From 2eadea497f19c021cb10203c92565996084aaa74 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Sun, 4 Jan 2026 18:43:45 +0800 Subject: [PATCH] =?UTF-8?q?rev:ndc=E7=BA=BF=E7=A8=8B=E5=A4=84=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/TwoNDCSocketConnectionAutoRun.java | 122 +++++++++++------- .../agv/ndcone/AgvNdcOneDeviceDriver.java | 2 +- .../agv/ndctwo/AgvNdcTwoDeviceDriver.java | 2 +- .../PlugPullDeviceSiteDeviceDriver.java | 6 +- 4 files changed, 78 insertions(+), 54 deletions(-) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java index bdc415ce9..8a07e33aa 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java @@ -33,10 +33,15 @@ import java.io.DataOutputStream; import java.io.IOException; import java.net.InetSocketAddress; import java.net.Socket; +import java.util.Arrays; import java.util.Date; import java.util.LinkedHashMap; import java.util.Map; import java.util.concurrent.CompletableFuture; +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.util.concurrent.atomic.AtomicBoolean; import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; @@ -64,6 +69,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { boolean requireSucessTake = false; boolean requireSucessPut = false; + private final ConcurrentHashMap carExecutors = new ConcurrentHashMap<>(); + + private final ConcurrentHashMap CAR_PHASE = new ConcurrentHashMap<>(); + @Autowired ISysParamService paramService; @@ -119,7 +128,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { dis = new DataInputStream(socket.getInputStream()); while (socket.isConnected()) { - System.out.println("当前socket状态："+socket.isConnected()); + System.out.println("当前socket状态：" + socket.isConnected()); int count = dis.read(b); // System.out.println("当前count值："+count); if (count == -1) { @@ -198,8 +207,6 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { device = deviceAppService.findDeviceByCode(device_code); } - AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; - AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; //开始任务 if (phase == 0x01) { if (!ObjectUtil.isEmpty(inst)) { @@ -221,10 +228,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { Device agvDevice = deviceAppService.findDeviceByCode(agvcar); if (agvDevice != null) { if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver(); + AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver(); agvNdcTwoDeviceDriver.setInstruction(null); } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); agvNdcOneDeviceDriver.setInstruction(null); } } @@ -273,8 +280,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { log.info("未下发NDC信号原因: 下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getOpen()); } - } - else if (device.getDeviceDriver() instanceof RasterDeviceDriver){ + } else if (device.getDeviceDriver() instanceof RasterDeviceDriver) { rasterDeviceDriver = (RasterDeviceDriver) device.getDeviceDriver(); try { Map map = new LinkedHashMap<>(); @@ -316,8 +322,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { log.info("未下发NDC信号原因: 读取自动门信号值为:{}", standardAutodoorDeviceDriver.getClose()); } - } - else if (device.getDeviceDriver() instanceof RasterDeviceDriver) { + } else if (device.getDeviceDriver() instanceof RasterDeviceDriver) { rasterDeviceDriver = (RasterDeviceDriver) device.getDeviceDriver(); try { Map map = new LinkedHashMap<>(); @@ -336,64 +341,83 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { log.info(device_code + "对应设备号为空!"); } - } else if (phase == 0x64){ - log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station); - Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null); - if (ObjectUtil.isNotEmpty(dict)){ + } else if (phase == 0x64) { + log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}", agvaddr, station); + Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null); + if (ObjectUtil.isNotEmpty(dict)) { dict.setValue("1"); dict.setPara2(String.valueOf(agvaddr)); dict.setPara3("下发成功"); dictService.updateDetail(dict); } //充电成功 - }else if (phase == 0x65){ - log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station); + } else if (phase == 0x65) { + log.info("AGV车号{}反馈充电中，充电桩{}", agvaddr, station); //充电取消上报 - }else if (phase == 0x66){ - log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station); - Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null); - if (ObjectUtil.isNotEmpty(dict)){ + } else if (phase == 0x66) { + log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}", agvaddr, station); + Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null); + if (ObjectUtil.isNotEmpty(dict)) { dict.setValue("0"); dict.setPara2(""); dict.setPara3("充电桩空闲"); dictService.updateDetail(dict); } - } - else { + } else { //上报异常信息 //（不需要WCS反馈） - if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19])); - } else { - device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); + + String carnoKey = String.valueOf(arr[20]); + int phaseForCarno = arr[16] * 256 + arr[17]; + if (phaseForCarno == 0x67 || phaseForCarno == 0x70 || phaseForCarno == 0x71 || phaseForCarno == 0x72 || phaseForCarno == 0x73 || phaseForCarno == 0x74) { + carnoKey = String.valueOf(arr[18] * 256 + arr[19]); } - try { - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); - CompletableFuture.runAsync(() -> { - try { - agvNdcTwoDeviceDriver.processSocket(arr); - } catch (Exception e) { - e.printStackTrace(); - log.error("agv运行逻辑报错:{}", e.getMessage()); - LuceneLogDto logDto = LuceneLogDto.builder() - .content("agv运行报错" + "报错原因:" + e.getMessage()) - .build(); - logDto.setLog_level(4); - luceneExecuteLogService.deviceExecuteLog(logDto); + final int[] arrCopy = new int[count]; + System.arraycopy(arr, 0, arrCopy, 0, count); + final String bsCopy = bs.toString(); + final String finalCarnoKey = carnoKey; + ExecutorService executor = carExecutors.computeIfAbsent(finalCarnoKey, k -> { + ExecutorService es = Executors.newSingleThreadExecutor(r -> { + Thread t = new Thread(r, "NDC2-Car-" + k); + t.setDaemon(true); + return t; + }); + return es; + }); + Device agvDevice = deviceAppService.findDeviceByCode(carnoKey); + +// if (phase == 0x67 || phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) { +// device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19])); +// } else { +// device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); +// } + if (ObjectUtil.isNotEmpty(agvDevice)) { + String car_phase = carnoKey + "_" + phaseForCarno; + AtomicBoolean atomicBoolean = CAR_PHASE.computeIfAbsent(car_phase, k -> new AtomicBoolean(false)); + if (atomicBoolean.compareAndSet(false, true)) { + executor.submit((Runnable) () -> { + try { + if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { + AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver(); + agvNdcTwoDeviceDriver.processSocket(arrCopy); + } else if (agvDevice.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) agvDevice.getDeviceDriver(); + agvNdcOneDeviceDriver.processSocket(arrCopy); } - }); - } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); - } + } catch (Exception e) { + log.info("processSocket出错:{},{},{}", e, e.getMessage(), Arrays.toString(e.getStackTrace())); + e.printStackTrace(); + } finally { + atomicBoolean.set(false); + if (CAR_PHASE.get(car_phase) == atomicBoolean) { + CAR_PHASE.remove(car_phase, atomicBoolean); + } + } + }); } else { - log.info("当前phase：" + phase + "未找到对应设备"); + logServer.deviceExecuteLog("NDC2", "", "","当前车号：" + carnoKey + "当前PHASE值：" + phaseForCarno + "正在执行中,后续不进行处理"); + log.info("当前车号：" + carnoKey + "当前PHASE值：" + phaseForCarno + "正在执行中,后续不进行处理"); } - } catch (Exception e) { - log.info("processSocket出错:{},{}", e, e.getMessage()); - e.printStackTrace(); } } if (!ObjectUtil.isEmpty(data)) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java index 026110892..ad5044870 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -102,7 +102,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int mode = 2; - public synchronized void processSocket(int[] arr) throws Exception { + public synchronized void processSocket(int[] arr) { device_code = this.getDeviceCode(); byte[] data = null; phase = arr[16] * 256 + arr[17]; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java index 6484a0472..7a5821ed3 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java @@ -106,7 +106,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic this.error_message = error_message; } - public synchronized void processSocket(int[] arr) throws Exception { + public synchronized void processSocket(int[] arr) { device_code = this.getDeviceCode(); byte[] data = null; phase = arr[16] * 256 + arr[17]; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java index 0aeb945f5..3635db72c 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java @@ -286,19 +286,19 @@ public class PlugPullDeviceSiteDeviceDriver extends AbstractOpcDeviceDriver impl } break; case 6: - if (!requireSucess) { + if (!requireSucess && StrUtil.isNotEmpty(this.barcode)) { //拔轴完成 pullShaftSucess(mode); } break; case 7: - if (!requireSucess) { + if (!requireSucess && StrUtil.isNotEmpty(this.barcode)) { //申请拔轴 applyPullShaft(mode); } break; case 8: - if (!requireSucess) { + if (!requireSucess && this.size > 0) { //缓存线已满，申请行架任务 applyTask(mode); }