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add:新增手持功能以及优化agv驱动代码

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tuqiang
2024-04-16 10:30:49 +08:00
parent 8fd37373e4
commit 26e9934496
10 changed files with 490 additions and 49 deletions
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1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/AgvService.java
View File

@@ -1,6 +1,7 @@
package org.nl.acs.agv.server;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.instruction.domain.InstructionMybatis;
import java.util.Map;

145
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -24,6 +24,9 @@ import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.Manipulator
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.history.ErrorUtil;
import org.nl.acs.history.service.DeviceErrorLogService;
import org.nl.acs.history.service.dto.DeviceErrorLogDto;
import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
@@ -57,6 +60,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
TwoAgvPhase twoAgvPhase = new TwoAgvPhase();
@@ -70,6 +74,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
int phase = 0;
int region = 0;
int error = 0;
int last_error = 0;
private Instruction instruction;
String message = null;
int x = 0; //x坐标
@@ -218,10 +223,27 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
&& StrUtil.equals("true", device.getExtraValue().get("wait").toString())
&& StrUtil.equals(task.getTask_type(), "1")) {
if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
}else {
log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
}
}else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -340,10 +362,15 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
if (ObjectUtil.isNotEmpty(this.device.getExtraValue().get("wait"))
&& StrUtil.equals("true", this.device.getExtraValue().get("wait").toString())
&& StrUtil.equals(task.getTask_type(), "1")) {
standardOrdinarySiteDeviceDriver.setOption(0);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
this.setPhase(phase);
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -455,10 +482,30 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if (StrUtil.equals(agv_inst_type, CommonFinalParam.ONE) || StrUtil.equals(agv_inst_type, "3")) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
&& StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
&& StrUtil.equals(task.getTask_type(), "1")) {
if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
standardOrdinarySiteDeviceDriver.setAgvphase(0);
String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
if (StrUtil.isEmpty(task_code) || !task_code.equals(task.getTask_code())) {
log.info("等待LMS系统进行确认允许取货，设备号{},指令号{},任务号{}", device_code, ikey, task.getTask_code());
message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code() + ",指令号" + ikey);
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
} else {
log.info("等待LMS系统进行确认允许取货，设备号{},指令号{}", device_code, ikey);
message = "等待LMS系统进行确认允许取货,设备号:" + device_code + ",指令号:" + ikey;
logServer.deviceExecuteLog(this.device_code, "", "", "等待LMS系统进行确认允许取货,设备号" + device.getDevice_code());
}
}else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -568,6 +615,13 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if (StrUtil.equals(agv_inst_type, CommonFinalParam.ONE) || StrUtil.equals(agv_inst_type, "3")) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
if (ObjectUtil.isNotEmpty(standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait"))
&& StrUtil.equals("true", standardOrdinarySiteDeviceDriver.getDevice().getExtraValue().get("wait").toString())
&& StrUtil.equals(task.getTask_type(), "1")) {
standardOrdinarySiteDeviceDriver.setOption(0);
}else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
@@ -651,6 +705,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
weight = agvaddr;
inst.setWeight(String.valueOf(weight));
instructionService.update(inst);
if (ObjectUtil.isNotEmpty(task)) {
logServer.deviceExecuteLog(this.device_code, "", "", "上报满卷重量,weight:" + weight);
message = "上报满卷重量,weight:" + weight + ",指令号:" + ikey;
task.setWeight(String.valueOf(weight));
task.setCarno(this.device_code);
taskService.update(task);
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
@@ -817,9 +879,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
// data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
// }
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
this.setPhase(phase);
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -929,9 +989,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
// data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
// }
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
this.setPhase(phase);
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1037,9 +1095,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
// data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
// }
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
this.setPhase(phase);
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -1130,32 +1186,10 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
last_status = status;
} //进入区域（phase值）
else if (phase == 0x50) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
region = agvaddr;
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agvphase:" + phase + "反馈:" + data)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
//离开区域（phase值）
else if (phase == 0x51) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
region = agvaddr;
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agvphase:" + phase + "反馈:" + data)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
}
//上报异常信息
@@ -1170,11 +1204,23 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
String info = error.get("info");
this.setErrorInfo(ikey, code, info);
}
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agvphase:" + phase + "反馈:" + data)
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
if (error != last_error) {
DeviceErrorLogDto dto = new DeviceErrorLogDto();
dto.setDevice_code(this.getDevice().getDevice_code());
dto.setError_code(String.valueOf(error_code));
dto.setError_info(error_message);
deviceErrorLogService.create(dto);
JSONObject param = new JSONObject();
param.put("device_code", this.device_code);
param.put("error", error);
param.put("error_msg", error == 0 ? "" : this.getError_message());
param.put("device_name", this.getDevice().getDevice_name());
param.put("device_type", "4");
param.put("product_area", ISysParamService.findByCode("productArea").getValue());
acsToWmsService.sendDeviceStatus(param);
}
last_error = error;
}
if (!ObjectUtil.isEmpty(data)) {
LuceneLogDto logDto = LuceneLogDto.builder()
@@ -1183,11 +1229,14 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
luceneExecuteLogService.deviceExecuteLog(logDto);
// if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
TwoNDCSocketConnectionAutoRun.write(data);
// TwoNDCSocketConnectionAutoRun.write(data);
// }
// else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
// TwoNDC2SocketConnectionAutoRun.write(data);
// }
if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
TwoNDCSocketConnectionAutoRun.write(data);
}
}
}

19
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
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@@ -1,6 +1,7 @@
package org.nl.acs.device_driver.conveyor.standard_ordinary_site;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
@@ -61,6 +62,9 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
Boolean iserror = false;
Boolean islock = false;
// 1 上位系统允许进入 2 上位系统允许离开
int option = 0;
int branchProtocol = 0;
int last_branchProtocol = 0;
/**
@@ -223,6 +227,14 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
String mode = "";
String action = "";
String move = "";
String option = "";
if(this.getOption() == 0){
option ="禁止进出";
} else if(this.getOption() == 1){
option ="允许进入";
} else if(this.getOption() == 2){
option ="允许离开";
}
if (this.getMode() == 0) {
mode = LangProcess.msg("universal_off-line");
} else if (this.getMode() == 1) {
@@ -252,13 +264,18 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
jo.put("isOnline", true);
jo.put("error", this.getError());
jo.put("isError", this.getIserror());
jo.put("option", option);
jo.put("is_click", true);
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
String flag = data.getString("option");
if(StrUtil.isNotEmpty(flag)){
option = Integer.parseInt(flag);
}
}
}

5
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/dto/TaskDto.java
View File

@@ -54,6 +54,11 @@ public class TaskDto implements Serializable {
*/
private String task_status;
/**
* 车号
*/
private String carno;
/**
* 复合任务
*/

7
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -1007,6 +1007,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
map.put("路由方案编码", acsTask.getRoute_plan_code());
map.put("是否需要反馈上位系统", acsTask.getIs_needfeedback());
map.put("备注", acsTask.getRemark());
map.put("agv车号", acsTask.getCarno());
map.put("是否启用", acsTask.getIs_active());
map.put("是否删除", acsTask.getIs_delete());
map.put("创建者", acsTask.getCreate_by());
@@ -1588,6 +1589,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
feed_jo.put("task_id", entity.getExt_task_id());
feed_jo.put("task_code", entity.getTask_code());
feed_jo.put("task_status", entity.getTask_status());
if (ObjectUtil.isNotEmpty(entity.getWeight())) {
feed_jo.put("weight", entity.getWeight());
}
if (ObjectUtil.isNotEmpty(entity.getCarno())) {
feed_jo.put("car_no", entity.getCarno());
}
JSONArray ja = new JSONArray();
ja.add(feed_jo);
//TODO 有需要根据上位系统反馈的信息再做进一步处理

37
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/dto/B2HeadDto.java Normal file
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@@ -0,0 +1,37 @@
package org.nl.hand.dto;
import lombok.Data;
import java.io.Serializable;
/**
* @Author : TuQiang
* @create 2024/4/15 13:59
*/
@Data
public class B2HeadDto implements Serializable {
/**
* 起始设备编码1
*/
private String start_device_code1;
/**
* 目标设备编码1
*/
private String next_device_code1;
/**
* 起始设备编码2
*/
private String start_device_code2;
/**
* 目标设备编码2
*/
private String next_device_code2;
/**
* 任务类型
*/
private String task_type;
}

26
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/dto/HeadDeviceDto.java Normal file
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@@ -0,0 +1,26 @@
package org.nl.hand.dto;
import lombok.Data;
import java.io.Serializable;
/**
* @Author : TuQiang
* @create 2024/4/15 15:04
*/
@Data
public class HeadDeviceDto implements Serializable {
/**
* 设备号
*/
private String device_code;
/**
* 操作类型
* 0-禁止进出；
* 1-允许取放
* 2-允许离开
*
*/
private String option;
}

83
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/rest/B2HandController.java Normal file
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@@ -0,0 +1,83 @@
package org.nl.hand.rest;
import cn.dev33.satoken.annotation.SaIgnore;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.common.logging.annotation.Log;
import org.nl.hand.dto.B2HeadDto;
import org.nl.hand.dto.HeadDeviceDto;
import org.nl.hand.dto.RegionDto;
import org.nl.hand.service.B2HandService;
import org.nl.hand.service.HandService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
/**
* @Author : TuQiang
* @create 2024/4/15 13:50
*/
@RestController
@RequiredArgsConstructor
@Api(tags = "手持接口")
@RequestMapping("api/hands")
@Slf4j
public class B2HandController {
@Autowired
private B2HandService b2HandService;
@Autowired
private HandService handService;
@PostMapping("/queryArea")
@Log("查询区域")
@ApiOperation("查询区域")
@SaIgnore
//@PreAuthorize("@el.check('sect:list')")
public ResponseEntity<Object> queryArea() {
return new ResponseEntity<>(handService.queryArea(), HttpStatus.OK);
}
@PostMapping("/queryPointByArea")
@Log("根据区域编码查点位")
@ApiOperation("根据区域编码查点位")
@SaIgnore
//@PreAuthorize("@el.check('sect:list')")
public ResponseEntity<Object> queryPointByArea(@RequestBody RegionDto dto) {
String region_code = dto.getRegion_code();
return new ResponseEntity<>(handService.queryPointByArea(region_code), HttpStatus.OK);
}
@PostMapping("/callTask")
@Log("手持创建任务")
@ApiOperation("手持创建任务")
@SaIgnore
//@PreAuthorize("@el.check('sect:list')")
public ResponseEntity<Object> callTask(@RequestBody B2HeadDto dto) {
return new ResponseEntity<>(b2HandService.callTask(dto), HttpStatus.OK);
}
@PostMapping("/queryDevices")
@Log("查询所有设备")
@ApiOperation("查询所有设备")
@SaIgnore
//@PreAuthorize("@el.check('sect:list')")
public ResponseEntity<Object> queryDevices() {
return new ResponseEntity<>(b2HandService.queryDevices(), HttpStatus.OK);
}
@PostMapping("/updateDeviceStatus")
@Log("更新设备状态")
@ApiOperation("更新设备状态")
@SaIgnore
//@PreAuthorize("@el.check('sect:list')")
public ResponseEntity<Object> updateDeviceStatus(@RequestBody HeadDeviceDto dto) {
return new ResponseEntity<>(b2HandService.updateDeviceStatus(dto), HttpStatus.OK);
}
}

25
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/B2HandService.java Normal file
View File

@@ -0,0 +1,25 @@
package org.nl.hand.service;
import org.nl.hand.dto.B2HeadDto;
import org.nl.hand.dto.HeadDeviceDto;
import java.util.Map;
/**
* @Author : TuQiang
* @create 2024/4/15 13:52
*/
public interface B2HandService {
/**
* 手持创建任务
*
* @param dto
* @return
*/
Map<String, Object> callTask(B2HeadDto dto);
Map<String, Object> queryDevices();
Map<String, Object> updateDeviceStatus(HeadDeviceDto dto);
}

191
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/B2HandServiceImpl.java Normal file
View File

@@ -0,0 +1,191 @@
package org.nl.hand.service.impl;
import cn.hutool.core.collection.CollectionUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
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.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.common.exception.BadRequestException;
import org.nl.hand.dto.B2HeadDto;
import org.nl.hand.dto.HeadDeviceDto;
import org.nl.hand.service.B2HandService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.math.BigDecimal;
import java.util.List;
import java.util.Map;
/**
* @Author : TuQiang
* @create 2024/4/15 13:52
*/
@Service
@RequiredArgsConstructor
@Slf4j
public class B2HandServiceImpl implements B2HandService {
@Autowired
private TaskService taskserver;
@Autowired
private DeviceService deviceService;
@Autowired
private DeviceAppService deviceAppService;
@Autowired
private InstructionService instructionService;
@Override
public Map<String, Object> callTask(B2HeadDto dto) {
JSONArray errArr = new JSONArray();
String start_device_code = dto.getStart_device_code1();
String next_device_code = dto.getNext_device_code1();
String start_device_code2 = dto.getStart_device_code2();
String next_device_code2 = dto.getNext_device_code2();
String task_type = dto.getTask_type();
if (StrUtil.isEmpty(start_device_code)) {
JSONObject json = new JSONObject();
json.put("message", "起点1不能为空");
errArr.add(json);
}
if (StrUtil.isEmpty(next_device_code)) {
JSONObject json = new JSONObject();
json.put("message", "终点1不能为空");
errArr.add(json);
}
if (StrUtil.isEmpty(task_type)) {
JSONObject json = new JSONObject();
json.put("message", "任务类型不能为空");
errArr.add(json);
}
JSONObject jo = new JSONObject();
if (StrUtil.equals(task_type, CommonFinalParam.TYPE_ONE)) {
jo.put("start_device_code2", start_device_code2);
jo.put("next_device_code2", next_device_code2);
jo.put("start_point_code2", start_device_code2);
jo.put("next_point_code2", next_device_code2);
} else if (StrUtil.equals(task_type, CommonFinalParam.TYPE_TWO)) {
jo.put("start_device_code2", start_device_code2);
jo.put("next_device_code2", next_device_code2);
jo.put("start_point_code2", start_device_code2);
jo.put("next_point_code2", next_device_code2);
}
jo.put("start_device_code", start_device_code);
jo.put("next_device_code", next_device_code);
jo.put("start_point_code", start_device_code);
jo.put("next_point_code", next_device_code);
jo.put("start_device_code2", start_device_code2);
jo.put("next_device_code2", next_device_code2);
jo.put("start_point_code2", start_device_code2);
jo.put("next_point_code2", next_device_code2);
jo.put("task_type", task_type);
jo.put("agv_system_type", "2");
jo.put("priority", "1");
TaskDto task_dto = jo.toJavaObject(TaskDto.class);
try {
taskserver.create(task_dto);
} catch (Exception e) {
// e.printStackTrace();
JSONObject json = new JSONObject();
json.put("message", e.getMessage());
errArr.add(json);
}
JSONArray data = new JSONArray();
JSONObject resultJson = new JSONObject();
if (ObjectUtil.isEmpty(errArr)) {
resultJson.put("message", "操作成功");
resultJson.put("data", data);
} else {
resultJson.put("message", "操作失败");
resultJson.put("data", data);
}
return resultJson;
}
@Override
public Map<String, Object> queryDevices() {
JSONArray data = new JSONArray();
//查询所有生箔区的设备
List<Device> list = deviceService.lambdaQuery()
.eq(Device::getRegion, "2")
.list();
if (CollectionUtil.isEmpty(list)) {
throw new BadRequestException("未查到该区域的设备！");
}
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
for (int i = 0; i < list.size(); i++) {
JSONObject jo = new JSONObject();
Device device = list.get(i);
String device_id = device.getDevice_id();
String device_code = device.getDevice_code();
Device deviceCode = deviceAppService.findDeviceByCode(device_code);
int option = 0;
if (deviceCode.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) deviceCode.getDeviceDriver();
option = standardOrdinarySiteDeviceDriver.getOption();
}
String device_name = device.getDevice_name();
BigDecimal seq_num = device.getSeq_num();
jo.put("device_id", device_id);
jo.put("device_code", device_code);
jo.put("device_name", device_name);
jo.put("seq_num", seq_num);
jo.put("option", option);
data.add(jo);
}
JSONObject resultJson = new JSONObject();
resultJson.put("message", "操作成功");
resultJson.put("data", data);
return resultJson;
}
@Override
public Map<String, Object> updateDeviceStatus(HeadDeviceDto dto) {
JSONArray errArr = new JSONArray();
String device_code = dto.getDevice_code();
String option = dto.getOption();
if (StrUtil.isEmpty(device_code)) {
JSONObject json = new JSONObject();
json.put("message", "设备号不能为空");
errArr.add(json);
}
if (StrUtil.isEmpty(option)) {
JSONObject json = new JSONObject();
json.put("message", "操作不能为空");
errArr.add(json);
}
if (device_code.contains("K")&&(!"1".equals(option))){
throw new BadRequestException("该设备为空轴位,不能进行该操作");
}
if (device_code.contains("M")&&(!"2".equals(option))){
throw new BadRequestException("该设备为满轴位,不能进行该操作");
}
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
Device device = deviceAppService.findDeviceByCode(device_code);
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setOption(Integer.parseInt(option));
JSONArray data = new JSONArray();
JSONObject resultJson = new JSONObject();
if (ObjectUtil.isEmpty(errArr)) {
resultJson.put("message", "操作成功");
resultJson.put("data", data);
} else {
resultJson.put("message", "操作失败");
resultJson.put("data", data);
}
return resultJson;
}
}