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LENOVO
2024-04-01 15:09:55 +08:00
parent 5ce79d36fd a46b4877d5
commit 47c4895b66
11 changed files with 270 additions and 62 deletions
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234
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -80,55 +80,191 @@ public class NDCAgvServiceImpl implements NDCAgvService {
log.info("sendAgvInstToNDC 指令下发NDC:" + "inst_code:" + inst.getInstruction_code() + ",agv_system_type:" + agv_system_type + ",agv_inst_type:" + inst.getAgv_inst_type() +
",priority:" + inst.getPriority() + ",startAddress:" + inst.getStart_point_code() +
",nextAddress:" + inst.getNext_point_code());
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getInstruction_type());
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0E,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow
};
log.info("下发AGV作业指令--{}", str1);
// OneNDCSocketConnectionAutoRun.write(b);
TwoNDCSocketConnectionAutoRun.write(b);
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
if (!StrUtil.equals(agv_system_type, "1")) {
String instcode = inst.getInstruction_code();
int type = Integer.parseInt(inst.getAgv_inst_type());
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
int startAddress2 = deviceService.queryAddressBydeviceCode(inst.getStart_point_code2());
int nextAddress2 = deviceService.queryAddressBydeviceCode(inst.getNext_point_code2());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte qhdhigh2 = (byte) IntToHexHigh(startAddress2);
byte qhdlow2 = (byte) IntToHexLow(startAddress2);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte fhdhigh2 = (byte) IntToHexHigh(nextAddress2);
byte fhdlow2 = (byte) IntToHexLow(nextAddress2);
byte prioritylow = (byte) IntToHexLow(priority);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "任务号 ikey:" + (Integer.parseInt(instcode));
str1 += "任务号 ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "指令类型 /type:" + (type);
str1 += "指令类型 /type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "取货点 /qhd:" + (startAddress);
str1 += "取货点 /qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "放货点 /fhd:" + (nextAddress);
str1 += "放货点 /fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "取货点2 /qhd2:" + (startAddress2);
str1 += "取货点2 /qhd2:" + hexToString(qhdhigh2 & 0xFF) + hexToString(qhdlow2 & 0xFF);
str += "放货点2 /fhd2:" + (nextAddress2);
str1 += "放货点2 /fhd2:" + hexToString(fhdhigh2 & 0xFF) + hexToString(fhdlow2 & 0xFF);
str += "优先级 /priority:" + (priority);
str1 += "优先级 /priority:" + hexToString(prioritylow & 0xFF);
byte[] b = new byte[]{};
if (type == 1) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
} else if (type == 2) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) 0X00, (byte) 0X00,
(byte) fhdhigh, (byte) fhdlow,
(byte) 0X00, (byte) 0X00
};
} else if (type == 3) {
b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) qhdhigh2, (byte) qhdlow2,
(byte) fhdhigh, (byte) fhdlow,
(byte) fhdhigh2, (byte) fhdlow2
};
}
log.info("下发AGV作业指令 --{}", str1);
log.info("下发AGV作业指令--{}", str);
log.info("下发agv指令数据--{}", Bytes2HexString(b));
if (StrUtil.equals(agv_system_type, "2")) {
TwoNDCSocketConnectionAutoRun.write(b);
}
} else {
String instcode = inst.getInstruction_code();
int startHeight = Integer.parseInt(StrUtil.isEmpty(inst.getStart_height()) ? "0" : inst.getStart_height());
int nextHeight = Integer.parseInt(StrUtil.isEmpty(inst.getNext_height()) ? "0" : inst.getNext_height());
//默认取货放货高度都为0
//int type = Integer.parseInt(inst.getInstruction_type());
int type = 4;
if (startHeight != 0 && nextHeight != 0) {
//取货放货高度都不为0
type = 1;
} else if (startHeight != 0 && nextHeight == 0) {
//取货高度不为0 放货高度为0
type = 2;
} else if (startHeight == 0 && nextHeight != 0) {
//取货高度为0 放货高度不为0
type = 3;
}
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte typehigh = (byte) IntToHexHigh(type);
byte typelow = (byte) IntToHexLow(type);
byte qhdhigh = (byte) IntToHexHigh(startAddress);
byte qhdlow = (byte) IntToHexLow(startAddress);
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
byte shhigh = (byte) IntToHexHigh(startHeight);
byte shlow = (byte) IntToHexLow(startHeight);
byte nhhigh = (byte) IntToHexHigh(nextHeight);
byte nhlow = (byte) IntToHexLow(nextHeight);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "/type:" + (type);
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
str += "/qhd:" + (startAddress);
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
str += "/fhd:" + (nextAddress);
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) ikeyhigh, (byte) ikeylow,
(byte) typehigh, (byte) typelow,
(byte) qhdhigh, (byte) qhdlow,
(byte) fhdhigh, (byte) fhdlow,
(byte) shhigh, (byte) shlow,
(byte) nhhigh, (byte) nhlow
};
log.info("下发AGV作业指令 --{}", str1);
log.info("下发AGV作业指令--{}", str);
log.info("下发agv指令数据--{}", Bytes2HexString(b));
OneNDCSocketConnectionAutoRun.write(b);
}
}
}

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -117,7 +117,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];

3
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -230,7 +230,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
} catch (Exception e) {
e.printStackTrace();
}
if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1 && standardInspectSiteDeviceDriver.getError() == 0)) {
if ((standardInspectSiteDeviceDriver.getMove() == 1 && standardInspectSiteDeviceDriver.getAction() == 1
&& standardInspectSiteDeviceDriver.getError() == 0)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
message = "设备号:" + device_code + "光电信号:" + standardInspectSiteDeviceDriver.getMove() + ",动作信号:" + standardInspectSiteDeviceDriver.getAction() + "报警信号:" + standardInspectSiteDeviceDriver.getError() + ",指令号:" + ikey + "不满足取货条件";

6
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java
View File

@@ -489,6 +489,12 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
Integer start = 0;
String start_device_code = pathlist.get(start);
String next_device_code = pathlist.get(start+1);
//判断有无出入库任务是相同路线
TaskDto dto = taskserver.findByCodeAndExcute(taskdto.getNext_device_code(), taskdto.getStart_device_code());
if (ObjectUtil.isNotEmpty(dto)){
requireSucess = false;
return false;
}
packageInstrcutData(instdto, taskdto, taskid, taskcode, vehiclecode, priority,start_device_code,next_device_code);
}else {

12
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/oven_manipulator/OvenGantryManipulatorDeviceDriver.java
View File

@@ -707,7 +707,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
if (linkDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) linkDevice.getDeviceDriver();
//判断关联设备是否开门
if (hongXiangConveyorDeviceDriver.getDoor() == 1) {
if (hongXiangConveyorDeviceDriver.getDoor() == 1 || hongXiangConveyorDeviceDriver.getError1() != 0
|| hongXiangConveyorDeviceDriver.getError() != 0) {
isClose = true;
notCreateInstMessage = start_device_code + "关联设备->" + deviceCode + "烘箱门未关闭！";
break;
@@ -732,7 +733,8 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
if (linkDevice.getDeviceDriver() instanceof HongXiangConveyorDeviceDriver) {
hongXiangConveyorDeviceDriver = (HongXiangConveyorDeviceDriver) linkDevice.getDeviceDriver();
//判断关联设备是否开门
if (hongXiangConveyorDeviceDriver.getDoor() == 1) {
if (hongXiangConveyorDeviceDriver.getDoor() == 1 || hongXiangConveyorDeviceDriver.getError1() != 0
|| hongXiangConveyorDeviceDriver.getError() != 0) {
isClose = true;
notCreateInstMessage = next_device_code + "关联设备->" + deviceCode + "烘箱门未关闭！";
break;
@@ -812,8 +814,9 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
int door = hongXiangConveyorDeviceDriver.getDoor();
int action = hongXiangConveyorDeviceDriver.getAction();
int error1 = hongXiangConveyorDeviceDriver.getError1();
int error = hongXiangConveyorDeviceDriver.getError();
int move = hongXiangConveyorDeviceDriver.getMove();
if (mode == 1 && door == 1 && action == 1 && error1 == 0 && move == 1) {
if (mode == 1 && door == 1 && action == 1 && error == 0 && error1 == 0 && move == 1) {
if (this.getNow_steps_type() == 2) {
map.put("code", "to_command");
map.put("value", "2");
@@ -920,8 +923,9 @@ public class OvenGantryManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
int door = hongXiangConveyorDeviceDriver.getDoor();
int action = hongXiangConveyorDeviceDriver.getAction();
int error1 = hongXiangConveyorDeviceDriver.getError1();
int error = hongXiangConveyorDeviceDriver.getError();
int move = hongXiangConveyorDeviceDriver.getMove();
if (mode == 1 && door == 1 && action == 1 && error1 == 0 && move == 0) {
if (mode == 1 && door == 1 && action == 1 && error == 0 && error1 == 0 && move == 0) {
if (this.getNow_steps_type() == 4) {
map.put("code", "to_command");
map.put("value", "4");

9
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -388,6 +388,15 @@ public interface TaskService extends CommonService<Task> {
*/
TaskDto findByStartCodeAndReady(String device_code);
/**
* 根据起点设备编号查询当前是否有执行中任务
*
* @param start_code
* @param next_code
* @return
*/
TaskDto findByCodeAndExcute(String start_code,String next_code);
/**
* 根据终点设备编号查询当前是否有就绪任务

13
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -516,7 +516,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
public List<TaskDto> findByTaskStatus(String status) {
List<TaskDto> taskDtoList = new ArrayList<>();
Iterator<TaskDto> iterator = tasks.iterator();
if (iterator.hasNext()) {
while (iterator.hasNext()) {
TaskDto task = iterator.next();
if (StrUtil.equals(task.getTask_status(), status)) {
taskDtoList.add(task);
@@ -1077,6 +1077,17 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
return optionalTask.orElse(null);
}
@Override
public TaskDto findByCodeAndExcute(String start_code, String next_code) {
Task task = this.lambdaQuery()
.eq(Task::getStart_device_code, start_code)
.eq(Task::getNext_device_code, next_code)
.eq(Task::getTask_status, TaskStatusEnum.BUSY.getIndex())
.one();
TaskDto taskDto = BeanUtil.copyProperties(task, TaskDto.class);
return taskDto;
}
@Override
public TaskDto findByEndCodeAndReady(String device_code) {

7
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java
View File

@@ -3,6 +3,7 @@ package org.nl.system.service.quartz.task;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils;
@@ -55,10 +56,14 @@ public class CreateDDJInst {
Device startDevice = appService.findDeviceByCode(start_device_code);
String next_device_code = taskDto.getNext_device_code();
Device nextDevice = appService.findDeviceByCode(next_device_code);
//判断有无出入库任务是相同路线
TaskDto dto = taskserver.findByCodeAndExcute(next_device_code, start_device_code);
if (ObjectUtil.isNotEmpty(dto)){
return;
}
if (startDevice.getDevice_type().equals(DeviceType.storage.name()) &&
(nextDevice.getDevice_type().equals(DeviceType.conveyor.name()) || nextDevice.getDevice_type().equals(DeviceType.storage.name()))) {
taskDtoList.add(taskDto);
}
}
if (CollUtil.isNotEmpty(taskDtoList)) {

33
acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml Normal file
View File

@@ -0,0 +1,33 @@
<?xml version="1.0" encoding="UTF-8"?>
<included>
<springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
<property name="LOG_HOME" value="${logPath}"/>
<!-- 按照每天生成日志文件 -->
<appender name="FILE18" class="ch.qos.logback.core.rolling.RollingFileAppender">
<rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
<!--日志文件输出的文件名-->
<FileNamePattern>${LOG_HOME}/agv下发/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
<!--日志文件保留天数-->
<maxHistory>15</maxHistory>
<!--单个日志最大容量 至少10MB才能看得出来-->
<maxFileSize>200MB</maxFileSize>
<!--所有日志最多占多大容量-->
<totalSizeCap>2GB</totalSizeCap>
</rollingPolicy>
<encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
<!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
<pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
<charset>${log.charset}</charset>
</encoder>
</appender>
<!-- <logger name="org.nl.start.Init" level="info" additivity="true">
<appender-ref ref="FILE3"/>
</logger>-->
<!-- 打印sql -->
<logger name="org.nl.acs.agv.server.impl.NDCAgvServiceImpl" level="info" additivity="true">
<appender-ref ref="FILE18"/>
</logger>
</included>

1
acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml
View File

@@ -21,6 +21,7 @@ https://juejin.cn/post/6844903775631572999
<include resource="log/ACSToLMS.xml"/>
<include resource="log/LMSToACS.xml"/>
<include resource="log/TwoNDCSocketConnectionAutoRun.xml"/>
<include resource="log/NDCAgvServiceImpl.xml"/>
<appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
<!--withJansi 参数改为true-->