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This commit is contained in:
USER-20220102CG\noblelift
2022-10-28 14:40:21 +08:00
parent 9f842a0626
commit 728e82f860
11 changed files with 1592 additions and 220 deletions
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13
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
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@@ -30,7 +30,7 @@ public interface NDCAgvService {
public void deleteAgvInstToNDC(Instruction inst) throws Exception;
/**
* 下发NDC agv单工动作指令,反馈信号，如能否进、能否出。
* 下发NDC agv1楼动作指令,反馈信号，如能否进、能否出。
* 告诉AGV能否进，能否出
*
* @param phase
@@ -41,7 +41,17 @@ public interface NDCAgvService {
public byte[] sendAgvOneModeInst(int phase, int index, int result1, int result2);
/**
* 下发NDC agv2楼动作指令,反馈信号，如能否进、能否出。
* 告诉AGV能否进，能否出
*
* @param phase
* @param index
* @param result1
* @param result2
*/
public byte[] sendAgvTwoModeInst(int phase, int index);
/**
* @param inst
* @param inst2
*/
@@ -49,6 +59,7 @@ public interface NDCAgvService {
/**
* 下发任务
*
* @param inst
* @throws Exception
*/

9
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -110,6 +110,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
}
@LokiLog(type = LokiLogType.AGV)
@Override
public void sendAgvOneInstToNDC(Instruction inst) {
@@ -171,6 +173,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
}
}
@LokiLog(type = LokiLogType.AGV)
@Override
public void sendAgvInstToNDC(Instruction inst) {
@@ -276,6 +279,11 @@ public class NDCAgvServiceImpl implements NDCAgvService {
return new byte[0];
}
@LokiLog(type = LokiLogType.AGV)
@Override
public byte[] sendAgvTwoModeInst(int phase, int index) {
return new byte[0];
}
@LokiLog(type = LokiLogType.AGV)
@Override
@@ -499,6 +507,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
}
@LokiLog(type = LokiLogType.AGV)
@Override
public Map<String, AgvDto> findAllAgvFromCache() {

242
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java Normal file
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@@ -0,0 +1,242 @@
package org.nl.acs.auto.run;
import cn.hutool.core.util.ObjectUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import java.util.List;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
String ip = "192.168.46.225";
int port = 1234;
static DataOutputStream dos;
static DataInputStream dis;
private int recordTimeOut = 10000;
private Date recordTime;
String[] ERROR = new String[]{
"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
"抬叉停止"};
boolean bConnected = true;
boolean isReConnect = false;
@Autowired
ParamService paramService;
@Autowired
AutoRunService autoRunService;
public OneNDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return OneNDCSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "1楼NDC在线连接";
}
public void autoRun() throws IOException {
System.out.println("OneAgv链接开始");
ParamService ParamService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
try {
byte[] b = new byte[1024];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
System.out.println("OneAgv链接成功");
while (bConnected) {
int count = dis.read(b);
if (count == -1) {
break;
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];
if (temp < 0)
temp += 256;
arr[i] = temp;
StringBuffer bs1 = new StringBuffer("0");
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
}
//System.out.println("收到请求参数：" + bs);
boolean flag = false;
if (arr[8] * 256 + arr[9] == 0x73) {
byte[] data = null;
System.out.println("接收agv上报信息：" + bs);
//执行阶段
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction link_inst = null;
List<Instruction> insts = null;
boolean link_flag = false;
Device agv_device = null;
if(carno != 0){
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
insts = instructionService.findByLinkNum(String.valueOf(ikey));
}
if (!ObjectUtil.isEmpty(link_inst)) {
link_flag = true;
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
//
AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
//开始任务/上报订单号
if (phase == 0x01) {
for (Instruction inst : insts) {
inst.setInstruction_status("1");
inst.setAgv_jobno(String.valueOf(index));
inst.setSend_status("1");
instructionService.update(inst);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x0A) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
instructionService.finish(inst.getInstruction_id());
}
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if(phase == 0x30){
data = NDCAgvService.sendAgvOneModeInst(143, index, 0);
} else if(phase == 0xFF) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
instructionService.cancelNOSendAgv(inst.getInstruction_id());
}
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}else if(phase == 0x50){//离开区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}else if(phase == 0x51){//离开区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
if(phase == 0x67){
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
} else {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
}
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
agvNdcOneDeviceDriver.processSocket(arr);
}
}
if (!ObjectUtil.isEmpty(data)) {
write(data);
}
} else {
// System.out.println("agv上报不是0073类型动作，不处理");
}
}
} catch (Exception e) {
System.out.println("OneAgv链接异常");
if(ObjectUtil.isNotEmpty(s)){
s.close();
}
System.out.println(e.getMessage());
e.printStackTrace();
} finally {
}
}
@Override
public void stop() {
super.after();
try {
s.close();
} catch (Exception e) {
e.printStackTrace();
}
}
public static void write(byte[] b) {
try {
log.info("下发agv数据:" + Bytes2HexString(b));
System.out.println("下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}

243
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java Normal file
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@@ -0,0 +1,243 @@
package org.nl.acs.auto.run;
import cn.hutool.core.util.ObjectUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import java.util.List;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
String ip = "192.168.46.225";
int port = 1234;
static DataOutputStream dos;
static DataInputStream dis;
private int recordTimeOut = 10000;
private Date recordTime;
String[] ERROR = new String[]{
"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
"抬叉停止"};
boolean bConnected = true;
boolean isReConnect = false;
@Autowired
ParamService paramService;
@Autowired
AutoRunService autoRunService;
public TwoNDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return TwoNDCSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "2楼NDC在线连接";
}
public void autoRun() throws IOException {
System.out.println("OneAgv链接开始");
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
ip = paramService.findByCode(AcsConfig.AGVURL2).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue());
try {
byte[] b = new byte[1024];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
System.out.println("TwoAgv链接成功");
while (bConnected) {
int count = dis.read(b);
if (count == -1) {
break;
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];
if (temp < 0)
temp += 256;
arr[i] = temp;
StringBuffer bs1 = new StringBuffer("0");
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
}
//System.out.println("收到请求参数：" + bs);
boolean flag = false;
if (arr[8] * 256 + arr[9] == 0x73) {
byte[] data = null;
System.out.println("接收agv上报信息：" + bs);
//执行阶段
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction link_inst = null;
List<Instruction> insts = null;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
insts = instructionService.findByLinkNum(String.valueOf(ikey));
}
if (!ObjectUtil.isEmpty(link_inst)) {
link_flag = true;
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
//
AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
//开始任务/上报订单号
if (phase == 0x01) {
for (Instruction inst : insts) {
inst.setInstruction_status("1");
inst.setAgv_jobno(String.valueOf(index));
inst.setSend_status("1");
instructionService.update(inst);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x0A) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
instructionService.finish(inst.getInstruction_id());
}
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x30) {
data = NDCAgvService.sendAgvOneModeInst(143, index, 0);
} else if (phase == 0xFF) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
instructionService.cancelNOSendAgv(inst.getInstruction_id());
}
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x50) {//离开区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x51) {//离开区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
if (phase == 0x67) {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
} else {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
}
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
agvNdcOneDeviceDriver.processSocket(arr);
}
}
if (!ObjectUtil.isEmpty(data)) {
write(data);
}
} else {
// System.out.println("agv上报不是0073类型动作，不处理");
}
}
} catch (Exception e) {
System.out.println("OneAgv链接异常");
if (ObjectUtil.isNotEmpty(s)) {
s.close();
}
System.out.println(e.getMessage());
e.printStackTrace();
} finally {
}
}
@Override
public void stop() {
super.after();
try {
s.close();
} catch (Exception e) {
e.printStackTrace();
}
}
public static void write(byte[] b) {
try {
log.info("下发agv数据:" + Bytes2HexString(b));
System.out.println("下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}

13
acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
View File

@@ -21,18 +21,9 @@ public enum DriverTypeEnum {
INSPECT_CONVEYOR_MONITOR(6, "standard_conveyor_monitor", "标准版-输送机-监控点", "conveyor"),
HAILIANG_SMART_PLC_TEST(7, "hailiang_smart_plc_test", "永裕共挤线-西门子SMART200PLC", "conveyor"),
EMPTY_VEHICLE_STACKING_POSITION(8, "empty_vehicle_stacking_position", "永裕叠盘位-西门子SMART200PLC", "conveyor"),
CARGO_LIFT_CONVEYOR(9, "cargo_lift_conveyor", "货梯对接线", "conveyor"),
INSPECT_CONVEYOR_CONTROL_WITH_SCANNER(10, "standard_conveyor_control_with_scanner", "货梯对接线-关联扫码", "conveyor"),
HAOKAI_AUTO_CONVEYOR(11, "haokai_auto_conveyor", "豪恺自动线对接位", "conveyor"),
PAINT_CONVEYOR(12, "paint_conveyor", "油漆线", "conveyor");
AGV_NDC_ONE(7, "agv_ndc_one", "NDC1楼AGV", "agv"),
AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv");
//驱动索引
private int index;

49
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDefination.java Normal file
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@@ -0,0 +1,49 @@
package org.nl.acs.device_driver.basedriver.agv.ndcone;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.DeviceDriverDefination;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceType;
import org.springframework.stereotype.Service;
import java.util.LinkedList;
import java.util.List;
/**
* NDC单工位AGV
*/
@Service
public class AgvNdcOneDefination implements DeviceDriverDefination {
@Override
public String getDriverCode() {
return "agv_ndc_one";
}
@Override
public String getDriverName() {
return "NDC1楼AGV";
}
@Override
public String getDriverDescription() {
return "NDC1楼AGV";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new AgvNdcOneDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return AgvNdcOneDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.agv);
return types;
}
}

388
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java Normal file
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@@ -0,0 +1,388 @@
package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
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.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.List;
/**
* NDC单工位AGV
*/
@Slf4j
@Data
@RequiredArgsConstructor
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
int agvaddr = 0;
int agvaddr_copy = 0;
int weight = 0;
String device_code = "";
int phase = 0;
int x = 0; //x坐标
int y = 0; //y坐标
int angle = 0; //角度
int electric_qty = 0; //电量
int status = 0; //三色灯状态
int error = 0; //车辆故障
int last_x = 0;
int last_y = 0;
int last_angle = 0;
int last_electric_qty = 0;
int last_status = 0;
int last_error = 0;
@LokiLog(type = LokiLogType.ACA_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
byte[] data = null;
phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction link_inst = null;
List<Instruction> insts = null;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
insts = instructionService.findByLinkNum(String.valueOf(ikey));
}
if (!ObjectUtil.isEmpty(link_inst)) {
link_flag = true;
}
Device device = null;
String old_device_code = null;
String emptyNum = null;
String device_code = null;
if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
//货架
StandardStorageDeviceDriver standardStorageDeviceDriver;
//开始任务/上报订单号
if (phase == 0x02) {
for (Instruction inst : insts) {
inst.setCarno(String.valueOf(carno));
instructionService.update(inst);
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
//请求取货
} else if (phase == 0x03) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
for (Instruction inst : insts) {
//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);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
break;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
} else if (phase == 0x65) {//param,重量待定
//1、得到重量信息
int weight = (arr[18] * 256 + arr[19]) * 10;
for (Instruction inst : insts) {
//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);
break;
}
// 4010 待处理
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
inst.setWeight(String.valueOf(weight));
}
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//取货完毕/取满框完毕1/点对点取货完毕
} else if (phase == 0x64) {//param,agv货位id待定
//1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
agvaddr = arr[18] * 256 + arr[19];
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//取货完毕
} else if (phase == 0x05) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
return;
}
for (Instruction inst : insts) {
//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);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
break;
}
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//请求放货
} else if (phase == 0x07) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
for (Instruction inst : insts) {
//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);
break;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//放货完成
} else if (phase == 0x09) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
for (Instruction inst : insts) {
//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);
break;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x71) {
x = ikey;
if (x != last_x) {
logServer.deviceExecuteLog(this.device_code,"", "x", String.valueOf(x));
}
} else if (phase == 0x72) {
y = ikey;
if (y != last_y) {
logServer.deviceExecuteLog(this.device_code, "","y", String.valueOf(y));
}
} else if (phase == 0x73) {
angle = last_angle;
if (angle != last_angle) {
logServer.deviceExecuteLog(this.device_code, "","angle", String.valueOf(angle));
}
} else if (phase == 0x74) {
electric_qty = ikey;
if (electric_qty != last_electric_qty) {
logServer.deviceExecuteLog(this.device_code, "","electric_qty", String.valueOf(electric_qty));
}
} else if (phase == 0x75) {
status = ikey;
if (status != last_status) {
logServer.deviceExecuteLog(this.device_code, "","status", String.valueOf(status));
}
} else if (phase == 0x76) {
error = ikey;
if (error != last_error) {
logServer.deviceExecuteLog(this.device_code, "","error", String.valueOf(error));
}
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
OneNDCSocketConnectionAutoRun.write(data);
}
}
}

49
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDefination.java Normal file
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package org.nl.acs.device_driver.basedriver.agv.ndctwo;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.DeviceDriverDefination;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceType;
import org.springframework.stereotype.Service;
import java.util.LinkedList;
import java.util.List;
/**
* NDC双工位AGV
*/
@Service
public class AgvNdcTwoDefination implements DeviceDriverDefination {
@Override
public String getDriverCode() {
return "agv_ndc_two";
}
@Override
public String getDriverName() {
return "NDC双工位AGV";
}
@Override
public String getDriverDescription() {
return "NDC双工位AGV";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new AgvNdcTwoDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return AgvNdcTwoDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.agv);
return types;
}
}

386
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java Normal file
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package org.nl.acs.device_driver.basedriver.agv.ndctwo;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
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.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.wql.util.SpringContextHolder;
import java.util.List;
/**
* NDC单工位AGV
*/
@Slf4j
@Data
@RequiredArgsConstructor
public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
ParamService ParamService = SpringContextHolder.getBean(ParamService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
int agvaddr = 0;
int agvaddr_copy = 0;
int weight = 0;
String device_code = "";
int phase = 0;
int x = 0; //x坐标
int y = 0; //y坐标
int angle = 0; //角度
int electric_qty = 0; //电量
int status = 0; //三色灯状态
int error = 0; //车辆故障
int last_x = 0;
int last_y = 0;
int last_angle = 0;
int last_electric_qty = 0;
int last_status = 0;
int last_error = 0;
@LokiLog(type = LokiLogType.ACA_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
byte[] data = null;
phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction link_inst = null;
List<Instruction> insts = null;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
insts = instructionService.findByLinkNum(String.valueOf(ikey));
}
if (!ObjectUtil.isEmpty(link_inst)) {
link_flag = true;
}
Device device = null;
String old_device_code = null;
String emptyNum = null;
String device_code = null;
if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
//货架
StandardStorageDeviceDriver standardStorageDeviceDriver;
//开始任务/上报订单号
if (phase == 0x02) {
for (Instruction inst : insts) {
inst.setCarno(String.valueOf(carno));
instructionService.update(inst);
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
//请求取货
} else if (phase == 0x03) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
for (Instruction inst : insts) {
//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);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
break;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
} else if (phase == 0x65) {//param,重量待定
//1、得到重量信息
int weight = (arr[18] * 256 + arr[19]) * 10;
for (Instruction inst : insts) {
//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);
break;
}
// 4010 待处理
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
inst.setWeight(String.valueOf(weight));
}
}
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//取货完毕/取满框完毕1/点对点取货完毕
} else if (phase == 0x64) {//param,agv货位id待定
//1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
agvaddr = arr[18] * 256 + arr[19];
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//取货完毕
} else if (phase == 0x05) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code);
return;
}
for (Instruction inst : insts) {
//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);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
break;
}
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//请求放货
} else if (phase == 0x07) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
for (Instruction inst : insts) {
//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);
break;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//放货完成
} else if (phase == 0x09) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
for (Instruction inst : insts) {
//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);
break;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvTwoModeInst(phase, index);
}
}
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x71) {
x = ikey;
if (x != last_x) {
logServer.deviceExecuteLog(this.device_code, "", "x", String.valueOf(x));
}
} else if (phase == 0x72) {
y = ikey;
if (y != last_y) {
logServer.deviceExecuteLog(this.device_code, "", "y", String.valueOf(y));
}
} else if (phase == 0x73) {
angle = last_angle;
if (angle != last_angle) {
logServer.deviceExecuteLog(this.device_code, "", "angle", String.valueOf(angle));
}
} else if (phase == 0x74) {
electric_qty = ikey;
if (electric_qty != last_electric_qty) {
logServer.deviceExecuteLog(this.device_code, "", "electric_qty", String.valueOf(electric_qty));
}
} else if (phase == 0x75) {
status = ikey;
if (status != last_status) {
logServer.deviceExecuteLog(this.device_code, "", "status", String.valueOf(status));
}
} else if (phase == 0x76) {
error = ikey;
if (error != last_error) {
logServer.deviceExecuteLog(this.device_code, "", "error", String.valueOf(error));
}
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
TwoNDCSocketConnectionAutoRun.write(data);
}
}
}

6
acs/nladmin-ui/src/views/acs/device/config.vue
View File

@@ -85,6 +85,8 @@ import paint_conveyor from '@/views/acs/device/driver/paint_conveyor'
import haokai_auto_conveyor from '@/views/acs/device/driver/haokai_auto_conveyor'
import cargo_lift_conveyor from '@/views/acs/device/driver/cargo_lift_conveyor'
import empty_vehicle_stacking_position from '@/views/acs/device/driver/empty_vehicle_stacking_position'
import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one'
import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two'
export default {
name: 'DeviceConfig',
@@ -100,7 +102,9 @@ export default {
paint_conveyor,
haokai_auto_conveyor,
cargo_lift_conveyor,
empty_vehicle_stacking_position
empty_vehicle_stacking_position,
agv_ndc_two,
agv_ndc_one
},
dicts: ['device_type'],
mixins: [crud],

2
acs/nladmin-ui/src/views/system/monitor/device/index.vue
View File

@@ -133,7 +133,7 @@ export default {
name: 'MonitorDevice',
data() {
return {
stageParam: 'YY', // 舞台参数
stageParam: 'stage_code', // 舞台参数
dialogDeviceMsgVisible: false, // 显示设备信息的dialog
device_code: null,
tops: '20vh', // 初始top