From 5d5307839703f77c12121190be981029db316e2e Mon Sep 17 00:00:00 2001 From: lishuai <1793460677@qq.com> Date: Thu, 7 Dec 2023 14:29:12 +0800 Subject: [PATCH] =?UTF-8?q?add:=20=E5=85=B3=E8=81=94=E7=AB=99=E7=82=B9?= =?UTF-8?q?=E5=BC=80=E5=8F=91,=E4=BB=A3=E7=A1=AE=E8=AE=A4=E5=BC=80?= =?UTF-8?q?=E5=8F=91=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../BeltConveyorDeviceDriver.java | 3 +- .../WithStationDeviceDriver.java | 226 +++++++++++++----- .../DoubleBeltConveyorDeviceDriver.java | 8 - .../service/impl/InstructionServiceImpl.java | 1 - 4 files changed, 167 insertions(+), 71 deletions(-) diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_conveyor/BeltConveyorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_conveyor/BeltConveyorDeviceDriver.java index dec70e1..2533ec1 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_conveyor/BeltConveyorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_conveyor/BeltConveyorDeviceDriver.java @@ -381,7 +381,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements /** * 申请任务 */ - public synchronized Boolean instruction_require() { + public synchronized Boolean + instruction_require() { Date date = new Date(); if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) { log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_with_station/WithStationDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_with_station/WithStationDeviceDriver.java index 8f3f61c..c2fc855 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_with_station/WithStationDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_with_station/WithStationDeviceDriver.java @@ -1,12 +1,15 @@ package org.nl.acs.device_driver.basedriver.belt_with_station; import cn.hutool.core.collection.CollectionUtil; +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 com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; +import org.apache.commons.lang3.ObjectUtils; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun; import org.nl.acs.device.domain.Device; @@ -25,14 +28,13 @@ import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.route.service.dto.RouteLineDto; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.config.SpringContextHolder; import org.springframework.beans.factory.annotation.Autowired; -import java.util.ArrayList; -import java.util.Date; -import java.util.List; +import java.util.*; /** * 关联驱动 @@ -129,86 +131,188 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements device_code = this.getDeviceCode(); - //取关联设备 list 要求：先配置外侧的站点 //遍历 List sddjExtraCodeList = this.getExtraDeviceCodes("link_device_code"); //只需要判断对接位就可以 for (int i = 0; i < 1; i++) { Device sddjExtraCode1 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i)); - Device sddjExtraCode2 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i+1)); + Device sddjExtraCode2 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i + 1)); DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriver1; DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriver2; - if (sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver && sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver ) { + if (sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver && sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver) { doubleBeltConveyorDeviceDriver1 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode1.getDeviceDriver(); doubleBeltConveyorDeviceDriver2 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode2.getDeviceDriver(); //判断输送线是否有任务，有任务进行创建指令。 - List taskDtos1 = taskServer.queryTaskByStartDeviceCode(doubleBeltConveyorDeviceDriver1.getDevice_code()); - List taskDtos2 = taskServer.queryTaskByStartDeviceCode(doubleBeltConveyorDeviceDriver2.getDevice_code()); - if (CollectionUtil.isNotEmpty(taskDtos1) && CollectionUtil.isNotEmpty(taskDtos2)) { - if(doubleBeltConveyorDeviceDriver1.getMove() == 0){ - requireSucess =false; + TaskDto taskDtos1 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code()); + TaskDto taskDtos2 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code()); + if (ObjectUtil.isNotEmpty(taskDtos1) && ObjectUtil.isNotEmpty(taskDtos2)) { + if (doubleBeltConveyorDeviceDriver1.getMove() == 0) { + requireSucess = false; } - if(doubleBeltConveyorDeviceDriver2.getMove() == 0){ - requireSucess =false; + if (doubleBeltConveyorDeviceDriver2.getMove() == 0) { + requireSucess = false; } - //判断关联的输送线是否满足状态 - if (doubleBeltConveyorDeviceDriver1.getMode() == 2 && doubleBeltConveyorDeviceDriver1.getMove() == 1 && !requireSucess &&doubleBeltConveyorDeviceDriver2.getMode() == 2 && doubleBeltConveyorDeviceDriver2.getMove() == 1 - ) { - - - //判断是否超过等待时间 - if (System.currentTimeMillis() - doubleBeltConveyorDeviceDriver1.getInstruction_require_time().getTime() - > Integer.parseInt(this.getExtraValue().get("apply_time").toString()) * 1000) { - //否则对接位单独申请任务 - JSONObject reqParam = new JSONObject(); - reqParam.put("type", StatusEnum.HAIROU_LIKU_REQ.getCode()); - reqParam.put("device_code_one", hailiangHrSsxDeviceDriver.getDevice_code()); - reqParam.put("vehicle_code_one", hailiangHrSsxDeviceDriver.getBarcode()); - log.info("单工位请求成功"); - requireSucess = true; - - } else { - //否则判断另一个位置 - Device neiRouDevice = deviceAppservice.findDeviceByCode(haiRouDeviceCodeList.get(i+1)); - if (neiRouDevice.getDeviceDriver() instanceof HailiangHrSsxDeviceDriver) { - hailiangHrSsxDeviceDriver2 = (HailiangHrSsxDeviceDriver) neiRouDevice.getDeviceDriver(); - if (hailiangHrSsxDeviceDriver2.getMode() == 2 && - hailiangHrSsxDeviceDriver2.getMove() == 1 && - ObjectUtil.isNotEmpty(hailiangHrSsxDeviceDriver2.getBarcode()) - ) { - JSONObject reqParam = new JSONObject(); - //半成品库任务 - reqParam.put("type", StatusEnum.HAIROU_LIKU_REQ.getCode()); - //具体海柔出入库任务类型 - reqParam.put("item_type", DeviceEnum.getTypeByCode(hailiangHrSsxDeviceDriver.getDevice_code())); - reqParam.put("device_code_one", hailiangHrSsxDeviceDriver.getDevice_code()); - reqParam.put("vehicle_code_one", hailiangHrSsxDeviceDriver.getBarcode()); - reqParam.put("device_code_two", hailiangHrSsxDeviceDriver2.getDevice_code()); - reqParam.put("vehicle_code_two", hailiangHrSsxDeviceDriver2.getBarcode()); - //向lms请求任务 - // 联调时加上 -// HttpResponse httpResponse = acsToWmsService.applyTaskToWms(reqParam); -// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) { -// requireSucess = true; -// } - log.info("双工位请求成功"); - requireSucess = true; - } + //判断任务列是否相邻 + String nextDeviceCode1 = taskDtos1.getNext_device_code(); + String nextDeviceCode2 = taskDtos2.getNext_device_code(); + if (StrUtil.contains(nextDeviceCode1, "-") && StrUtil.contains(nextDeviceCode2, "-")) { + String[] split1 = nextDeviceCode1.split("-"); + String nextPointCodeDown = split1[0] + "-" + (Integer.parseInt(split1[1]) - 1) + "-" + split1[2]; + String nextPointCodeUp = split1[0] + "-" + (Integer.parseInt(split1[1]) + 1) + "-" + split1[2]; + if (!nextDeviceCode2.equals(nextPointCodeDown) || !nextDeviceCode2.equals(nextPointCodeUp)) { + //创建指令 + if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) { + creatInstruction(taskDtos1); } } - } else { - //todo 输出不满足的原因 - + requireSucess = false; } + + //判断关联的输送线是否满足状态 + if (doubleBeltConveyorDeviceDriver1.getMode() == 2 && doubleBeltConveyorDeviceDriver1.getMove() == 1 && !requireSucess && doubleBeltConveyorDeviceDriver2.getMode() == 2 && doubleBeltConveyorDeviceDriver2.getMove() == 1) { + //判断是否大于等待时间 + if (System.currentTimeMillis() - doubleBeltConveyorDeviceDriver1.getInstruction_require_time().getTime() + > Integer.parseInt(this.getExtraValue().get("apply_time").toString()) * 1000) { + //创建指令 + if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) { + creatInstruction(taskDtos1); + } + } + log.info("单工位请求成功"); + requireSucess = true; + } else { + //创建指令 + if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) { + creatInstruction(taskDtos1); + } + if (ObjectUtil.isNotNull(taskDtos2) && "1".equals(taskDtos1.getTask_type())) { + creatInstruction(taskDtos2); + } + log.info("双工位指令创建成功"); + requireSucess = true; + } + } } } - - } + private void creatInstruction(TaskDto taskDtos1) { + + //判断当前任务号是否存在指令 + String taskid = taskDtos1.getTask_id(); + String taskcode = taskDtos1.getTask_code(); + String priority = taskDtos1.getPriority(); + String start_point_code = taskDtos1.getStart_point_code(); + String start_device_code = taskDtos1.getStart_device_code(); + String route_plan_code = taskDtos1.getRoute_plan_code(); + String next_device_code = ""; + /** + * 开始平均分配 + */ + String this_coevice_code = taskServer.queryAssignedByDevice(device_code, taskDtos1.getNext_device_code()); + if (StrUtil.isEmpty(this_coevice_code)) { + List shortPathsList = routeLineService.getShortPathLines(start_device_code, taskDtos1.getNext_device_code(), route_plan_code); + RouteLineDto routeLineDto = shortPathsList.get(0); + + String path = routeLineDto.getPath(); + String type = routeLineDto.getType(); + String[] str = path.split("->"); + + List pathlist = Arrays.asList(str); + int index = 0; + for (int m = 0; m < pathlist.size(); m++) { + if (pathlist.get(m).equals(start_device_code)) { + index = m + 1; + break; + } + } + next_device_code = pathlist.get(index); + } else { + next_device_code = this_coevice_code; + } + //校验路由关系 + List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); + if (ObjectUtils.isEmpty(shortPathsList) || shortPathsList.size() < 1) { + throw new RuntimeException("路由不通!"); + } + Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code); + String next_point_code; + if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) { + next_point_code = taskDtos1.getTo_x() + "-" + taskDtos1.getTo_y() + "-" + taskDtos1.getTo_z(); + } else { + next_point_code = next_device_code; + } + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setRoute_plan_code(route_plan_code); + instdto.setRemark(taskDtos1.getRemark()); + instdto.setMaterial(taskDtos1.getMaterial()); + instdto.setQuantity(taskDtos1.getQuantity()); + instdto.setTask_id(taskid); + instdto.setTask_code(taskcode); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("auto"); + instdto.setStart_device_code(start_device_code); + instdto.setNext_device_code(next_device_code); + instdto.setStart_point_code(start_point_code); + instdto.setNext_point_code(next_point_code); + instdto.setPriority(priority); + instdto.setInstruction_status("0"); + instdto.setExecute_device_code(start_point_code); + log.error("=================================,{}", instdto.getCreate_by()); + try { + instructionService.create(instdto); + } catch (Exception e) { + e.printStackTrace(); + log.error("指令创建失败!", e.getMessage()); + } + taskDtos1.setTask_status("1"); + taskServer.update(taskDtos1); + requireSucess = true; + Map map = new HashMap(); + String next_addr = nextdevice.getExtraValue().get("address").toString(); + map.put("to_target", next_addr); + map.put("to_task", instdto.getInstruction_code()); + map.put("to_command", "1"); + map.put("to_container_type", "1"); + map.put("to_container_no", "1"); + this.writing(map); + requireSucess = true; + } + + + public void writing(Map map) { + DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl"); + Map itemMap = new LinkedHashMap<>(); + map.forEach((key, value) -> { + if (ObjectUtil.isNotEmpty(value)) { + itemMap.put(getToParam() + key, value); + } + }); + if (ObjectUtil.isNotEmpty(itemMap)) { + try { + this.checkcontrol(itemMap); + } catch (Exception e) { + e.printStackTrace(); + try { + this.checkcontrol(itemMap); + } catch (Exception e1) { + e1.printStackTrace(); + } + } + logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap); + } + } + + public String getToParam() { + return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + "."; + } + + //将扩展表中的字符串数据转换成集合 @Override public List getExtraDeviceCodes(String extraName) { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java index af813d8..d0c9c6e 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java @@ -595,14 +595,6 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl instructionService.update(inst); logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈执行中状态,反馈成功,指令号:" + task); } - //当货物到达b点,实现完成指令 - if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex()) || StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) { - if (StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) { - inst.setExecute_device_code(this.device_code); - finish_instruction(); - logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈完成状态,反馈成功,指令号:" + task); - } - } } } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index cfb6cbe..595c460 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -683,7 +683,6 @@ public class InstructionServiceImpl extends CommonServiceImpl