = 0;
int last_DO8 = 0;
Float last_x = 0f;
Float last_y = 0f;
Float last_angle = 0f;
@@ -133,7 +133,12 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
//休息点
int relax_point = 0;
//充电点
int charge_point =0;
int charge_point = 0;
//0.关机 1.有任务 2.空闲 3.充电
int flag = 0;
//任务号
String order = "";
@Override
public Device getDevice() {
return this.device;
@@ -154,6 +159,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
DO0 = this.itemProtocol.getDO0();
DO1 = this.itemProtocol.getDO1();
DO2 = this.itemProtocol.getDO2();
DO8 = this.itemProtocol.getDO8();
x = this.itemProtocol.getX();
y = this.itemProtocol.getY();
navigation_address = this.itemProtocol.getNavigation_address();
@@ -170,6 +176,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
cancle_navigation = this.itemProtocol.getCancle_navigation();
drum_run_status = this.itemProtocol.getDrum_run_status();
stop = this.itemProtocol.getStop();
angle = this.itemProtocol.getAngle();
if (home_relocation != last_home_relocation) {
// LuceneLogDto logDto = LuceneLogDto.builder()
@@ -178,7 +185,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
// .build();
// luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(
new LuceneLogDto(this.getDevice().getOpc_server_code(),this.getDevice().getOpc_plc_code(),this.device_code,ItemProtocol.to_home_relocation,this.last_home_relocation,this.home_relocation));
new LuceneLogDto(this.getDevice().getOpc_server_code(), this.getDevice().getOpc_plc_code(), this.device_code, ItemProtocol.to_home_relocation, this.last_home_relocation, this.home_relocation));
}
if (stop != last_stop) {
@@ -192,7 +199,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
if (address != last_address) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + this.last_address + "->" + this.address)
.content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + this.last_address + "->" + this.address)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
@@ -200,7 +207,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
if (electricity != last_electricity) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + this.last_electricity + "->" + this.electricity)
.content("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + this.last_electricity + "->" + this.electricity)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
@@ -238,83 +245,114 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
Device charge_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("charge_point"));
charge_point = Integer.parseInt(charge_point_device.getAddress());
List<Instruction> instList = instructionService.findAllInstFromCache();
if (instList.size() > 0) {
if (ObjectUtil.isNotEmpty(instList)) {
for (int i = 0; i < instList.size(); i++) {
instList = this.sortTask(instList);
inst = instList.get(i);
if (ObjectUtil.equal(inst.getInstruction_type(), "1")) {
if (!ObjectUtil.equal(inst.getInstruction_type(), "1")) {
inst = null;
continue;
}
}
if (ObjectUtil.isEmpty(inst)) {
message = "未找到对应指令";
return;
if (ObjectUtil.isNotEmpty(inst)) break;
}
}
//先判断当前有无指令
if (ObjectUtil.isEmpty(inst)) {
this.flag = 2;
if (electricity != 0 && electricity < min_electric && address != charge_point && (navigation_status == 0 || navigation_status == 4)) {
log.info("下发充电:{}", charge_point);
feedAgvTaskStatus(inst, "5");
feedAgvTaskStatus(inst, "7");
}
if (electricity != 0 && electricity > cancle_electric && address == charge_point && (navigation_status == 0 || navigation_status == 4)) {
log.info("下发回休息点:{}", relax_point);
writing("to_address", 1);
}
} else {
order = inst.getTask_code();
TaskDto task = taskserver.findByCodeFromCache(inst.getTask_code());
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
//指令状态就绪
if (StrUtil.equals("0", inst.getInstruction_status())) {
this.flag = 1;
log.info("下发指令号{}，起点{}", inst.getInstruction_code(), start_device);
//判断指令起点与任务起点是否相同
String start_addr = start_device.getExtraValue().get("address").toString();
String next_addr = next_device.getExtraValue().get("address").toString();
String line_code = start_addr + next_addr;
int to_line_code = Integer.parseInt(line_code);
inst.setInstruction_status("1");
if ("A4".equals(inst.getStart_device_code())) {
inst.setExecute_status("1");
} else {
inst.setExecute_status("3");
}
instructionService.update(inst);
writing("to_locate_correct", 1);
writing("to_reclaim_control", 1);
writing("to_line", to_line_code);
}
//判断起点终点是否配置电气值
Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
if (ObjectUtil.isEmpty(startDevice.getExtraValue().get("address"))) {
throw new BadRequestException("设备：" + startDevice.getDevice_code() + "未设置电气调度号！");
}
if (ObjectUtil.isEmpty(nextDevice.getExtraValue().get("address"))) {
throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
}
String start_addr = startDevice.getExtraValue().get("address").toString();
String next_addr = nextDevice.getExtraValue().get("address").toString();
//申请取货
if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "1")) {
//请求wms是否允许取货
feedAgvTaskStatus(inst, "1");
}
//取货完成请求离开
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 5 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) {
//请求wms是否允许从取货点离开
feedAgvTaskStatus(inst, "2");
}
// if (StrUtil.equals("1", inst.getInstruction_status()) && start_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "1")) {
// //请求wms是否允许从取货点离开
// feedAgvTaskStatus(inst, "2");
// }
//请求放货
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 2 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "3")) {
//请求wms是否允许进入放货
feedAgvTaskStatus(inst, "3");
}
//放货完成 完成任务回休息点
if (StrUtil.equals("1", inst.getInstruction_status()) && address == 1 && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
feedAgvTaskStatus(inst, "4");
}
// if (StrUtil.equals("1", inst.getInstruction_status()) && next_addr.equals(String.valueOf(address)) && stop == 1 && StrUtil.equals(inst.getExecute_status(), "3")) {
// feedAgvTaskStatus(inst, "4");
// }
}
//请求开门
if ( (address == 3 || address == 11 ) && stop == 1 ) {
if ((address == 6 || address == 2) && stop == 1 && DO8 == 1) {
feedAgvAction("5");
}
//请求关门
if ( (address == 9 || address == 10 ) && stop == 1 ) {
if ((address == 6 || address == 2) && stop == 1 && DO8 == 0) {
feedAgvAction("6");
}
//请求充电
if ( address == 4 && stop == 1 ) {
feedAgvAction( "7");
}
last_home_relocation = home_relocation;
last_address = address;
last_next_address = next_address;
last_electricity = electricity;
last_stop = stop;
last_angle = angle;
last_x = x;
last_y = y;
}
@@ -327,7 +365,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
itemMap.put(to_command, value);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("下发信号"+ this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + key + "value:"+ value )
.content("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + key + "value:" + value)
.build();
ReadUtil.write(itemMap, server);
@@ -354,6 +392,23 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
}
public List<Instruction> sortTask(List<Instruction> instructions) {
Collections.sort(instructions, new Comparator<Instruction>() {
@Override
public int compare(Instruction t1, Instruction t2) {
//优先级从大到小
int i = t2.getPriority().compareTo(t1.getPriority());
//如果优先级相等
if (i == 0) {
//时间从早到晚
i = t1.getCreate_time().compareTo(t2.getCreate_time());
}
return i;
}
});
return instructions;
}
/**
* 反馈wms动作状态
*
@@ -369,43 +424,38 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
//请求WMS允许取货
if (StrUtil.equals(type, "1")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "1");
jo.put("device_code", this.device_code);
jo.put("status", "4");
jo.put("device_code", inst.getNext_device_code());
jo.put("task_code", inst.getTask_code());
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() ==200) {
if (resp.getStatus() == 200) {
inst.setInstruction_status("1");
inst.setExecute_status("1");
inst.setExecute_status("2");
instructionService.update(inst);
writing("to_line", 1);
//结束任务
finish_instruction(inst);
} else {
writing("to_line", 1);
}
//取货完成请求离开
@@ -423,21 +473,21 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() ==200) {
if (resp.getStatus() == 200) {
inst.setInstruction_status("1");
inst.setExecute_status("2");
@@ -446,7 +496,7 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
}
//请求放货
} else if (StrUtil.equals(type, "3")) {
} else if (StrUtil.equals(type, "3")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
@@ -454,38 +504,45 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "3");
jo.put("device_code", this.device_code);
jo.put("status", "4");
jo.put("device_code", inst.getNext_device_code());
jo.put("task_code", inst.getTask_code());
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() ==200) {
if (resp.getStatus() == 200) {
// inst.setInstruction_status("1");
// inst.setExecute_status("4");
// instructionService.update(inst);
inst.setInstruction_status("1");
inst.setExecute_status("3");
inst.setExecute_status("4");
instructionService.update(inst);
//结束任务
finish_instruction(inst);
} else {
}
} else if (StrUtil.equals(type, "4")) {
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress());
String start_addr = start_device.getExtraValue().get("address").toString();
String next_addr = next_device.getExtraValue().get("address").toString();
String line_code = next_addr + start_addr;
int to_line_code = Integer.parseInt(line_code);
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
@@ -495,22 +552,23 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() ==200) {
writing("to_line", 2);
if (resp.getStatus() == 200) {
writing("to_locate_correct", 1);
writing("to_line", to_line_code);
inst.setInstruction_status("2");
inst.setExecute_status("4");
instructionService.finish(inst);
@@ -525,27 +583,26 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() == 200) {
writing("to_di_low", 0);
writing("to_di_height", 0);
} else {
}
} else if (StrUtil.equals(type, "6")) {
} else if (StrUtil.equals(type, "6")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "6");
@@ -558,15 +615,18 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
} else {
}
} else if (StrUtil.equals(type, "7")) {
} else if (StrUtil.equals(type, "7")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "7");
jo.put("device_code", this.device_code);
jo.put("device_code", "CP5");
jo.put("vehicle_code", "");
jo.put("task_code", "");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
writing("to_di_low", 0);
writing("to_address", 5);
this.flag = 3;
} else {
}
@@ -575,6 +635,11 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
return true;
}
public synchronized boolean finish_instruction(Instruction inst) throws Exception {
instructionService.finish(inst);
return true;
}
public boolean feedAgvAction(String type) throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
@@ -585,55 +650,58 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "5");
jo.put("device_code", "A4");
jo.put("device_code", "AD4");
jo.put("vehicle_code", "");
jo.put("task_code", "");
ja.add(jo);
LuceneLogDto reqlogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("请求参数:"+jo)
.requestparam("请求参数:"+jo)
.content("请求参数:" + jo)
.requestparam("请求参数:" + jo)
.method("feedAgvTaskStatus")
.build();
luceneExecuteLogService.deviceExecuteLog(reqlogDto);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
LuceneLogDto resplogDto = LuceneLogDto.builder()
.device_code(device_code)
.content("返回参数:"+resp.body())
.responseparam("返回参数:"+resp.body())
.content("返回参数:" + resp.body())
.responseparam("返回参数:" + resp.body())
.method("feedAgvTaskStatus")
.status_code(String.valueOf(resp.getStatus()))
.build();
luceneExecuteLogService.deviceExecuteLog(resplogDto); if (resp.getStatus() == 200) {
writing("to_di_low", 0);
luceneExecuteLogService.deviceExecuteLog(resplogDto);
if (resp.getStatus() == 200) {
writing("to_di_height", 0);
} else {
writing("to_di_low", 0);
writing("to_di_height", 0);
}
} else if (StrUtil.equals(type, "6")) {
} else if (StrUtil.equals(type, "6")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "6");
jo.put("device_code", "A4");
jo.put("device_code", "AD4");
jo.put("vehicle_code", "");
jo.put("task_code", "");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
writing("to_di_height", 0);
writing("to_di_low", 0);
} else {
writing("to_di_height", 0);
writing("to_di_low", 0);
}
} else if (StrUtil.equals(type, "7")) {
} else if (StrUtil.equals(type, "7")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("status", "7");
jo.put("device_code", "A4");
jo.put("vehicle_code", "");
jo.put("task_code", "");
ja.add(jo);
HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (resp.getStatus() == 200) {
writing("to_di_height", 0);
} else {
writing("to_di_height", 0);
}
}
}

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@@ -112,4 +112,6 @@ public interface AcsToWmsService {
* @return
*/
HttpResponse feedAgvTaskStatus(JSONArray from);
void sendDeviceStatus(JSONObject param);
}

25
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -22,6 +22,7 @@ import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.system.service.ParamService;
import org.slf4j.MDC;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
@Service
@@ -552,4 +553,28 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
}
return result;
}
@Override
public void sendDeviceStatus(JSONObject param) {
try {
MDC.put(log_file_type, log_type);
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("sendDeviceStatus");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
log.info("sendDeviceStatus - 请求参数 {}", param);
HttpResponse response = HttpRequest
.post(url)
.body(param.toString())
.execute();
log.info("sendDeviceStatus - 返回参数 {}", response.body());
}
} catch (Throwable ignored) {
} finally {
MDC.remove(log_file_type);
}
}
}

18
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -182,7 +182,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override
public Map<String, Object> getByTaskId(String id) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject jsonObject = wo.query("task_id='" + id + "'").pageResult();
JSONObject jsonObject = wo.query("task_id='" + id + "'","create_time desc").pageResult();
JSONArray content = jsonObject.getJSONArray("content");
JSONArray array = new JSONArray();
for (int i = 0; i < content.size(); i++) {
@@ -222,7 +222,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override
public Instruction findById(String instruction_id) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("instruction_id ='" + instruction_id + "'").uniqueResult(0);
JSONObject json = wo.query("instruction_id ='" + instruction_id + "'","create_time desc").uniqueResult(0);
if (ObjectUtil.isNotEmpty(json)) {
final Instruction obj = json.toJavaObject(Instruction.class);
return obj;
@@ -233,7 +233,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override
public Instruction findByCode(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0);
JSONObject json = wo.query("instruction_code ='" + code + "'","create_time desc").uniqueResult(0);
if (ObjectUtil.isEmpty(json)) {
return null;
}
@@ -244,7 +244,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override
public Instruction findByTaskcode(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0);
JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0);
final Instruction obj = json.toJavaObject(Instruction.class);
return obj;
}
@@ -268,7 +268,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
wherecaluse = " and " + wherecaluse;
}
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("task_id ='" + id + "'" + wherecaluse).uniqueResult(0);
JSONObject json = wo.query("task_id ='" + id + "'" + wherecaluse,"create_time desc").uniqueResult(0);
if (ObjectUtil.isNotEmpty(json)) {
return json.toJavaObject(Instruction.class);
}
@@ -363,7 +363,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (ObjectUtil.isEmpty(route)) {
throw new BadRequestException("未查询到相关路由！");
}
if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
if (StrUtil.equals(shortPathsList.get(0).getType(), "2")) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
}
@@ -518,7 +518,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
+ "'"
+ " and task_id = '"
+ dto.getTask_id()
+ "'")
+ "'","create_time desc")
.uniqueResult(0);
if (instcheckjson != null) {
throw new Exception(dto.getTask_code() + ":该任务已存在待完成指令!");
@@ -702,7 +702,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
JSONObject json = (JSONObject) JSONObject.toJSON(entity);
wo.update(json);
JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'").uniqueResult(0);
JSONObject taskjson = taskwo.query("task_id ='" + insttaskid + "'","create_time desc").uniqueResult(0);
TaskDto obj = taskjson.toJavaObject(TaskDto.class);
// =0 则不用再次请求
if (StrUtil.equals(obj.getRequest_again(), "0")) {
@@ -780,7 +780,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
dto = foramte(dto);
String device_code = dto.getNext_device_code();
WQLObject taskwo = WQLObject.getWQLObject("acs_task");
JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'").uniqueResult(0);
JSONObject taskjson = taskwo.query("task_id ='" + dto.getTask_id() + "'","create_time desc").uniqueResult(0);
TaskDto acsTask = taskjson.toJavaObject(TaskDto.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineServiceImpl.class);
List<RouteLineDto> list =

14
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceAppServiceImpl.java
View File

@@ -264,13 +264,13 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn
@Override
public List<Device> findDeviceByType(DeviceType deviceType) {
List<Device> list = this.findDevice(deviceType);
Map<String, String> map = new HashMap();
Iterator var4 = list.iterator();
while (var4.hasNext()) {
Device device = (Device) var4.next();
list.add(device);
}
// Map<String, String> map = new HashMap();
// Iterator var4 = list.iterator();
//
// while (var4.hasNext()) {
// Device device = (Device) var4.next();
// list.add(device);
// }
return list;
}

443
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java
View File

@@ -4,31 +4,36 @@ import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.udw.UnifiedDataAccessor;
import org.nl.acs.udw.UnifiedDataAccessorFactory;
import org.nl.acs.udw.UnifiedDataAppService;
import org.nl.modules.wql.util.SpringContextHolder;
import org.openscada.opc.lib.da.Group;
import org.openscada.opc.lib.da.Item;
import org.openscada.opc.lib.da.ItemState;
import org.openscada.opc.lib.da.Server;
import org.openscada.opc.lib.da.*;
import java.util.*;
@Slf4j
public class DeviceOpcProtocolRunable implements Runnable {
OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerServiceImpl.class);
public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerConnectionStateListener {
List<OpcItemDto> protocols;
OpcServerManageDto OpcServer;
int error_num;
String message;
int maxResartNum;
private Server server;
private Group group;
boolean flag = false;
private int all_null;
private Map<String, OpcItemDto> itemSearchCache;
Group group;
public DeviceOpcProtocolRunable() {
this.error_num = 0;
this.all_null = 0;
this.message = null;
this.itemSearchCache = new HashMap();
this.server = null;
}
public List<OpcItemDto> getProtocols() {
@@ -47,32 +52,60 @@ public class DeviceOpcProtocolRunable implements Runnable {
this.OpcServer = opcServer;
}
OpcItemDto getItem(String item) {
Iterator var2 = this.protocols.iterator();
OpcItemDto dto;
do {
if (!var2.hasNext()) {
return null;
private OpcItemDto getItem(String item) {
OpcItemDto x = (OpcItemDto) this.itemSearchCache.get(item);
if (x == null) {
Iterator var3 = this.protocols.iterator();
while (var3.hasNext()) {
OpcItemDto dto = (OpcItemDto) var3.next();
if (StrUtil.equals(item, dto.getItem_code())) {
x = dto;
this.itemSearchCache.put(item, dto);
break;
}
}
}
dto = (OpcItemDto) var2.next();
} while (!StrUtil.equals(item, dto.getItem_code()));
return dto;
return x;
}
@Override
public void run() {
if (OpcConfig.opc_item_read_using_callback) {
this.runNew();
} else {
this.runOld();
}
}
private void runOld() {
OpcServerService opcServerService = SpringContextHolder.getBean(OpcServerService .class);
while (true) {
start:
try {
group= opcServerService.getServer(this.OpcServer.getOpc_code());
if (this.group != null) {
group.clear();
group.remove();
log.trace("清理group...");
}
if (this.server != null) {
server.disconnect();
log.trace("清理server...");
}
// group =opcServerService.getServer(this.getOpcServer().getOpc_code());
this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
this.server.addStateListener(this);
group = this.server.addGroup();
List<String> itemsString = new ArrayList();
Iterator it = this.protocols.iterator();
Iterator var3 = this.protocols.iterator();
while (it.hasNext()) {
OpcItemDto protocol = (OpcItemDto) it.next();
while (var3.hasNext()) {
OpcItemDto protocol = (OpcItemDto) var3.next();
String item = protocol.getItem_code();
itemsString.add(item);
}
@@ -80,66 +113,60 @@ public class DeviceOpcProtocolRunable implements Runnable {
Map<String, Item> itemsMap = new LinkedHashMap();
boolean is_error = false;
StringBuilder err_message = new StringBuilder();
Iterator var7 = itemsString.iterator();
Iterator var6 = itemsString.iterator();
while (var7.hasNext()) {
String string = (String) var7.next();
while (var6.hasNext()) {
String string = (String) var6.next();
try {
itemsMap.put(string, group.addItem(string));
Item item = group.addItem(string);
itemsMap.put(string, item);
log.trace("添加成功 {}", string);
} catch (Exception var29) {
err_message.append(string + ":" + var29.getMessage());
} catch (Exception var26) {
err_message.append(string + ":" + var26.getMessage());
if (!is_error) {
is_error = true;
}
}
}
String tag;
if (is_error) {
log.info("设备OPC数据同步配置异常," + err_message);
tag = err_message.toString();
log.warn("{}:{}", OpcConfig.resource_code, tag);
}
if (!OpcStartTag.is_run) {
OpcStartTag.is_run = true;
}
// 线程名
String tag = Thread.currentThread().getName();
if (this.OpcServer != null) {
tag = tag + this.OpcServer.getOpc_code();
tag = "";
if (log.isWarnEnabled()) {
tag = Thread.currentThread().getName();
if (this.OpcServer != null) {
tag = tag + this.getOpcGroupID();
}
}
UnifiedDataAccessor accessor_value =
UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
boolean time_out = false;
label97:
while (true) {
// System.out.println("label97");
while (DeviceOpcSynchronizeAutoRun.isRun) {
long begin = System.currentTimeMillis();
Map<Item, ItemState> itemStatus =null;
try{
itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0]));
}catch (Exception e){
try{
itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0]));
}catch (Exception e2){
itemStatus=group.read(true, (Item[]) itemsMap.values().toArray(new Item[0]));
}
}
//TODO 读完释放server可行否?
if (log.isTraceEnabled()) {
log.trace("{} 开始记时{}", tag, DateUtil.now());
}
Map<Item, ItemState> itemStatus = group.read(true, (Item[]) itemsMap.values().toArray(new Item[0]));
long end = System.currentTimeMillis();
log.trace("{} 开始记时{}", tag, DateUtil.now());
long duration = end - begin;
log.trace("{} 读取耗时：{}", tag, duration);
if (log.isTraceEnabled()) {
log.trace("{} 读取耗时：{}", tag, duration);
}
if (duration > 1000L) {
if (!time_out) {
log.warn(" {} 读取超时 : {} ", tag, duration);
log.warn("{} 读取超时 : {}", tag, duration);
}
time_out = true;
@@ -147,89 +174,265 @@ public class DeviceOpcProtocolRunable implements Runnable {
time_out = false;
}
// A1_HK_04.A1_HK_04.A1_HK_04_3.door 列表
boolean valueAllNotNull = false;
Set<Item> items = itemStatus.keySet();
Iterator var18 = items.iterator();
while (true) {
Item item;
// A1_HK_04.A1_HK_04.A1_HK_04_3.door
// 当前值
Object value;
// 旧的值
Object his;
do {
if (!var18.hasNext()) {
end = System.currentTimeMillis();
log.trace("{}", itemsString);
log.trace("{} 计算完成耗时{}", tag, end - begin);
Thread.sleep((long) OpcConfig.synchronized_millisecond);
if (this.error_num != 0) {
this.error_num = 0;
this.message = null;
}
// 所有信号读完并且没有变化的值
continue label97;
}
item = (Item) var18.next();
ItemState itemState = itemStatus.get(item);
value = OpcUtl.getValue(item, itemState);
his = accessor_value.getValue(item.getId());
if (!ObjectUtil.equal(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD)
&& his != null) {
log.warn("opc 值不健康 item: {}, 状态: {}", item.getId(), itemState.getQuality());
}
} while (ObjectUtil.equal(value, his)); // 如果两次的值相等，不走下面的代码
OpcItemDto itemDto = this.getItem(item.getId());
if (itemDto.getNeed_log() != null && itemDto.getNeed_log()) {
StringBuilder sb = new StringBuilder();
// 设备的ITEM项
List<String> relate_items = itemDto.getRelate_items();
Iterator var26 = relate_items.iterator();
while (var26.hasNext()) {
String relate = (String) var26.next();
Object obj = accessor_value.getValue(relate);
sb.append("key:" + relate + "value:" + obj + ";");
}
log.info("信号{}变更从{}->{};信号快照：{}", new Object[] {item.getId(), his, value, sb});
while (var18.hasNext()) {
Item item = (Item) var18.next();
ItemState itemState = (ItemState) itemStatus.get(item);
Object value = OpcUtl.getValue(item, itemState);
if (value != null) {
valueAllNotNull = true;
}
// 设置值
accessor_value.setValue(item.getId(), value);
}
}
} catch (Exception var30) {
if (group != null) {
String itemId = item.getId();
Object his = accessor_value.getValue(itemId);
if (!ObjectUtl.isEquals(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD) && his != null) {
log.warn("opc 值不健康 item: {}, 状态: {}", itemId, itemState.getQuality());
valueAllNotNull = false;
}
if (!UnifiedDataAppService.isEquals(value, his)) {
OpcItemDto itemDto = this.getItem(itemId);
if (true) {
this.logItemChanged(itemId, accessor_value, value, itemDto);
}
if(!ObjectUtil.isEmpty(value)){
accessor_value.setValue(itemId, value);
}
}
}
end = System.currentTimeMillis();
if (log.isTraceEnabled()) {
log.trace("{}", itemsString);
log.trace("{} 计算完成耗时{}", tag, end - begin);
}
ThreadUtl.sleep((long) OpcConfig.synchronized_millisecond);
if (this.error_num != 0) {
this.error_num = 0;
this.message = null;
}
if (!valueAllNotNull) {
int random = (new Random()).nextInt(10) + 1;
random *= 1000;
if (this.all_null < 3) {
if (log.isWarnEnabled()) {
log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3);
}
ThreadUtl.sleep( 3000);
break start;
} else if (this.all_null < 6) {
if (log.isWarnEnabled()) {
log.warn(tag + "重新创建server");
log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3);
}
ThreadUtl.sleep(3000);
break start;
} else if (this.all_null < 12) {
if (log.isWarnEnabled()) {
log.warn(tag + "重新创建server");
log.warn("{} 所有内容都为空, all_null:{} ,暂定{}s", tag, all_null,3);
}
ThreadUtl.sleep(3000);
break start;
} else {
if (log.isWarnEnabled()) {
log.warn("{} 所有内容都为空, all_null:{} ,暂定{}ms", tag, all_null, 5000);
}
ThreadUtl.sleep((long) (5000));
}
++this.all_null;
} else {
this.all_null = 0;
}
// break start;
}
log.warn("opc线程停止。。。");
return;
} catch (Exception var27) {
if (this.server != null) {
try {
group.getServer().dispose();
group.clear();
group.remove();
} catch (Exception var6) {
this.server.disconnect();
} catch (Exception var25) {
}
this.group = null;
}
this.server = null;
if (!DeviceOpcSynchronizeAutoRun.isRun) {
log.warn("opc线程停止2。。。");
return;
}
String error_message = "设备信息同步异常";
if (!StrUtil.equals(this.message, error_message)) {
log.warn("", var30);
log.warn(error_message, var27);
}
try {
Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
} catch (InterruptedException e) {
e.printStackTrace();
}
ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
++this.error_num;
if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) {
log.info("设备同步通信异常");
this.message = error_message;
}
}
}
}
private void runNew() {
Async20Access accessor = null;
while (true) {
String opcGroupId = this.getOpcGroupID();
try {
if (this.server == null) {
this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain());
this.server.addStateListener(this);
accessor = new Async20Access(this.server, OpcConfig.synchronized_millisecond, true);
Iterator var9 = this.protocols.iterator();
while (var9.hasNext()) {
OpcItemDto protocol = (OpcItemDto) var9.next();
String itemId = protocol.getItem_code();
accessor.addItem(itemId, this);
}
accessor.bind();
log.info("Async20Access bind {}", opcGroupId);
}
Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
} catch (Exception var8) {
if (accessor != null) {
try {
log.warn("Async20Access unbind {}", opcGroupId);
accessor.unbind();
} catch (Exception var7) {
var7.printStackTrace();
}
accessor = null;
}
if (this.server != null) {
try {
this.server.disconnect();
} catch (Exception var6) {
}
this.server = null;
}
if (var8 instanceof InterruptedException) {
log.warn("OPC 同步线程(%s)被中断", opcGroupId);
return;
}
log.warn("设备信息同步异常", var8);
ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
String error_message = var8.getMessage();
if (error_message == null) {
error_message = var8.toString();
}
++this.error_num;
if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) {
this.message = error_message;
}
}
}
}
public void connectionStateChanged(boolean connected) {
if (!connected) {
this.server = null;
}
log.warn("opc server {} {}", this.getOpcGroupID(), connected ? "connected" : "disconnected");
}
private String getOpcGroupID() {
String var10000 = this.OpcServer.getOpc_code();
return var10000 + "(" + this.protocols.size() + " items)";
}
public static String formatDuring(long mss) {
long days = mss / 86400000L;
long hours = mss % 86400000L / 3600000L;
long minutes = mss % 3600000L / 60000L;
long seconds = mss % 60000L / 1000L;
return days + " days " + hours + " hours " + minutes + " minutes " + seconds + " seconds ";
}
public void changed(Item item, ItemState itemState) {
String itemId = item.getId();
try {
Object value = OpcUtl.getValue(item, itemState);
UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key);
accessor_value.setValue(itemId, value);
// if (value != null) {
// if (log.isTraceEnabled()) {
// log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()});
// }
// } else if (log.isInfoEnabled()) {
// log.info("Item {} new value: {}, Timestamp: {}, Quality: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime(), itemState.getQuality()});
// }
log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()});
OpcItemDto itemDto = this.getItem(itemId);
// if (Boolean.TRUE.equals(itemDto.getNeed_log())) {
// this.logItemChanged(itemId, accessor_value, value, itemDto);
// }
this.logItemChanged(itemId, accessor_value, value, itemDto);
} catch (Exception var7) {
log.error(itemId, var7);
}
}
private void logItemChanged(String itemId, UnifiedDataAccessor accessor_value, Object value, OpcItemDto itemDto) {
Object his = accessor_value.getValue(itemId);
List<String> relate_items = itemDto.getRelate_items();
if (relate_items != null && !relate_items.isEmpty()) {
StringBuilder sb = new StringBuilder();
Iterator var8 = relate_items.iterator();
while (var8.hasNext()) {
String relate = (String) var8.next();
Object obj = accessor_value.getValue(relate);
sb.append("key:" + relate + "value:" + obj + ";");
}
log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value, sb});
// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{};信号快照：{}", new Object[]{itemId, his, value, sb});
} else {
// if(his instanceof int[]){
// if(!Arrays.equals((long[]) his, (long[]) value)){
// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value});
// }
// } else if(his instanceof String){
// if(!StrUtil.equals((CharSequence) his, (CharSequence) value)){
// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value});
// }
// } else {
// log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value});
// }
log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(), itemId, his, value});
// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{}", new Object[]{itemId, his, value});
}
}
}

79
acs/nladmin-system/src/main/java/org/nl/acs/opc/ObjectUtl.java Normal file
View File

@@ -0,0 +1,79 @@
package org.nl.acs.opc;
import org.nl.modules.wql.exception.WDKException;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.Arrays;
import java.util.Objects;
public class ObjectUtl {
private ObjectUtl() {
}
public static boolean isEquals(Object a, Object b) {
if (a == null && b == null) {
return true;
} else if (a != null && b != null) {
if (a.getClass().isArray()) {
if (a instanceof boolean[]) {
return Arrays.equals((boolean[]) ((boolean[]) a), (boolean[]) ((boolean[]) b));
} else if (a instanceof byte[]) {
return Arrays.equals((byte[]) ((byte[]) a), (byte[]) ((byte[]) b));
} else if (a instanceof int[]) {
return Arrays.equals((int[]) ((int[]) a), (int[]) ((int[]) b));
} else if (a instanceof long[]) {
return Arrays.equals((long[]) ((long[]) a), (long[]) ((long[]) b));
} else if (a instanceof double[]) {
return Arrays.equals((double[]) ((double[]) a), (double[]) ((double[]) b));
} else if (a instanceof short[]) {
return Arrays.equals((short[]) ((short[]) a), (short[]) ((short[]) b));
} else if (a instanceof char[]) {
return Arrays.equals((char[]) ((char[]) a), (char[]) ((char[]) b));
} else if (a instanceof float[]) {
return Arrays.equals((float[]) ((float[]) a), (float[]) ((float[]) b));
} else if (a instanceof Object[]) {
return Arrays.equals((Object[]) ((Object[]) a), (Object[]) ((Object[]) b));
} else {
throw new WDKException("未实现");
}
} else {
return Objects.equals(a, b);
}
} else {
return false;
}
}
public static boolean isTrue(Boolean boolean_) {
return boolean_ != null && isEquals(boolean_, true);
}
public static boolean isTrue(Boolean targetBoolean, boolean defaultBoolean) {
return targetBoolean == null ? defaultBoolean : targetBoolean;
}
public static boolean isFalse(Boolean boolean_) {
return boolean_ != null && isEquals(boolean_, false);
}
public static boolean isObject(Class<?> clazz) {
if (clazz == null) {
return false;
} else if (clazz.getClass().isArray()) {
return false;
} else {
return Object.class.isAssignableFrom(clazz);
}
}
}

4
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -290,7 +290,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
@Override
public TaskDto findById(String task_id) {
WQLObject wo = WQLObject.getWQLObject("acs_task");
JSONObject json = wo.query("task_id ='" + task_id + "'").uniqueResult(0);
JSONObject json = wo.query("task_id ='" + task_id + "'","create_time desc").uniqueResult(0);
final TaskDto obj = json.toJavaObject(TaskDto.class);
return obj;
}
@@ -306,7 +306,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
@Override
public TaskDto findByCode(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_task");
JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0);
JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0);
final TaskDto obj = json.toJavaObject(TaskDto.class);
return obj;
}

131
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
View File

@@ -5,13 +5,19 @@ import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.device_driver.basedriver.agv.xg_agv.XgagvDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceType;
import org.nl.modules.mnt.websocket.MsgType;
import org.nl.modules.mnt.websocket.SocketMsg;
import org.nl.modules.mnt.websocket.WebSocketServer;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
import java.util.Map;
/**
@@ -25,52 +31,97 @@ public class ToAgvDevice {
AcsToWmsService acsToWmsService;
@Autowired
AgvService agvService;
@Autowired
DeviceAppService deviceAppService;
public void run() throws Exception {
JSONObject json = new JSONObject();
Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
JSONArray agv_rows = new JSONArray();
JSONObject row = new JSONObject();
for (AgvDto agvDto : agv_map.values()) {
row.put("device_code", agvDto.getName());
row.put("energyLevel", agvDto.getEnergyLevel());
if (agvDto.getState().equals("UNKNOWN")) {
row.put("status_name", "有任务");
row.put("flag", "1");
AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
XgagvDeviceDriver xgagvDeviceDriver;
try {
List<Device> deviceList = deviceAppService.findDeviceByType(DeviceType.agv);
for(Device device:deviceList) {
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
JSONObject row = new JSONObject();
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
row.put("device_code", String.valueOf(device.getDevice_code()));
row.put("energyLevel", String.valueOf(agvNdcOneDeviceDriver.getElectric_qty()));
// 车状态：
// 1：关机
// 2：运行中
// 3：交通管制
// 4：任务等待
// 5：充电中
// 6：故障中
// 7：低电量
if (agvNdcOneDeviceDriver.getStatus()==1) {
row.put("device_status", "UNKNOWN");
row.put("status_name", "关机");
} else if (agvNdcOneDeviceDriver.getStatus()==2) {
row.put("device_status", "EXECUTING");
row.put("status_name", "有任务");
} else if (agvNdcOneDeviceDriver.getStatus()==3) {
row.put("device_status", "UNAVAILABLE");
row.put("status_name", "交通管制");
} else if (agvNdcOneDeviceDriver.getStatus()==4) {
row.put("device_status", "IDLE");
row.put("status_name", "空闲");
} else if (agvNdcOneDeviceDriver.getStatus()==5) {
row.put("device_status", "CHARGING");
row.put("status_name", "充电");
} else if (agvNdcOneDeviceDriver.getStatus()==6) {
row.put("device_status", "ERROR");
row.put("status_name", "故障");
} else if (agvNdcOneDeviceDriver.getStatus()==7) {
row.put("device_status", "ERROR");
row.put("status_name", "低电量");
}
row.put("transportOrder", String.valueOf(agvNdcOneDeviceDriver.getOrder()));
row.put("positionX", String.valueOf(agvNdcOneDeviceDriver.getX()));
row.put("positionY", String.valueOf(agvNdcOneDeviceDriver.getY()));
row.put("positionAngle", String.valueOf(agvNdcOneDeviceDriver.getAngle()));
agv_rows.add(row);
}else if (device.getDeviceDriver() instanceof XgagvDeviceDriver){
JSONObject row = new JSONObject();
xgagvDeviceDriver = (XgagvDeviceDriver) device.getDeviceDriver();
row.put("device_code", String.valueOf(device.getDevice_code()));
row.put("energyLevel", String.valueOf(xgagvDeviceDriver.getElectricity()));
// 车状态：
// 1：关机
// 2：运行中
// 3：交通管制
// 4：任务等待
// 5：充电中
// 6：故障中
// 7：低电量
if (xgagvDeviceDriver.getFlag()==0) {
row.put("device_status", "UNKNOWN");
row.put("status_name", "关机");
} else if (xgagvDeviceDriver.getFlag()==1) {
row.put("device_status", "EXECUTING");
row.put("status_name", "有任务");
} else if (xgagvDeviceDriver.getFlag()==2) {
row.put("device_status", "IDLE");
row.put("status_name", "空闲");
} else if (xgagvDeviceDriver.getFlag()==3) {
row.put("device_status", "CHARGING");
row.put("status_name", "充电");
}
row.put("transportOrder", String.valueOf(xgagvDeviceDriver.getOrder()));
row.put("positionX", String.valueOf(xgagvDeviceDriver.getX()));
row.put("positionY", String.valueOf(xgagvDeviceDriver.getY()));
row.put("positionAngle", String.valueOf(xgagvDeviceDriver.getAngle()));
agv_rows.add(row);
}
}
if (agvDto.getState().equals("UNAVAILABLE")) {
row.put("status_name", "网络异常");
row.put("flag", "1");
}
if (agvDto.getState().equals("ERROR")) {
row.put("status_name", "机器错误");
row.put("flag", "1");
}
if (agvDto.getState().equals("IDLE")) {
row.put("status_name", "空闲");
row.put("flag", "0");
}
if (agvDto.getState().equals("EXECUTING")) {
row.put("status_name", "运行中");
row.put("flag", "0");
}
if (agvDto.getState().equals("CHARGING")) {
row.put("status_name", "充电中");
row.put("flag", "0");
}
row.put("transportOrder", agvDto.getTransportOrder());
row.put("positionX", agvDto.getPositionX());
row.put("positionY", agvDto.getPositionY());
row.put("positionAngle", agvDto.getPositionAngle());
agv_rows.add(row);
}catch (Exception e){
System.out.println(e.getMessage());
}
json.put("agv_rows", agv_rows);
SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
// acsToWmsService.feedbackAgv(row);
acsToWmsService.feedbackAgv(agv_rows);
}
}

4
acs/nladmin-system/src/main/java/org/nl/modules/system/service/DictService.java
View File

@@ -73,4 +73,6 @@ public interface DictService {
* @throws IOException /
*/
void download(List<DictDto> queryAll, HttpServletResponse response) throws IOException;
}
List<Dict> queryAll();
}

5
acs/nladmin-system/src/main/java/org/nl/modules/system/service/impl/DictServiceImpl.java
View File

@@ -119,4 +119,9 @@ public class DictServiceImpl implements DictService {
public void delCaches(Dict dict){
redisUtils.del("dict::name:" + dict.getName());
}
@Override
public List<Dict> queryAll() {
return dictRepository.findAll();
}
}