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rev:ndc线程处理

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This commit is contained in:
gengby
2026-01-04 18:43:45 +08:00
parent d698739469
commit 2eadea497f
4 changed files with 78 additions and 54 deletions
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122
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -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<String, ExecutorService> carExecutors = new ConcurrentHashMap<>();
private final ConcurrentHashMap<String, AtomicBoolean> 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<String, Object> 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<String, Object> 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)) {

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -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];

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -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];

6
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/plug_pull_device_site/PlugPullDeviceSiteDeviceDriver.java
View File

@@ -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);
}