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fix agv驱动

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This commit is contained in:
USER-20220102CG\noblelift
2023-04-14 20:45:47 +08:00
parent a614bcde3a
commit d64ec3bef2
3 changed files with 288 additions and 183 deletions
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12
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@@ -217,12 +217,12 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
System.out.println("Agv链接异常"); System.out.println("Agv链接异常");
log.info("Agv链接异常"); log.info("Agv链接异常");
log.error("agv连接出现异常:{}", e); log.error("agv连接出现异常:{}", e);
logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage()); // logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());
logServer.deviceExecuteLog("1", "", "", "agv异常" + e); // logServer.deviceExecuteLog("1", "", "", "agv异常" + e);
LuceneLogDto logDto = new LuceneLogDto(); // LuceneLogDto logDto = new LuceneLogDto();
logDto.setContent("agv异常" + e.getMessage()); // logDto.setContent("agv异常" + e.getMessage());
logDto.setDevice_code("1001"); // logDto.setDevice_code("1001");
luceneExecuteLogService.deviceExecuteLog(logDto); // luceneExecuteLogService.deviceExecuteLog(logDto);
if (ObjectUtil.isNotEmpty(s)) { if (ObjectUtil.isNotEmpty(s)) {
s.close(); s.close();
} }

451
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XgagvDeviceDriver.java
View File

@@ -2,6 +2,8 @@ package org.nl.acs.device_driver.basedriver.agv.xg_agv;
import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil; import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject; import com.alibaba.fastjson.JSONObject;
import lombok.Data; import lombok.Data;
import lombok.RequiredArgsConstructor; import lombok.RequiredArgsConstructor;
@@ -11,6 +13,7 @@ import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; 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.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.monitor.DeviceStageMonitor;
@@ -18,6 +21,7 @@ import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.route.service.RouteLineService; import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.logging.DeviceCodeDir; import org.nl.modules.logging.DeviceCodeDir;
import org.nl.modules.lucence.service.LuceneExecuteLogService; import org.nl.modules.lucence.service.LuceneExecuteLogService;
import org.nl.modules.lucence.service.dto.LuceneLogDto; import org.nl.modules.lucence.service.dto.LuceneLogDto;
@@ -26,6 +30,7 @@ import org.openscada.opc.lib.da.Server;
import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Autowired;
import java.io.IOException; import java.io.IOException;
import java.util.Date;
import java.util.HashMap; import java.util.HashMap;
import java.util.List; import java.util.List;
import java.util.Map; import java.util.Map;
@@ -47,76 +52,88 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
@Autowired @Autowired
DeviceAppService deviceAppService = SpringContextHolder.getBean("deviceAppServiceImpl"); DeviceAppService deviceAppService = SpringContextHolder.getBean("deviceAppServiceImpl");
@Autowired @Autowired
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");; LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
;
@Autowired
AcsToWmsService acsToWmsService = SpringContextHolder.getBean("acsToWmsServiceImpl");
//车辆ip 0-未知；1-需充电；2-可执行任务；3-充满电 //车辆ip 0-未知；1-需充电；2-可执行任务；3-充满电
String agv_mode = "0"; String agv_mode = "0";
String last_mode = "0"; String last_mode = "0";
private Date instruction_require_time = new Date();
private int instruction_require_time_out = 1000;
int is_charging = 0;
int stop = 0;
int DI0 = 0;
int DI1 = 0;
int DI2 = 0;
int DI3 = 0;
int DI4 = 0;
int DI11 = 0;
int DI12 = 0;
int DO0 = 0;
int DO1 = 0;
int DO2 = 0;
Float x = 0f;
Float y = 0f;
Float angle = 0f;
int navigation_address = 0;
int positioning_status = 0;
int navigation_status = 0;
int navigation_type = 0;
int electricity = 0;
int address = 0;
int next_address = 0;
int home_relocation = 0;
int locate_correct = 0;
int pause_navigation = 0;
int continue_navigation = 0;
int cancle_navigation = 0;
int drum_run_status = 0;
int last_is_charging = 0;
int is_charging =0; int last_stop = 0;
int stop = 0; int last_DI0 = 0;
int DI0 = 0; int last_DI1 = 0;
int DI1 = 0; int last_DI2 = 0;
int DI2 = 0; int last_DI3 = 0;
int DI3 = 0; int last_DI4 = 0;
int DI4 = 0; int last_DI11 = 0;
int DI11 = 0; int last_DI12 = 0;
int DI12 = 0; int last_DO0 = 0;
int DO0 = 0; int last_DO1 = 0;
int DO1 = 0; int last_DO2 = 0;
int DO2 = 0; Float last_x = 0f;
Float x = 0f; Float last_y = 0f;
Float y = 0f; Float last_angle = 0f;
Float angle = 0f; int last_navigation_address = 0;
int navigation_address =0; int last_positioning_status = 0;
int positioning_status =0; int last_navigation_status = 0;
int navigation_status =0; int last_navigation_type = 0;
int navigation_type =0; int last_electricity = 0;
int electricity =0; int last_address = 0;
int address =0; int last_next_address = 0;
int next_address =0; int last_home_relocation = 0;
int home_relocation =0; int last_locate_correct = 0;
int locate_correct =0; int last_pause_navigation = 0;
int pause_navigation =0; int last_continue_navigation = 0;
int continue_navigation =0; int last_cancle_navigation = 0;
int cancle_navigation =0; int last_drum_run_status = 0;
int drum_run_status =0;
int last_is_charging =0;
int last_stop = 0;
int last_DI0 = 0;
int last_DI1 = 0;
int last_DI2 = 0;
int last_DI3 = 0;
int last_DI4 = 0;
int last_DI11 = 0;
int last_DI12 = 0;
int last_DO0 = 0;
int last_DO1 = 0;
int last_DO2 = 0;
Float last_x = 0f;
Float last_y = 0f;
Float last_angle = 0f;
int last_navigation_address =0;
int last_positioning_status =0;
int last_navigation_status =0;
int last_navigation_type =0;
int last_electricity =0;
int last_address =0;
int last_next_address =0;
int last_home_relocation =0;
int last_locate_correct =0;
int last_pause_navigation =0;
int last_continue_navigation =0;
int last_cancle_navigation =0;
int last_drum_run_status =0;
String message = null; String message = null;
String device_code; String device_code;
Instruction inst = null; Instruction inst = null;
protected ItemProtocol itemProtocol = new ItemProtocol(this); protected ItemProtocol itemProtocol = new ItemProtocol(this);
//最小电量
double min_electric = 0.0;
//最大电量
double cancle_electric = 0.0;
//执行任务电量
double task_electric = 0.0;
//休息点
int relax_point = 0;
//充电点
int charge_point =0;
@Override @Override
public Device getDevice() { public Device getDevice() {
return this.device; return this.device;
@@ -154,172 +171,153 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
drum_run_status = this.itemProtocol.getDrum_run_status(); drum_run_status = this.itemProtocol.getDrum_run_status();
stop = this.itemProtocol.getStop(); stop = this.itemProtocol.getStop();
if (home_relocation != last_home_relocation){ if (home_relocation != last_home_relocation) {
// DeviceCodeDir deviceCodeDir = new DeviceCodeDir();
// deviceCodeDir.setPropertyValue(this.device_code);
// log.info("信号{}变更从{}->{}",this.getDevice().getOpc_server_code()+"."+this.getDevice().getOpc_plc_code()+"."+this.device_code+"."+ItemProtocol.to_home_relocation,this.last_home_relocation,this.home_relocation);
LuceneLogDto logDto = new LuceneLogDto(); LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code); logDto.setDevice_code(device_code);
logDto.setContent("信号"+this.getDevice().getOpc_server_code()+"."+this.getDevice().getOpc_plc_code()+"."+this.device_code+"."+ItemProtocol.to_home_relocation+"变更从"+this.last_home_relocation+"->"+this.home_relocation); logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_home_relocation + "变更从" + this.last_home_relocation + "->" + this.home_relocation);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (stop != last_stop) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.stop + "变更从" + this.last_stop + "->" + this.stop);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (address != last_address) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.address + "变更从" + this.last_address + "->" + this.address);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
if (electricity != last_electricity) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setContent("信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.electricity + "变更从" + this.last_electricity + "->" + this.electricity);
luceneExecuteLogService.deviceExecuteLog(logDto); luceneExecuteLogService.deviceExecuteLog(logDto);
// last_home_relocation = home_relocation;
} }
//获取最小电量 //获取最小电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("min_electric"))){ if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("min_electric"))) {
message = "未配置最小电量"; message = "未配置最小电量";
return; return;
} }
double min_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("min_electric")); min_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("min_electric"));
//获取最大电量 //获取最大电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("cancle_electric"))){ if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("cancle_electric"))) {
message = "未配置最大电量"; message = "未配置最大电量";
return; return;
} }
double cancle_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("cancle_electric")); cancle_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("cancle_electric"));
//可执行任务电量 //可执行任务电量
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("task_electric"))){ if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("task_electric"))) {
message = "未配置可执行任务电量"; message = "未配置可执行任务电量";
return; return;
} }
double task_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("task_electric")); task_electric = Double.parseDouble((String) this.getDevice().getExtraValue().get("task_electric"));
//休息点 //休息点
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("relax_point"))){ if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("relax_point"))) {
message = "未配置休息点"; message = "未配置休息点";
return; return;
} }
Device relax_point_device = deviceAppService.findDeviceByCode((String)this.getDevice().getExtraValue().get("relax_point")); Device relax_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("relax_point"));
int relax_point = Integer.parseInt(relax_point_device.getAddress()); relax_point = Integer.parseInt(relax_point_device.getAddress());
//充电点 //充电点
if(ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("charge_point"))){ if (ObjectUtil.isEmpty(this.getDevice().getExtraValue().get("charge_point"))) {
message = "未配置充电点"; message = "未配置充电点";
return; return;
} }
Device charge_point_device = deviceAppService.findDeviceByCode((String)this.getDevice().getExtraValue().get("charge_point")); Device charge_point_device = deviceAppService.findDeviceByCode((String) this.getDevice().getExtraValue().get("charge_point"));
int charge_point = Integer.parseInt(charge_point_device.getAddress()); charge_point = Integer.parseInt(charge_point_device.getAddress());
List<Instruction> instList = instructionService.findAllInstFromCache(); List<Instruction> instList = instructionService.findAllInstFromCache();
if(instList.size()>0){ if (instList.size() > 0) {
inst = instList.get(0); for (int i = 0; i < instList.size(); i++) {
inst = instList.get(i);
if (ObjectUtil.equal(inst.getInstruction_type(), "1")) {
continue;
}
}
if (ObjectUtil.isEmpty(inst)) {
message = "未找到对应指令";
return;
}
} }
//先判断当前有无指令 //先判断当前有无指令
if(ObjectUtil.isEmpty(inst)){ if (ObjectUtil.isEmpty(inst)) {
// log.info("判断当前有无指令:{}",ObjectUtil.isEmpty(inst)); if (electricity != 0 && electricity < min_electric && address != charge_point && (navigation_status == 0 || navigation_status == 4)) {
if( electricity != 0 && electricity <min_electric && address != charge_point && (navigation_status==0 ||navigation_status==4) ){ log.info("下发充电:{}", charge_point);
log.info("下发充电:{}",charge_point); writing("to_address", charge_point);
writing("to_address",charge_point);
} }
if( electricity != 0 && electricity > cancle_electric && address == charge_point && (navigation_status==0 ||navigation_status==4)){ 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); log.info("下发回休息点:{}", relax_point);
writing("to_address",relax_point); writing("to_address", relax_point);
} }
} else { } else {
// log.info("address:{}，滚筒状态:{},车子状态:{},DI4:{},DO1:{},DO2:{},导航状态:{}",address,drum_run_status,stop,DI4,DO1,DO2,navigation_status); TaskDto task = taskserver.findByCodeFromCache(inst.getTask_code());
Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code()); Device start_device = deviceAppService.findDeviceByCode(inst.getStart_device_code());
Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code()); Device next_device = deviceAppService.findDeviceByCode(inst.getNext_device_code());
int start_device_code = Integer.parseInt(start_device.getAddress()); int start_device_code = Integer.parseInt(start_device.getAddress());
int next_device_code = Integer.parseInt(next_device.getAddress()); int next_device_code = Integer.parseInt(next_device.getAddress());
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
//指令状态就绪 //指令状态就绪
if(StrUtil.equals("0",inst.getInstruction_status())){ if (StrUtil.equals("0", inst.getInstruction_status())) {
log.info("下发指令号{}，起点{}",inst.getInstruction_code(),start_device); log.info("下发指令号{}，起点{}", inst.getInstruction_code(), start_device);
writing("to_address",start_device_code); //判断指令起点与任务起点是否相同
inst.setInstruction_status("1"); if(StrUtil.equals(task.getStart_device_code(),inst.getStart_device_code())){
instructionService.update(inst); feedAgvTaskStatus(inst, "1");
} } else {
//不同的话是按照路由生成的指令
//请求取货 && DI4==1 无货状态 LuceneLogDto logDto = new LuceneLogDto();
if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==1){ logDto.setDevice_code(device_code);
log.info("agv准备取货，下发滚筒，指令号{}，下发to_di_height:1",inst.getInstruction_code()); logDto.setInstruct_code(inst.getInstruction_code());
if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { logDto.setTask_code(inst.getTask_code());
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver(); logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
log.info("准备下发输送请求取货信号,mode:{}，move{}",standardInspectSiteDeviceDriver.getMode(),standardInspectSiteDeviceDriver.getMove()); luceneExecuteLogService.deviceExecuteLog(logDto);
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==1){ writing("to_address", start_device_code);
if((navigation_status==0 ||navigation_status==4) && (DO1 != 1 && DO2 != 1)){ inst.setInstruction_status("1");
writing("to_di_low",1); instructionService.update(inst);
writing("to_di_low",2);
writing("to_DO1_low",1);
writing("to_DO2_low",1);
writing("to_DO8_low",1);
writing("to_DO9_low",1);
writing("to_di_height",1);
}
log.info("agv准备取货，DO1:{},DO2:{}",DO1,DO2);
if(DO1 == 1 && DO2 == 1){
standardInspectSiteDeviceDriver.writing(1,1);
log.info("下发设备{}信号to_command值:{}",start_device,1);
} else {
log.info("agv准备取货，DO1:{},DO2:{}未就绪",DO1,DO2);
}
} else {
log.info("agv准备取货，输送线未就绪，mode:{}，move:{},action:{}",standardInspectSiteDeviceDriver.getMode(),
standardInspectSiteDeviceDriver.getMove(),standardInspectSiteDeviceDriver.getAction());
}
} }
} }
//取货完成 下发去放货位置
if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==0 && DO1 == 0 && DO2 == 0 ){
log.info("取货完成，指令号{}，下发to_di_height:2",inst.getInstruction_code());
if (start_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) start_device.getDeviceDriver();
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
standardInspectSiteDeviceDriver.writing(1,2);
log.info("下发设备{}信号to_command值:{}",start_device,2);
writing("to_di_low",1);
writing("to_address",next_device_code);
} //取货完成请求离开
} if (StrUtil.equals("1", inst.getInstruction_status()) && address == start_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"1")) {
//请求wms是否允许从取货点离开
feedAgvTaskStatus(inst, "2");
} }
//下发去放货位置
// if(StrUtil.equals("1",inst.getInstruction_status()) && address == start_device_code && stop==1 && DI4==0 && DO1 == 0 && DO2 == 0){
// log.info("取货完成,指令号{},下发放货位{}",inst.getInstruction_code(),next_device);
// writing("to_address",next_device_code);
// }
//请求放货 //请求放货
if(StrUtil.equals("1",inst.getInstruction_status()) && address == next_device_code && stop==1 && DI4==0 ){ if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"2")) {
log.info("取货完成，指令号{}，下发to_di_height:12",inst.getInstruction_code()); //请求wms是否允许进入放货
if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { feedAgvTaskStatus(inst, "3");
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
if(standardInspectSiteDeviceDriver.getMode() ==2 && standardInspectSiteDeviceDriver.getMove() ==0){
standardInspectSiteDeviceDriver.writing(1,1);
writing("to_di_height",2);
}
}
} }
//放货完成 完成任务回休息点 //放货完成 完成任务回休息点
if(StrUtil.equals("1",inst.getInstruction_status()) && address == next_device_code && stop==1 && DI4==1 && DO1 ==0 && DO2 ==0 ){ if (StrUtil.equals("1", inst.getInstruction_status()) && address == next_device_code && stop == 1 && StrUtil.equals(inst.getExecute_status(),"3")) {
if (next_device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { feedAgvTaskStatus(inst, "4");
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) next_device.getDeviceDriver();
standardInspectSiteDeviceDriver.writing(1,3);
}
log.info("放货完成，指令号{}，下发to_di_low:2",inst.getInstruction_code());
writing("to_di_low",1);
writing("to_di_low",2);
writing("to_DO1_low",1);
writing("to_DO2_low",1);
writing("to_DO8_low",1);
writing("to_DO9_low",1);
writing("to_address",relax_point);
inst.setInstruction_status("2");
instructionService.finish(inst);
inst = null;
} }
} }
last_home_relocation = home_relocation;
last_address = address;
last_next_address = next_address;
last_electricity = electricity;
last_stop = stop;
} }
public void writing(String key, int value) { public void writing(String key, int value) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + key; + "." + key;
String opcservcerid = this.getDevice().getOpc_server_id(); String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid); Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>(); Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, value); itemMap.put(to_command, value);
log.info("下发信号{}，值{}",to_command,value); log.info("下发信号{}，值{}", to_command, value);
ReadUtil.write(itemMap, server); ReadUtil.write(itemMap, server);
} }
@@ -340,6 +338,121 @@ public class XgagvDeviceDriver extends AbstractOpcDeviceDriver implements Device
} }
/**
* 反馈wms动作状态
*
* @param type
* @return
*/
public boolean feedAgvTaskStatus(Instruction inst, String type) throws Exception {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
return false;
} else {
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());
//请求WMS允许取货
if (StrUtil.equals(type, "1")) {
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("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", start_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("1");
instructionService.update(inst);
} else {
}
//取货完成请求离开
} else if (StrUtil.equals(type, "2")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "2");
jo.put("device_code", this.device_code);
jo.put("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", next_device_code);
inst.setInstruction_status("1");
inst.setExecute_status("2");
instructionService.update(inst);
} else {
}
//请求放货
} else if (StrUtil.equals(type, "3")) {
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("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
inst.setInstruction_status("1");
inst.setExecute_status("3");
instructionService.update(inst);
writing("to_address", start_device_code);
} else {
}
} else if (StrUtil.equals(type, "4")) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", "4");
jo.put("device_code", this.device_code);
jo.put("task_code", inst.getTask_code());
ja.add(jo);
// HttpResponse resp = acsToWmsService.feedAgvTaskStatus(ja);
if (1==1) {
LuceneLogDto logDto = new LuceneLogDto();
logDto.setDevice_code(device_code);
logDto.setInstruct_code(inst.getInstruction_code());
logDto.setTask_code(inst.getTask_code());
logDto.setContent("下发信号" + this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.device_code + "." + ItemProtocol.to_address + " value:" + start_device_code);
luceneExecuteLogService.deviceExecuteLog(logDto);
writing("to_address", relax_point);
inst.setInstruction_status("2");
inst.setInstruction_status("1");
inst.setExecute_status("4");
instructionService.finish(inst);
} else {
}
}
}
return true;
}
} }

8
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@@ -39,9 +39,6 @@ public class AutoCreateInst {
List<TaskDto> list = taskserver.queryAll("task_status = '0'"); List<TaskDto> list = taskserver.queryAll("task_status = '0'");
for (int i = 0; i < list.size(); i++) { for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i); TaskDto acsTask = list.get(i);
if(StrUtil.equals(acsTask.getTask_type(),"7") && !StrUtil.startWith(acsTask.getTask_code(), "-") ){
continue;
}
String taskid = acsTask.getTask_id(); String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code(); String taskcode = acsTask.getTask_code();
String task_type = acsTask.getTask_type(); String task_type = acsTask.getTask_type();
@@ -70,11 +67,6 @@ public class AutoCreateInst {
String vehicleType = acsTask.getVehicle_type(); String vehicleType = acsTask.getVehicle_type();
String agv_system_type = acsTask.getAgv_system_type(); String agv_system_type = acsTask.getAgv_system_type();
if (StrUtil.equals(is_send, "0")) {
continue;
}
//校验路由关系 //校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) { if (ObjectUtils.isEmpty(shortPathsList)) {