From 447c1750495d02d1180e248d5852bed969f0eb24 Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Mon, 8 Jul 2024 13:44:20 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E5=86=85=E5=8C=85=E9=97=B4=E4=BC=98?= =?UTF-8?q?=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/org/nl/acs/agv/AgvWaitUtil.java | 5 +- .../java/org/nl/acs/agv/QueryAGVStatus.java | 19 ++++++++ .../server/impl/XianGongAgvServiceImpl.java | 2 +- .../agv/xg_agv_car/XgAgvCarDeviceDriver.java | 7 +++ ...TwoManipulatorManipulatorDeviceDriver.java | 26 ++++++----- .../org/nl/acs/task/enums/ActionTypeEnum.java | 2 +- .../quartz/task/AutoCleanLucenceLog.java | 1 + acs2/nladmin-ui/src/i18n/langs/monitor/en.js | 3 +- acs2/nladmin-ui/src/i18n/langs/monitor/in.js | 3 +- acs2/nladmin-ui/src/i18n/langs/monitor/zh.js | 3 +- .../src/views/system/monitor/device/index.vue | 46 +++++++++++-------- 11 files changed, 80 insertions(+), 37 deletions(-) diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java index 74b903364..057142d88 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java @@ -12,6 +12,7 @@ import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.enums.ActionTypeEnum; +import org.nl.acs.task.enums.AgvActionTypeEnum; import org.nl.acs.task.enums.AgvSystemTypeEnum; import org.nl.common.exception.BadRequestException; import org.nl.config.lucene.service.LuceneExecuteLogService; @@ -129,7 +130,9 @@ public class AgvWaitUtil { } //诺宝agv调lms更新点位 if (inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) { - applyLmsGetOut(inst); + if (!AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) { + applyLmsGetOut(inst); + } if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) { manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver(); if (manipulatorAgvStationDeviceDriver.getTo_command() != 3) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java index b30688d40..e7ab768c7 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java @@ -11,14 +11,19 @@ import com.fasterxml.jackson.databind.JsonNode; import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device_driver.agv.xg_agv_car.XgAgvCarDeviceDriver; import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.opc.DeviceAppService; import org.nl.acs.task.domain.Task; +import org.nl.acs.task.enums.AgvActionTypeEnum; import org.nl.acs.task.enums.AgvSystemTypeEnum; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.config.SpringContextHolder; import org.nl.system.service.param.ISysParamService; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.List; @@ -31,6 +36,10 @@ import java.util.stream.Collectors; @Component("queryAGVStatus") public class QueryAGVStatus { + + @Autowired + private DeviceAppService deviceAppService; + public void run() { InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class); TaskService taskService = SpringContextHolder.getBean(TaskService.class); @@ -64,6 +73,7 @@ public class QueryAGVStatus { //执行中 String state = json.getString("state"); String carNo = json.getString("vehicle"); + String instructionCode = json.getString("id"); if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) { instruction.setInstruction_status("1"); instruction.setCarno(carNo); @@ -73,6 +83,15 @@ public class QueryAGVStatus { task.setTask_id(instruction.getTask_id()); instructionService.update(instruction); taskService.update(task); + if (StrUtil.isNotEmpty(instructionCode)){ + Device carCode = deviceAppService.findDeviceByCode(instructionCode); + XgAgvCarDeviceDriver xgAgvCarDeviceDriver; + if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver){ + xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver(); + xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type())); + } + } + } else if ("FINISHED".equals(state)) { instruction.setInstruction_status("2"); try { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index f61af8435..b378db419 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -936,7 +936,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - agvurl = agvurl + ":" + agvport + "/" + " robotsStatus?vehicles=" + robotCode; + agvurl = agvurl + ":" + agvport + "/" + "robotsStatus?vehicles=" + robotCode; log.info("根据指定机器人查询状态的请求:{}", agvurl); HttpResponse result = HttpRequest.get(agvurl) .timeout(20000)//超时，毫秒 diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java index 2a275b95a..713c39a0d 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java @@ -180,6 +180,11 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device */ private int unlock = 0; + /** + * agv二次分配类型（1、普通任务 2、取货二次分配 3、防货二次分配 4、取放货二次分配） + */ + private String taskType = ""; + String device_code = null; String container; @@ -241,8 +246,10 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device map.put("low_battery", low_battery ? "低电量": "正常"); map.put("suspended", suspended ? "订单被暂停,需要人工手动恢复": "正常"); map.put("message", message); + map.put("agv_task_type", taskType); map.put("unconfirmed_reloc", unconfirmed_reloc ? "未确认定位" : "正常"); map.put("unlock", unlock == 0 ? "控制权在core手上" : unlock == 1 ? "控制权被其他人抢走" : unlock == 2 ?"控制权没有被抢占" : "未知"); + JSONObject jo = new JSONObject(map); return jo; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java index f3c2f5760..4ac8ed7ad 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java @@ -17,11 +17,9 @@ import org.nl.acs.device_driver.DeviceDriver; import org.nl.acs.device_driver.FeedLmsRealFailed; import org.nl.acs.device_driver.RouteableDeviceDriver; import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver; -import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; import org.nl.acs.device_driver.one_conveyor.manipulator_cache.ManipulatorCacheDeviceDriver; -import org.nl.acs.device_driver.one_manipulator.trapped_manipulator.InteractionJsonDTO; import org.nl.acs.enums.VolumeTwoTypeEnum; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; @@ -47,7 +45,6 @@ import org.nl.config.SpringContextHolder; import org.nl.config.language.LangProcess; import org.nl.config.lucene.service.LuceneExecuteLogService; import org.nl.config.lucene.service.dto.LuceneLogDto; -import org.springframework.beans.factory.annotation.Autowired; import java.util.*; import java.util.stream.Collectors; @@ -200,7 +197,14 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi } //四个点行架任务，满轴放货完成后调lms生成rgv任务 if (action == 6 && task > 0 ){ - creatAGV(); + Integer actionType = ActionTypeEnum.RELEASE_FINISHING.getCode(); + creatAGV(actionType,action); + } + + //空载具取货完成 + if (action == 7 && task > 0 ){ + Integer actionType = ActionTypeEnum.IN_FINISHING.getCode(); + creatAGV(actionType, action); } } catch (Exception var17) { @@ -274,14 +278,14 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi last_to_type = to_type; } - private void creatAGV() { + private void creatAGV(Integer actionType, int toCommand) { Instruction instruction = checkInst(); JSONObject param = new JSONObject(); param.put("taskCode", instruction.getTask_code()); - param.put("actionType",ActionTypeEnum.RELEASE_FINISHING.getCode() ); + param.put("actionType",actionType ); LuceneLogDto logDto = LuceneLogDto.builder() .device_code(device_code) - .content("满轴放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.RELEASE_FINISHING.getStatus()) + .content("行架取放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.RELEASE_FINISHING.getStatus()) .build(); logDto.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto); @@ -290,25 +294,25 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi if (jo.getInteger("status") == 200) { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) - .content("满轴放货完成请求lms,参数,接口返回:" + jo) + .content("行架取放货完成请求lms,参数,接口返回:" + jo) .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); Map map1 = new HashMap<>(); List list = new ArrayList(); map1.put("code", "to_command"); - map1.put("value", 6); + map1.put("value", toCommand); list.add(map1); this.writing(list); } else { LuceneLogDto logDto2 = LuceneLogDto.builder() .device_code(device_code) - .content("满轴放货完成请求lms,返回参数:" + jo) + .content("行架取放货完成请求lms,返回参数:" + jo) .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); - throw new BadRequestException("满轴放货完成请求lms返回失败"); + throw new BadRequestException("行架取放货完成请求lms返回失败"); } } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java index 82ed79f60..6278738d3 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/ActionTypeEnum.java @@ -26,9 +26,9 @@ public enum ActionTypeEnum { */ RELEASE_FINISHING(4, "满轴放货完成"); + Integer code; String status; - public static String getStatus(Integer code) { for (ActionTypeEnum value : values()) { if (value.code.equals(code)) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCleanLucenceLog.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCleanLucenceLog.java index 79bbe93d7..329254267 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCleanLucenceLog.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCleanLucenceLog.java @@ -51,6 +51,7 @@ public class AutoCleanLucenceLog { String endDate = DateUtil.format(calendar.getTime(), "yyyy-MM-dd HH:mm:ss.SSS"); TermRangeQuery termRangeQuery = new TermRangeQuery("logTime", new BytesRef(startDate), new BytesRef(endDate), true, true); writer.deleteDocuments(termRangeQuery); + writer.commit(); writer.close(); } } diff --git a/acs2/nladmin-ui/src/i18n/langs/monitor/en.js b/acs2/nladmin-ui/src/i18n/langs/monitor/en.js index 2b20df1bd..8715378b6 100644 --- a/acs2/nladmin-ui/src/i18n/langs/monitor/en.js +++ b/acs2/nladmin-ui/src/i18n/langs/monitor/en.js @@ -139,7 +139,8 @@ export default { 'Core_error_identifier': 'Core error identifier', 'Current_command_information': 'Current command information', 'The_signal_is_successfully_marked': 'The signal is successfully marked', - 'Complement_information': 'Complement information' + 'Complement_information': 'Complement information', + 'agv_task_type': 'task type' } } } diff --git a/acs2/nladmin-ui/src/i18n/langs/monitor/in.js b/acs2/nladmin-ui/src/i18n/langs/monitor/in.js index 557e4f6f7..a7ca9a493 100644 --- a/acs2/nladmin-ui/src/i18n/langs/monitor/in.js +++ b/acs2/nladmin-ui/src/i18n/langs/monitor/in.js @@ -139,7 +139,8 @@ export default { 'Core_error_identifier': 'Pengenal kesalahan inti', 'Current_command_information': 'Informasi perintah saat ini', 'The_signal_is_successfully_marked': 'Sinyal berhasil ditandai', - 'Complement_information': 'Informasi pelengkap' + 'Complement_information': 'Informasi pelengkap', + 'agv_task_type': 'Jenis tugas' } } } diff --git a/acs2/nladmin-ui/src/i18n/langs/monitor/zh.js b/acs2/nladmin-ui/src/i18n/langs/monitor/zh.js index 092e435c3..7cf9458b6 100644 --- a/acs2/nladmin-ui/src/i18n/langs/monitor/zh.js +++ b/acs2/nladmin-ui/src/i18n/langs/monitor/zh.js @@ -139,7 +139,8 @@ export default { 'Core_error_identifier': 'Core出错标识位', 'Current_command_information': '当前指令信息', 'The_signal_is_successfully_marked': '信号成功标记', - 'Complement_information': '补码信息' + 'Complement_information': '补码信息', + 'agv_task_type': '任务类型' } } } diff --git a/acs2/nladmin-ui/src/views/system/monitor/device/index.vue b/acs2/nladmin-ui/src/views/system/monitor/device/index.vue index 57f44517e..9589b7a53 100644 --- a/acs2/nladmin-ui/src/views/system/monitor/device/index.vue +++ b/acs2/nladmin-ui/src/views/system/monitor/device/index.vue @@ -9,7 +9,7 @@ /> -
+
- + - + @@ -62,7 +62,7 @@ - + @@ -72,7 +72,7 @@ - +
@@ -85,7 +85,7 @@ - + @@ -109,7 +109,7 @@ - + @@ -127,10 +127,10 @@ - + - + @@ -154,7 +154,7 @@ - + @@ -179,11 +179,11 @@ - + - +
@@ -196,7 +196,7 @@ - + @@ -206,13 +206,13 @@ - + - + - + @@ -229,13 +229,13 @@ - + - + - + @@ -779,7 +779,10 @@ export default { const obj = { name: i18n.t('monitor.click.Whether_or_not_in_the_scene'), value: data[val] } this.arr.push(obj) } else if (val === 'disconnect') { - const obj = { name: i18n.t('monitor.click.Whether_or_not_the_connection_is_disconnected'), value: data[val] } + const obj = { + name: i18n.t('monitor.click.Whether_or_not_the_connection_is_disconnected'), + value: data[val] + } this.arr.push(obj) } else if (val === 'low_battery') { const obj = { name: i18n.t('monitor.click.The_state_of_the_robots_battery_level'), value: data[val] } @@ -799,6 +802,9 @@ export default { } else if (val === 'type') { const obj = { name: i18n.t('opc.table_title.type'), value: data[val] } this.arr.push(obj) + } else if (val === 'agv_task_type') { + const obj = { name: i18n.t('monitor.click.agv_task_type'), value: data[val] } + this.arr.push(obj) } } }