rev:更新

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -178,10 +178,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                         if (!ObjectUtil.isEmpty(inst)) {
                             instructionService.finish(inst.getInstruction_id());
                         } else {
-                            log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!", inst.getInstruction_code());
+                            log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!", ikey);
                         }
                         data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-                        log.info("指令号:{},已反馈agv任务完成!", inst.getInstruction_code());
+                        log.info("指令号:{},已反馈agv任务完成!", ikey);
                     }
                     //进入交通灯区域
                     else if (phase == 0x50) {
@@ -249,8 +249,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）
-                        if (phase == 0x67) {
+//                        if (phase == 0x67) {
-                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+//                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
+//                        } else {
+//                            device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
+//                        }
+                        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]));
                         }

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -26,6 +26,7 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.LokiLog;
 import org.nl.acs.log.LokiLogType;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.task.service.TaskService;
@@ -44,7 +45,7 @@ import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
 @Slf4j
 @Data
 @RequiredArgsConstructor
-public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
+public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
 
     ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
     InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -59,6 +60,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int weight = 0;
     String device_code = "";
     int phase = 0;
+    private Instruction instruction;
 
     int x = 0; //x坐标
     int y = 0; //y坐标
@@ -96,7 +98,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
         }
         if (ikey != 0) {
-            inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+            if (phase != 0x67 && phase != 0x71 && phase != 0x72 && phase != 0x73 && phase != 0x74 && phase != 0x75) {
+                inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
+                this.instruction = inst;
+            }
         }
         if (!ObjectUtil.isEmpty(link_inst)) {
             link_flag = true;
@@ -154,6 +159,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
                 return;
             }
+            if (ObjectUtil.isEmpty(device)){
+                log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code);
+                return;
+            }
             //校验agv上报站点编号与指令起始点相同
             if (ObjectUtil.isEmpty(inst)) {
                 log.info("未找到编号{}对应的指令", ikey);
@@ -218,6 +227,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
                 return;
             }
+            if (ObjectUtil.isEmpty(device)){
+                log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code);
+                return;
+            }
             //校验agv上报站点编号与指令起始点相同
             if (ObjectUtil.isEmpty(inst)) {
                 log.info("未找到关联编号{}对应的指令", ikey);
@@ -281,6 +294,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info(agvaddr + "对应设备号为空!");
                 return;
             }
+            if (ObjectUtil.isEmpty(device)){
+                log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code);
+                return;
+            }
             //校验agv上报站点编号与指令起始点相同
             if (ObjectUtil.isEmpty(inst)) {
                 log.info("未找到关联编号{}对应的指令", ikey);
@@ -345,6 +362,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                 log.info(agvaddr + "对应设备号为空!");
                 return;
             }
+            if (ObjectUtil.isEmpty(device)){
+                log.info(agvaddr + "对应设备号{},对应的设备信息为空!",device_code);
+                return;
+            }
             //校验agv上报站点编号与指令起始点相同
             if (ObjectUtil.isEmpty(inst)) {
                 log.info("未找到编号{}对应的指令", ikey);
@@ -388,6 +409,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             agvaddr_copy = agvaddr;
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
+        } else if (phase == 0x70) {
+            //x坐标
+            x = ikey;
+        } else if (phase == 0x71) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x72) {
+            //车辆角度
+            angle = ikey;
+        } else if (phase == 0x73) {
+            //agv电量
+            electric_qty = ikey;
+        } else if (phase == 0x74) {
+            //三色灯状态
+            status = ikey;
+            last_status = status;
         }
 
         if (!ObjectUtil.isEmpty(data)) {
@@ -399,4 +436,29 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     }
 
 
+    @Override
+    public JSONObject getDeviceStatusName() throws Exception {
+        JSONObject jo = new JSONObject();
+        //agv编码
+        jo.put("device_code", this.getDevice().getDevice_code());
+        String status_name = this.status == 1 ? "UNAVAILABLE" : this.status == 2 ? "EXECUTING" : this.status == 4 ? "IDLE" : this.status == 5 ? "CHARGING" : this.status == 6 ? "ERROR" : "UNKNOWN";
+        //agv状态
+        jo.put("device_status", status_name);
+        //电量
+        jo.put("electricity", this.getElectric_qty());
+        //任务号
+        jo.put("transportOrder", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
+        //x坐标
+        jo.put("positionX", this.getX());
+        //y坐标
+        jo.put("positionY", this.getY());
+        //角度
+        jo.put("positionAngle", this.getAngle());
+        return jo;
+    }
+
+    @Override
+    public void setDeviceStatus(JSONObject data) {
+
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java

@@ -16,10 +16,7 @@ import org.nl.modules.logging.InterfaceLogType;
 import org.nl.modules.logging.annotation.Log;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
-import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.*;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
 
 import java.util.List;
 
@@ -98,4 +95,10 @@ public class WmsToAcsController {
         return new ResponseEntity<>(wmstoacsService.putPlusPullAction(whereJson), HttpStatus.OK);
     }
 
+
+    @GetMapping("/test")
+    @SaIgnore
+    public ResponseEntity<Object> test(){
+        return new ResponseEntity<>(wmstoacsService.test(), HttpStatus.OK);
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java

@@ -82,5 +82,7 @@ public interface WmsToAcsService {
      */
     Map<String, Object> putPlusPullAction(String whereJson);
 
+    Map<String,Object> test();
+
 
 }

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -450,6 +450,15 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         }
     }
 
+    @Override
+    public Map<String, Object> test() {
+        System.out.println("进来了......");
+        Map<String,Object> map = new HashMap<>();
+        map.put("a","a");
+        map.put("b","b");
+        return map;
+    }
+
 
     @Override
     public CreateTaskResponse crateTask(List<CreateTaskRequest> reqs) {

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -965,11 +965,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                         entity.getStart_device_code(),
                         entity.getNext_device_code(),
                         entity.getRoute_plan_code());
-        String type = shortPathsList.get(0).getType();
+        if (ObjectUtil.isNotEmpty(shortPathsList)){
-        // != 0 为agv任务
+            String type = shortPathsList.get(0).getType();
-        if (!StrUtil.equals(type, "0")) {
+            // != 0 为agv任务
-            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
+            if (!StrUtil.equals(type, "0")) {
-                agvService.markComplete(entity.getTask_code());
+                if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
+                    agvService.markComplete(entity.getTask_code());
+                }
             }
         }
     }

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java

@@ -1,18 +1,19 @@
 package org.nl.modules.quartz.task;
 
+import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.AgvService;
-import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.modules.mnt.websocket.MsgType;
+import org.nl.acs.monitor.DeviceStageMonitor;
-import org.nl.modules.mnt.websocket.SocketMsg;
+import org.nl.acs.opc.Device;
-import org.nl.modules.mnt.websocket.WebSocketServer;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceType;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
-import java.util.Map;
+import java.util.List;
 
 /**
  * 查询AGV设备状态
@@ -25,52 +26,68 @@ public class ToAgvDevice {
     AcsToWmsService acsToWmsService;
     @Autowired
     AgvService agvService;
+    @Autowired
+    DeviceAppService deviceAppService;
 
     public void run() throws Exception {
-        JSONObject json = new JSONObject();
+        JSONArray list = new JSONArray();
-        Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
+        List<Device> devices = deviceAppService.findDevice(DeviceType.agv);
-
+        if (ObjectUtil.isNotEmpty(devices)){
-        JSONArray agv_rows = new JSONArray();
+            for (int i = 0; i < devices.size(); i++) {
-        JSONObject row = new JSONObject();
+                Device device = devices.get(i);
-
+                if (device != null && device.getDeviceDriver() instanceof DeviceStageMonitor){
-        for (AgvDto agvDto : agv_map.values()) {
+                    DeviceStageMonitor monitorService = (DeviceStageMonitor) device.getDeviceDriver();
-            row.put("device_code", agvDto.getName());
+                    JSONObject deviceStatusName = monitorService.getDeviceStatusName();
-            row.put("energyLevel", agvDto.getEnergyLevel());
+                    list.add(deviceStatusName);
-            if (agvDto.getState().equals("UNKNOWN")) {
+                }
-                row.put("status_name", "有任务");
-                row.put("flag", "1");
             }
-            if (agvDto.getState().equals("UNAVAILABLE")) {
-                row.put("status_name", "网络异常");
-                row.put("flag", "1");
-            }
-            if (agvDto.getState().equals("ERROR")) {
-                row.put("status_name", "机器错误");
-                row.put("flag", "1");
-            }
-            if (agvDto.getState().equals("IDLE")) {
-                row.put("status_name", "空闲");
-                row.put("flag", "0");
-            }
-            if (agvDto.getState().equals("EXECUTING")) {
-                row.put("status_name", "运行中");
-                row.put("flag", "0");
-            }
-            if (agvDto.getState().equals("CHARGING")) {
-                row.put("status_name", "充电中");
-                row.put("flag", "0");
-            }
-            row.put("transportOrder", agvDto.getTransportOrder());
-            row.put("positionX", agvDto.getPositionX());
-            row.put("positionY", agvDto.getPositionY());
-            row.put("positionAngle", agvDto.getPositionAngle());
-            agv_rows.add(row);
         }
-        json.put("agv_rows", agv_rows);
+        acsToWmsService.feedbackAgv(list);
-        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
+
-        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
+
+//        JSONObject json = new JSONObject();
+//        Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
+//
+//        JSONArray agv_rows = new JSONArray();
+//        JSONObject row = new JSONObject();
+//
+//        for (AgvDto agvDto : agv_map.values()) {
+//            row.put("device_code", agvDto.getName());
+//            row.put("energyLevel", agvDto.getEnergyLevel());
+//            if (agvDto.getState().equals("UNKNOWN")) {
+//                row.put("status_name", "有任务");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("UNAVAILABLE")) {
+//                row.put("status_name", "网络异常");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("ERROR")) {
+//                row.put("status_name", "机器错误");
+//                row.put("flag", "1");
+//            }
+//            if (agvDto.getState().equals("IDLE")) {
+//                row.put("status_name", "空闲");
+//                row.put("flag", "0");
+//            }
+//            if (agvDto.getState().equals("EXECUTING")) {
+//                row.put("status_name", "运行中");
+//                row.put("flag", "0");
+//            }
+//            if (agvDto.getState().equals("CHARGING")) {
+//                row.put("status_name", "充电中");
+//                row.put("flag", "0");
+//            }
+//            row.put("transportOrder", agvDto.getTransportOrder());
+//            row.put("positionX", agvDto.getPositionX());
+//            row.put("positionY", agvDto.getPositionY());
+//            row.put("positionAngle", agvDto.getPositionAngle());
+//            agv_rows.add(row);
+//        }
+//        json.put("agv_rows", agv_rows);
+//        SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
+//        WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
 
-       // acsToWmsService.feedbackAgv(row);
     }
 
 }