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rev 反馈agv状态、取消任务反馈

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This commit is contained in:
gengby
2023-05-09 13:56:23 +08:00
parent 4358d302d4
commit d90b64af82
6 changed files with 277 additions and 136 deletions
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11
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -196,7 +196,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} else { } else {
//上报异常信息 //上报异常信息
//（不需要WCS反馈） //（不需要WCS反馈）
if (phase == 0x67) { if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
} else { } else {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
@@ -218,16 +218,15 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} }
} }
} catch ( } catch ( Exception e) {
Exception e) {
System.out.println("OneAgv链接异常"); System.out.println("OneAgv链接异常");
log.info("OneAgv链接异常"); log.info("OneAgv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);
if (ObjectUtil.isNotEmpty(s)) { // if (ObjectUtil.isNotEmpty(s)) {
s.close(); // s.close();
} // }
System.out.println(e.getMessage()); System.out.println(e.getMessage());
e.printStackTrace(); e.printStackTrace();

90
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -1,6 +1,7 @@
package org.nl.acs.device_driver.basedriver.agv.ndcone; package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.date.DateUtil; import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
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 com.alibaba.fastjson.JSONObject; import com.alibaba.fastjson.JSONObject;
@@ -23,6 +24,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.LokiLog; import org.nl.acs.log.LokiLog;
import org.nl.acs.log.LokiLogType; import org.nl.acs.log.LokiLogType;
import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.Device; import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.TaskService;
@@ -43,7 +45,7 @@ import java.util.Map;
@Slf4j @Slf4j
@Data @Data
@RequiredArgsConstructor @RequiredArgsConstructor
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver { public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class); ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -72,6 +74,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int last_status = 0; int last_status = 0;
int last_error = 0; int last_error = 0;
private Instruction instruction;
@LokiLog(type = LokiLogType.ACS_TO_LMS) @LokiLog(type = LokiLogType.ACS_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception { public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode(); device_code = this.getDeviceCode();
@@ -94,10 +98,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
} }
if (ikey != 0) { if (ikey != 0) {
if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
if (ObjectUtil.isEmpty(inst)){ this.instruction = inst;
inst = instructionService.findByCode(String.valueOf(ikey));
} }
// inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
// if (ObjectUtil.isEmpty(inst)){
// inst = instructionService.findByCode(String.valueOf(ikey));
// }
} }
if (!ObjectUtil.isEmpty(link_inst)) { if (!ObjectUtil.isEmpty(link_inst)) {
link_flag = true; link_flag = true;
@@ -108,13 +116,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
String emptyNum = null; String emptyNum = null;
String device_code = null; String device_code = null;
if (phase == 0x67) { // if (phase == 0x67) {
//故障信息 // //故障信息
if (arr[18] * 256 + arr[19] == 0) { // if (arr[18] * 256 + arr[19] == 0) {
//
} // }
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); // data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} // }
//普通站点 //普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
@@ -142,9 +150,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
request.put("METHOD", "1"); request.put("METHOD", "1");
request.put("AGVCODE", this.device_code); request.put("AGVCODE", this.device_code);
request.put("REQTIME", DateUtil.now()); request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:"+request.toJSONString()); log.info("atrAgvCallback 请求参数:" + request.toJSONString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString()); String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:"+str); log.info("atrAgvCallback 返回参数:" + str);
} }
} }
//到达取货点 //到达取货点
@@ -218,9 +226,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
request.put("METHOD", "2"); request.put("METHOD", "2");
request.put("AGVCODE", this.device_code); request.put("AGVCODE", this.device_code);
request.put("REQTIME", DateUtil.now()); request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:"+request.toJSONString()); log.info("atrAgvCallback 请求参数:" + request.toJSONString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString()); String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:"+str); log.info("atrAgvCallback 返回参数:" + str);
} }
} }
@@ -307,9 +315,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
request.put("METHOD", "3"); request.put("METHOD", "3");
request.put("AGVCODE", this.device_code); request.put("AGVCODE", this.device_code);
request.put("REQTIME", DateUtil.now()); request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:"+request.toJSONString()); log.info("atrAgvCallback 请求参数:" + request.toJSONString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString()); String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:"+str); log.info("atrAgvCallback 返回参数:" + str);
} }
} }
@@ -371,9 +379,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
request.put("METHOD", "4"); request.put("METHOD", "4");
request.put("AGVCODE", this.device_code); request.put("AGVCODE", this.device_code);
request.put("REQTIME", DateUtil.now()); request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:"+request.toJSONString()); log.info("atrAgvCallback 请求参数:" + request.toJSONString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString()); String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:"+str); log.info("atrAgvCallback 返回参数:" + str);
} }
} }
@@ -444,6 +452,24 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else if (phase == 0x51) {//离开交通灯区域 } else if (phase == 0x51) {//离开交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x67) {//agv异常
error = ikey;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x71) {
//x坐标
x = ikey;
} else if (phase == 0x72) {
//y坐标
y = ikey;
} else if (phase == 0x73) {
//车辆角度
angle = ikey;
} else if (phase == 0x74) {
//agv电量
electric_qty = ikey;
} else if (phase == 0x75) {
//三色灯状态
status = ikey;
} }
if (!ObjectUtil.isEmpty(data)) { if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
@@ -451,4 +477,32 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} }
} }
@Override
public JSONObject getDeviceStatusName() throws Exception {
JSONObject jo = new JSONObject();
jo.put("REQCODE", IdUtil.getSnowflake().nextId());
jo.put("REQTIME", DateUtil.now());
//agv编码
jo.put("AGVCODE", this.getDevice().getDevice_code());
//角度
jo.put("AGVDIR", this.getAngle());
//IP
jo.put("AGVIP", ObjectUtil.isEmpty(this.getDevice().getExtraValue()) ? "" : this.getDevice().getExtraValue().get("ip_address"));
//电量
jo.put("AGVBATTERY", this.getElectric_qty());
//x坐标
jo.put("POSX", this.getX());
//y坐标
jo.put("POSY", this.getY());
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", status_name);
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
} }

15
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -229,7 +229,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override @Override
public Instruction findByCode(String code) { public Instruction findByCode(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction"); WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("instruction_code ='" + code + "'").uniqueResult(0); JSONObject json = wo.query("instruction_code ='" + code + "'", "create_time").uniqueResult(0);
if (ObjectUtil.isEmpty(json)) { if (ObjectUtil.isEmpty(json)) {
return null; return null;
} }
@@ -945,8 +945,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
return; return;
} }
removeByCodeFromCache(entity.getInstruction_code()); removeByCodeFromCache(entity.getInstruction_code());
TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
if (taskDto != null) {
taskService.cancel(taskDto.getTask_id());
}
} }
// this.reload();
} }
@Override @Override
@@ -1002,6 +1005,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
return; return;
} }
removeByCodeFromCache(entity.getInstruction_code()); removeByCodeFromCache(entity.getInstruction_code());
TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
if (taskDto != null) {
taskService.cancel(taskDto.getTask_id());
}
} }
@Override @Override
@@ -1059,6 +1066,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
} }
removeByCodeFromCache(entity.getInstruction_code()); removeByCodeFromCache(entity.getInstruction_code());
TaskDto taskDto = taskService.findByCodeFromCache(entity.getTask_code());
if (taskDto != null) {
taskService.cancel(taskDto.getTask_id());
}
} }
@Override @Override

31
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
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@@ -764,9 +764,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
request.put("TASKTYPE", entity.getTask_type()); request.put("TASKTYPE", entity.getTask_type());
request.put("METHOD", "5"); request.put("METHOD", "5");
request.put("REQTIME", DateUtil.now()); request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:"+request.toString()); log.info("atrAgvCallback 请求参数:" + request.toString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString()); String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:"+str); log.info("atrAgvCallback 返回参数:" + str);
} catch (Exception e) { } catch (Exception e) {
e.printStackTrace(); e.printStackTrace();
throw new BadRequestException(e.getMessage()); throw new BadRequestException(e.getMessage());
@@ -814,6 +814,33 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
// }} // }}
removeByCodeFromCache(entity.getTask_code()); removeByCodeFromCache(entity.getTask_code());
// 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
TaskFeedbackDto feefbackdto = taskFeedbackService.findByCode(entity.getTask_code());
System.out.println(feefbackdto == null);
JSONObject feed_jo = new JSONObject();
feed_jo.put("task_id", entity.getTask_id());
feed_jo.put("task_code", entity.getTask_code());
feed_jo.put("task_status", entity.getTask_status());
JSONArray ja = new JSONArray();
ja.add(feed_jo);
try {
JSONObject request = new JSONObject();
request.put("REQCODE", entity.getExt_task_id());
request.put("TASKCODE", entity.getTask_code());
request.put("TASKTYPE", entity.getTask_type());
request.put("METHOD", "9");
request.put("AGVCODE", instructionService.findByCode(entity.getTask_code()) == null ? "" : instructionService.findByCode(entity.getTask_code()).getCarno());
request.put("REQTIME", DateUtil.now());
log.info("atrAgvCallback 请求参数:" + request.toString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(request.toJSONString());
log.info("atrAgvCallback 返回参数:" + str);
} catch (Exception e) {
e.printStackTrace();
throw new BadRequestException(e.getMessage());
}
}
List<RouteLineDto> shortPathsList = List<RouteLineDto> shortPathsList =
routeLineService.getShortPathLines( routeLineService.getShortPathLines(
entity.getStart_device_code(), entity.getStart_device_code(),

50
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoFeedAgvStatus.java Normal file
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@@ -0,0 +1,50 @@
package org.nl.modules.quartz.task;
import cn.hutool.core.util.ObjectUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceType;
import org.nl.acs.wsdl.org.tempuri.RTMSAGVSERVICE;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
/**
* @author: geng by
* @createDate: 2023/5/9
*/
@Slf4j
@Component
public class AutoFeedAgvStatus {
@Autowired
private DeviceAppService deviceAppService;
public void run() throws Exception {
List<Device> devices = deviceAppService.findDevice(DeviceType.agv);
JSONArray data = new JSONArray();
if (ObjectUtil.isNotEmpty(devices)) {
for (int i = 0; i < devices.size(); i++) {
Device device = devices.get(i);
Device agvDevice = deviceAppService.findDeviceByCode(device.getDevice_code());
if (agvDevice.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
AgvNdcOneDeviceDriver agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) agvDevice.getDeviceDriver();
JSONObject jo = agvNdcOneDeviceDriver.getDeviceStatusName();
data.add(jo);
}
}
try {
log.info("atrAgvCallback 请求参数:" + data.toJSONString());
String str = new RTMSAGVSERVICE().getBasicHttpBindingIRTMSAGVSERVICE().atrAgvCallback(data.toJSONString());
log.info("atrAgvCallback 返回参数:" + str);
} catch (Exception e) {
log.error("atrAgvCallback,反馈失败:{}", e.getMessage());
}
}
}
}

4
acs/nladmin-system/src/main/resources/config/application-dev.yml
View File

@@ -13,11 +13,11 @@ spring:
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
# url: jdbc:log4jdbc:mysql://${DB_HOST:10.1.3.91}:${DB_PORT:3306}/${DB_NAME:acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:10.1.3.91}:${DB_PORT:3306}/${DB_NAME:acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:lzhl_one_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:huaYan_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
username: ${DB_USER:root} username: ${DB_USER:root}
# password: ${DB_PWD:P@ssw0rd} # password: ${DB_PWD:P@ssw0rd}
# password: ${DB_PWD:Root.123456} # password: ${DB_PWD:Root.123456}
password: ${DB_PWD:123456} password: ${DB_PWD:password}
# 初始连接数 # 初始连接数
initial-size: 5 initial-size: 5