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rev：一楼桁架交互、AGV任务状态查询接口更新

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This commit is contained in:
gengby
2025-10-11 09:40:33 +08:00
parent fa976d8037
commit fa267dcef8
7 changed files with 377 additions and 209 deletions
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185
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
View File

@@ -28,6 +28,7 @@ import org.springframework.stereotype.Service;
import java.util.LinkedHashMap;
import java.util.Map;
import java.util.Optional;
/**
* @author zhangjiangwei
@@ -65,6 +66,22 @@ public class AgvWaitUtil {
if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) {
manipulatorAgvStationDeviceDriver.writing(2);
}
int i = 0;
while (true){
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() == 1){
break;
}
if (i >= 4){
break;
}
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
i++;
}
if (manipulatorAgvStationDeviceDriver.getAction() == 1) {
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code(inst.getCarno())
@@ -76,14 +93,18 @@ public class AgvWaitUtil {
map.put("status", 200);
map.put("message", "允许取货！");
log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
} else {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
.content("未给agv进入信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 桁架不允许取货! ")
.log_level(4)
.build());
throw new BadRequestException("行架不允许取货");
}
@@ -93,31 +114,34 @@ public class AgvWaitUtil {
if (startDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver) {
boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver();
if (boxSubvolumesConveyorDeviceDriver.getMode() == 2) {
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("叉车允许取货")
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
} else {
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("agv叉车对接位输送线不允许取货:" + inst.getCarno() + "点位号" + boxSubvolumesConveyorDeviceDriver.getDevice_code())
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
throw new BadRequestException("上位系统不允许取货");
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 设备不满足信号, 不允许取货! ")
.log_level(4)
.build());
throw new BadRequestException("设备不满足信号, 不允许取货");
}
}
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
@@ -145,21 +169,41 @@ public class AgvWaitUtil {
if (manipulatorAgvStationDeviceDriver.getTo_command() != 3) {
manipulatorAgvStationDeviceDriver.writing(3);
}
int i = 0;
while (true){
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2){
break;
}
if (i >= 4){
break;
}
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
i++;
}
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.isSendLms).getValue(), CommonFinalParam.ONE)){
if (StrUtil.equals(paramService.findByCode(AcsConfig.isSendLms).getValue(), CommonFinalParam.ONE)) {
if (!AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
applyLmsGetOut(inst);
} else {
boolean ignore_pickup_check = Optional.ofNullable(startDevice.getExtraValue().get("ignore_pickup_check")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
if (ignore_pickup_check) {
applyLmsGetOut(inst);
}
}
}
} else {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
.content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", startDeviceCode);
throw new BadRequestException("上位系统不允许agv离开");
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV取货完成离开! ")
.log_level(4)
.build());
throw new BadRequestException("桁架信号不满足条件,不允许AGV取货完成离开");
}
}
@@ -169,6 +213,11 @@ public class AgvWaitUtil {
map.put("message", "允许离开！");
log.info("允许仙工AGV取货完成后请求离开，返回参数 - {}", map);
log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
@@ -191,6 +240,11 @@ public class AgvWaitUtil {
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 请求LMS追加动诺宝作块, LMS返回成功")
.log_level(4)
.build());
} else {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(inst.getCarno())
@@ -198,6 +252,11 @@ public class AgvWaitUtil {
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: 请求LMS追加动诺宝作块, LMS返回失败")
.log_level(4)
.build());
throw new BadRequestException("追加动诺宝作块返回失败");
}
}
@@ -212,15 +271,31 @@ public class AgvWaitUtil {
if (manipulatorAgvStationDeviceDriver.getTo_command() != 4) {
manipulatorAgvStationDeviceDriver.writing(4);
}
int i = 0;
while (true){
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() == 1){
break;
}
if (i >= 4){
break;
}
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
i++;
}
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() != 1) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
.content("未给agv进入信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV放货! ")
.log_level(4)
.build());
log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDevice);
throw new BadRequestException("上位系统不允许取货");
throw new BadRequestException("桁架信号不满足条件, 不允许AGV放货");
}
}
@@ -234,6 +309,11 @@ public class AgvWaitUtil {
map.put("status", 200);
map.put("message", "允许放货！");
log.info("允许仙工AGV放货，设备号 - {}", endDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
@@ -248,15 +328,31 @@ public class AgvWaitUtil {
if (manipulatorAgvStationDeviceDriver.getTo_command() != 5) {
manipulatorAgvStationDeviceDriver.writing(5);
}
int i = 0;
while (true){
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() == 0){
break;
}
if (i >= 4){
break;
}
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
i++;
}
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver();
if (manipulatorAgvStationDeviceDriver.getAction() != 0) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
.content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看开始请求 }, 响应结果: 桁架信号不满足条件, 不允许AGV放货完成离开! ")
.log_level(4)
.build());
log.info("不允许仙工AGV取货,对接位有报警，设备号 - {}", endDeviceCode);
throw new BadRequestException("上位系统不允许agv离开");
throw new BadRequestException("桁架信号不满足条件, 不允许AGV放货完成离开!");
}
}
@@ -268,6 +364,11 @@ public class AgvWaitUtil {
map.put("status", 200);
map.put("message", "允许离开！");
log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("AGV开始响应.....,请求参数: {查看开始请求}, 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
}

136
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java
View File

@@ -1,33 +1,17 @@
package org.nl.acs.agv;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import cn.hutool.http.HttpUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
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.agv.server.XianGongAgvService;
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;
import java.util.stream.Collectors;
/**
* 定时查询AGV状态
@@ -38,79 +22,53 @@ public class QueryAGVStatus {
@Autowired
private DeviceAppService deviceAppService;
private XianGongAgvService agvService;
@Autowired
private InstructionService instructionService;
public void run() {
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
TaskService taskService = SpringContextHolder.getBean(TaskService.class);
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
List<Instruction> allInstFromCache = instructionService.findAllInstFromCache();
List<Instruction> agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList());
if (CollUtil.isEmpty(agvInstruction) || agvInstruction.size() < 1) {
return;
}
for (Instruction instruction : agvInstruction) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
JSONObject param = new JSONObject();
agvurl = agvurl + ":" + agvport + "/orderDetails/" + instruction.getInstruction_code();
log.info("根据运单号查询运单状态的请求:{}", agvurl);
HttpResponse result = HttpRequest.get(agvurl)
.timeout(20000)//超时，毫秒
.execute();
log.info("根据运单号查询运单状态的请求反馈:{}", result);
String body = result.body();
JSONObject json = JSONObject.parseObject(body);
if (result.getStatus() == 200 && json.getString("id").equals(instruction.getInstruction_code())) {
// 已创建=CREATED，
// 待分配=TOBEDISPATCHED，
// 正在执行=RUNNING，
// 完成=FINISHED，
// 失败=FAILED(主动失败)，
// 终止=STOPPED(被人为终止)，
// 无法执行=Error(参数错误)，
// 等待=WAITING
//执行中
String state = json.getString("state");
String carNo = json.getString("vehicle");
String instructionCode = json.getString("id");
if ("RUNNING".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
TaskDto task = taskService.findById(instruction.getTask_id());
if ("0".equals(instruction.getInstruction_status())&&"1".equals(task.getTask_status())) {
instruction.setCarno(carNo);
instruction.setInstruction_status("1");
instructionService.update(instruction);
task.setCarno(carNo);
task.setTask_id(instruction.getTask_id());
instructionService.update(instruction);
taskService.update(task);
if (StrUtil.isNotEmpty(instructionCode)) {
Device carCode = deviceAppService.findDeviceByCode(instructionCode);
XgAgvCarDeviceDriver xgAgvCarDeviceDriver;
if (null != carCode) {
if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) {
xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver();
xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type()));
}
}
}
}
public void run() throws Exception {
} else if ("FINISHED".equals(state)) {
if (!"2".equals(instruction.getInstruction_status())) {
instruction.setInstruction_status("2");
try {
instructionService.finish(instruction);
} catch (Exception e) {
log.error("执行完成，但无法更新状态，可能由于参数错误导致的异常");
e.printStackTrace();
}
}
} else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
if (!"1".equals(instruction.getInstruction_status())) {
instruction.setInstruction_status("1");
instructionService.update(instruction);
}
HttpResponse response = agvService.queryXZAgvInstStatus();
JSONObject jo = JSONArray.parseObject(response.body());
JSONArray ja = JSONArray.parseArray(jo.getString("list"));
for (int i = 0; i < ja.size(); i++) {
JSONObject one = (JSONObject) ja.get(i);
String inst_code = one.getString("id");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst))
continue;
String state = one.getString("state");
if (!StrUtil.isEmpty(one.getString("vehicle"))) {
String carno = one.getString("vehicle");
inst.setCarno(carno);
}
// 已创建=CREATED，
// 待分配=TOBEDISPATCHED，
// 正在执行=RUNNING，
// 完成=FINISHED，
// 失败=FAILED(主动失败)，
// 终止=STOPPED(被人为终止)，
// 无法执行=Error(参数错误)，
// 等待=WAITING
//执行中
if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) {
if (inst != null && "0".equals(inst.getInstruction_status())) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
if (inst != null) {
//inst.setInstruction_status("1");
//instructionService.update(inst);
}
}
}

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

@@ -60,6 +60,8 @@ public interface XianGongAgvService {
*/
public HttpResponse queryXZAgvInstStatus(String instCode);
public HttpResponse queryXZAgvInstStatus();
/**
* 删除先知任务
*

170
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
View File

@@ -238,6 +238,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
}
@Override
public HttpResponse queryXZAgvInstStatus() {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/orders?page=1&size=50&orderBy=createTime&orderMethod=descending";
HttpResponse result = HttpRequest.get(agvurl)
.timeout(20000)//超时，毫秒
.execute();
log.info("queryXZAgvInstStatus----查询agv指令数据:{}" + result.body());
return result;
} else {
return null;
}
}
@Override
public HttpResponse deleteXZAgvInst(String instCode) {
@@ -741,25 +760,29 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@Override
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始请求.....,请求参数:" + JSON.toJSONString(requestParam))
.log_level(4)
.build());
log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
String inst_code = requestParam.getString("task_code");
Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(instructionDto)) {
LuceneLogDto logDto = LuceneLogDto.builder()
.content("请求失败，未找到指令！" + inst_code)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 指令号不存在!")
.log_level(4)
.build());
throw new BadRequestException("请求失败，未找到指令！");
}
String address = requestParam.getString("address");
if (StrUtil.isBlank(address)) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("请求失败，地址为空！" )
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 请求地址为空!")
.log_level(4)
.build());
throw new BadRequestException("请求失败，地址为空！");
}
if (address.contains("IN") || address.contains("WAIT")) {
@@ -771,17 +794,15 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
deviceCodeNow = address.substring(0, address.length() - 5);
}
if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("设备号 " + deviceCodeNow + " 不存在！")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: 设备号: " + deviceCodeNow + "不存在! ")
.log_level(4)
.build());
throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
}
//一楼诺宝agv
if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
if (address.contains("GET")) {
return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
} else if (address.contains("PUT")) {
@@ -795,6 +816,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "取货二次分配追加诺宝成功！");
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
//如果是放货二次分配，取放货二次分配需要重新追加动作块
@@ -806,6 +832,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "放货二次分配追加诺宝成功！");
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
}
@@ -823,12 +854,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
map.put("status", 200);
map.put("message", "允许叉车放货！" + "点位" + newPointCode);
log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车允许放货" + "新点位:" + newPointCode + map )
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(map))
.log_level(4)
.build());
return map;
}
//放货前等待
@@ -841,6 +871,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
if (address.contains("OUT")) {
String deviceCodeNow = address.substring(0, address.length() - 6);
if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果:设备号 " + deviceCodeNow + "不存在！ ")
.log_level(4)
.build());
throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
}
@@ -849,6 +884,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
if (StringUtil.equals("200", jsonObject.getString("status"))) {
log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(jsonObject))
.log_level(4)
.build());
return jsonObject;
}
} else if (address.contains("PUT")) {
@@ -856,48 +896,62 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
if (StringUtil.equals("200", jsonObject.getString("status"))) {
log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: " + JSON.toJSONString(jsonObject))
.log_level(4)
.build());
return jsonObject;
}
}
}
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(requestParam.getString("task_code"))
.content("AGV开始响应.....,请求参数:" + JSON.toJSONString(requestParam) + ", 响应结果: IN OUT 站点错误!")
.log_level(4)
.build());
throw new BadRequestException("请求失败，IN OUT 站点错误!");
}
private String applyCCAgvTask(String task_code, Instruction instructionDto) {
JSONObject param = new JSONObject();
param.put("task_code", task_code);
LuceneLogDto logDto = LuceneLogDto.builder()
JSONObject param = new JSONObject();
param.put("task_code", task_code);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车二次分配请求lms,参数:" + task_code)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
String response = acsToWmsService.applySendOutTwo(param);
JSONObject jo = JSON.parseObject(response);
if (jo.getInteger("status") == 200) {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车二次分配请求lms,参数:" + task_code)
.content("叉车二次分配请求lms,参数,接口返回:" + jo)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
String response = acsToWmsService.applySendOutTwo(param);
JSONObject jo = JSON.parseObject(response);
if (jo.getInteger("status") == 200) {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车二次分配请求lms,参数,接口返回:" + jo)
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
//二次分配更新点位
updataTask(instructionDto, jo.getString("data"));
//请求成功调用叉车追加动作块
sendAddSequencesToCCAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
return jo.getString("data");
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
//二次分配更新点位
updataTask(instructionDto, jo.getString("data"));
//请求成功调用叉车追加动作块
sendAddSequencesToCCAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
return jo.getString("data");
} else {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车二次分配请求lms失败,返回参数:" + jo.getString("message"))
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
throw new BadRequestException("叉车二次分配请求lms返回失败");
}
} else {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车二次分配请求lms失败,返回参数:" + jo.getString("message"))
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(instructionDto.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看请求参数 }, 响应结果: 二次分配请求LMS, LMS返回失败 ")
.log_level(4)
.build());
throw new BadRequestException("叉车二次分配请求lms返回失败");
}
}
private void sendAddSequencesToCCAgv(String instructionCode, String nextPoint, Instruction instructionDto) {
@@ -1009,6 +1063,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(instructionDto.getInstruction_code())
.content("AGV开始响应.....,请求参数: { 请查看请求参数 }, 响应结果: 二次分配请求LMS, LMS返回失败 ")
.log_level(4)
.build());
throw new BadRequestException("二次分配请求lms返回失败");
}
@@ -1085,7 +1144,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
/**
* 追加动作块
*
@@ -1437,7 +1495,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
jo10.put("binTask", "OutForkHeight");
ja.add(jo10);
} else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
} else if (AgvActionTypeEnum.IN_STOCK.getCode().equals(inst.getAgv_action_type())) {
} else if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(inst.getAgv_action_type())) {
// to do

38
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java
View File

@@ -273,27 +273,36 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
private void updateInstrction() {
//更改指令状态
if (task > 0) {
Instruction inst = checkInst();
if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), "0")) {
inst.setInstruction_status(CommonFinalParam.ONE);
inst.setExecute_device_code(this.device_code);
instructionService.update(inst);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("装箱桁架: 桁架任务更新为执行中")
.log_level(4)
.build());
}
}
}
Date date = new Date();
if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
} else {
this.instruction_update_time = date;
//更改指令状态
if (task > 0) {
Instruction inst = checkInst();
if (inst != null) {
if (StrUtil.equals(inst.getInstruction_status(), "0")) {
inst.setInstruction_status(CommonFinalParam.ONE);
inst.setExecute_device_code(this.device_code);
instructionService.update(inst);
}
}
}
//放货完成
if ( action == 4 && move == 0) {
if (inst != null) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("装箱桁架: 桁架任务放货完成")
.log_level(4)
.build());
try {
logServer.deviceExecuteLog(this.device_code,"","","放货完成");
finish_instruction(inst);
@@ -541,6 +550,11 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
}
}
this.writing(list);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(task)
.content("装箱桁架: 下发桁架任务")
.log_level(4)
.build());
}
private void packageData(Instruction instdto, String route_plan_code, String taskid, String taskcode, String start_device_code, String next_device_code, String start_point_code, String next_point_code) {

54
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java
View File

@@ -59,7 +59,8 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
protected ItemProtocol itemProtocol = new ItemProtocol(this);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);;
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
;
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
@@ -195,18 +196,28 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
// 更新指令状态
if (mode == 3 && task > 0) {
updateInstructionStatus();
if (null!=inst) {
if (null != inst) {
inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
}
}
//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 && !actionRequireSucess ){
if (action == 6 && task > 0 && !actionRequireSucess) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(String.valueOf(this.task))
.content("子卷下线桁架: 桁架任务满轴放货完成")
.log_level(4)
.build());
Integer actionType = ActionTypeEnum.RELEASE_FINISHING.getCode();
creatAGV(actionType,action);
creatAGV(actionType, action);
}
//空载具取货完成
if (action == 7 && task > 0 && !actionRequireSucess ){
if (action == 7 && task > 0 && !actionRequireSucess) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(String.valueOf(this.task))
.content("子卷下线桁架: 桁架任务空载具取货完成")
.log_level(4)
.build());
Integer actionType = ActionTypeEnum.IN_FINISHING.getCode();
creatAGV(actionType, action);
}
@@ -291,22 +302,27 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
private void creatAGV(Integer actionType, int toCommand) {
Instruction instruction = checkInst();
if(ObjectUtil.isEmpty(instruction)){
if (ObjectUtil.isEmpty(instruction)) {
log.info("指令不存在");
return;
}
JSONObject param = new JSONObject();
param.put("taskCode", instruction.getTask_code());
param.put("actionType",actionType );
param.put("actionType", actionType);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("行架取放货完成请求lms,参数:" + task + "--" +ActionTypeEnum.getStatus(actionType))
.content("行架取放货完成请求lms,参数:" + task + "--" + ActionTypeEnum.getStatus(actionType))
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
String response = acsToWmsService.secondaryAllocationPoint(param);
JSONObject jo = JSON.parseObject(response);
if (jo.getInteger("status") == 200) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(instruction.getInstruction_code())
.content("子卷下线桁架: 桁架任务" + ActionTypeEnum.getStatus(actionType) + "完成请求LMS, LMS反馈成功")
.log_level(4)
.build());
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(device_code)
.content("行架取放货完成请求lms,参数,接口返回:" + jo)
@@ -327,6 +343,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(instruction.getInstruction_code())
.content("子卷下线桁架: 桁架任务" + ActionTypeEnum.getStatus(actionType) + "完成请求LMS, LMS反馈失败")
.log_level(4)
.build());
throw new BadRequestException("行架取放货完成请求lms返回失败");
}
@@ -342,6 +363,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
inst.setExecute_device_code(this.device_code);
instructionService.update(inst);
logServer.deviceExecuteLog(this.device_code, "", "", "修改指令状态为执行中");
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("子卷下线桁架: 桁架任务更新为执行中")
.log_level(4)
.build());
}
}
}
@@ -353,6 +379,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
//放货完成
if (action == 4 && move == 0) {
if (inst != null) {
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(inst.getInstruction_code())
.content("子卷下线桁架: 桁架任务放货完成")
.log_level(4)
.build());
try {
logServer.deviceExecuteLog(this.device_code, "", "", "放货完成");
finish_instruction(inst);
@@ -603,6 +634,11 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
list.add(map7);
this.writing(list);
luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()
.device_code(task)
.content("子卷下线桁架: 下发桁架任务")
.log_level(4)
.build());
}
/**
@@ -706,7 +742,7 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
jo.put("isError", this.getIserror());
jo.put("message", LangProcess.msg(message));
jo.put("notCreateTaskMessage", notCreateTaskMessage);
jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
jo.put("notCreateInstMessage", LangProcess.msg(notCreateInstMessage));
jo.put("feedMessage", LangProcess.msg(feedMessage));
jo.put("driver_type", "siemens_conveyor");
jo.put("is_click", true);

1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -853,7 +853,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
}
@Override
@Transactional(rollbackFor = Exception.class)
public void update(TaskDto dto) {
TaskDto entity = this.findById(dto.getTask_id());
if (entity == null) {