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fix: 堆垛机command顺序修改

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This commit is contained in:
lishuai
2024-06-26 10:31:34 +08:00
parent 968e2540a6
commit a0a7240975
6 changed files with 129 additions and 51 deletions
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47
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java
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@@ -1,21 +1,17 @@
package org.nl.acs.agv;
import cn.hutool.core.util.ObjectUtil;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.conveyor.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
import org.nl.acs.device_driver.one_manipulator.box_storage_manipulator.BoxStorageManipulatorDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
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.enums.ActionTypeEnum;
import org.nl.acs.task.enums.AgvSystemTypeEnum;
import org.nl.common.exception.BadRequestException;
import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -80,6 +76,12 @@ public class AgvWaitUtil {
throw new BadRequestException("上位系统不允许取货");
}
}
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("200:允许取货")
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
@@ -101,6 +103,7 @@ public class AgvWaitUtil {
boxSubvolumesConveyorDeviceDriver.writing(3);
}
if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){
applyLmsGetOut(inst);
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
manipulatorAgvStationDeviceDriver.writing(3);
@@ -112,6 +115,40 @@ public class AgvWaitUtil {
return map;
}
private void applyLmsGetOut(Instruction inst) {
try {
JSONObject param = new JSONObject();
param.put("taskCode", inst.getTask_code());
param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("诺宝取货完成:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getCode().toString())
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
String response = acsToWmsService.secondaryAllocationPoint(param);
JSONObject jo = JSON.parseObject(response);
if (jo.getInteger("status") == 200) {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("追加动诺宝作块,参数,接口返回:" + jo)
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
} else {
LuceneLogDto logDto2 = LuceneLogDto.builder()
.device_code(inst.getCarno())
.content("追加动诺宝作块失败,返回参数:" + jo.getString("body"))
.build();
logDto2.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto2);
throw new BadRequestException("追加动诺宝作块返回失败");
}
} catch (Exception e) {
e.printStackTrace();
}
}
//放货前等待
public JSONObject waitInPut(String endDeviceCode, Instruction inst) {
log.info("仙工AGV请求放货，设备号 - {}", endDeviceCode);

96
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
View File

@@ -336,10 +336,18 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
//动作块id
jo.put("blockId", IdUtil.simpleUUID());
//目的地名称
jo.put("location", pointCode + "INGET");
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
jo.put("location", pointCode + "WAIT");
} else {
jo.put("location", pointCode + "INGET");
}
//执行脚本
jo.put("operation", "script");
jo.put("id", pointCode + "INGET");
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
jo.put("id", pointCode + "WAIT");
} else {
jo.put("id", pointCode + "INGET");
}
//通信脚本,动作前后与现场设备交互的场景
jo.put("script_name", "userpy/interact.py");
JSONObject script_args = new JSONObject();
@@ -348,7 +356,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject data = new JSONObject();
JSONObject reach = new JSONObject();
reach.put("task_code", instCode);
reach.put("address", pointCode + "INGET");
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
reach.put("address", pointCode + "WAIT");
} else {
reach.put("address", pointCode + "INGET");
}
data.put("reach", reach);
script_args.put("data", data);
script_args.put("protocol", "HTTP");
@@ -403,16 +415,28 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
//放货前等待
JSONObject jo3 = new JSONObject();
jo3.put("blockId", IdUtil.simpleUUID());
jo3.put("location", pointCode + "INPUT");
if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
jo3.put("location", pointCode + "WAIT");
} else {
jo3.put("location", pointCode + "INPUT");
}
jo3.put("operation", "script");
jo3.put("id", pointCode + "INPUT");
if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
jo3.put("id", pointCode + "WAIT");
} else {
jo3.put("id", pointCode + "INPUT");
}
jo3.put("script_name", "userpy/interact.py");
JSONObject script_args3 = new JSONObject();
script_args3.put("addr", addr);
JSONObject data3 = new JSONObject();
JSONObject reach3 = new JSONObject();
reach3.put("task_code", instCode);
reach3.put("address", pointCode + "INPUT");
if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
reach3.put("address", pointCode + "WAIT");
} else {
reach3.put("address", pointCode + "INPUT");
}
data3.put("reach", reach3);
script_args3.put("data", data3);
script_args3.put("protocol", "HTTP");
@@ -695,14 +719,18 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
if (StrUtil.isBlank(address)) {
throw new BadRequestException("请求失败，地址为空！");
}
if (address.contains("IN") || address.contains("WAITE")) {
if (address.contains("IN") || address.contains("WAIT")) {
String task_code = instructionDto.getTask_code();
String instructionCode = instructionDto.getInstruction_code();
String deviceCodeNow = address.substring(0, address.length() - 5);
String deviceCodeNow;
if (address.contains("WAIT")) {
deviceCodeNow = address.substring(0, address.length() - 4);
} else {
deviceCodeNow = address.substring(0, address.length() - 5);
}
if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
}
if (address.contains("GET")) {
if (address.contains("GET") || address.contains("WAIT")) {
if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//如果是取货二次分配，取放货二次分配需要重新追加动作块
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
@@ -721,7 +749,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
}
return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
} else if (address.contains("PUT") || address.contains("WAITE")) {
} else if (address.contains("PUT") || address.contains("WAIT")) {
if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//如果是放货二次分配，取放货二次分配需要重新追加动作块
if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
@@ -909,7 +937,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
luceneExecuteLogService.deviceExecuteLog(logDto2);
if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
//请求成功调用诺宝追加动作块
sendAddSequencesToNBAgv(task_code, jo.getString("data"), instructionDto);
sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
}
return jo.getString("data");
@@ -1019,7 +1047,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
.timeout(20000)
.execute();
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code("叉车运单响应")
.device_code("追加诺宝运单参数")
.content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo)
.build();
logDto.setLog_level(4);
@@ -1079,25 +1107,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
private void sendEndDeviceOrder2(JSONArray ja, String nextDeviceCode, String instructionCode, Instruction instructionDto) {
//放货前等待
JSONObject jo3 = new JSONObject();
jo3.put("blockId", IdUtil.simpleUUID());
jo3.put("location", nextDeviceCode + "INPUT");
jo3.put("operation", "script");
jo3.put("id", nextDeviceCode + "INPUT");
jo3.put("script_name", "userpy/interact.py");
JSONObject script_args3 = new JSONObject();
script_args3.put("addr", addr);
JSONObject data3 = new JSONObject();
JSONObject reach3 = new JSONObject();
reach3.put("task_code", instructionCode);
reach3.put("address", nextDeviceCode + "INPUT");
data3.put("reach", reach3);
script_args3.put("data", data3);
script_args3.put("protocol", "HTTP");
jo3.put("script_args", script_args3);
ja.add(jo3);
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
//放货前等待
JSONObject jo3 = new JSONObject();
jo3.put("blockId", IdUtil.simpleUUID());
jo3.put("location", nextDeviceCode + "INPUT");
jo3.put("operation", "script");
jo3.put("id", nextDeviceCode + "INPUT");
jo3.put("script_name", "userpy/interact.py");
JSONObject script_args3 = new JSONObject();
script_args3.put("addr", addr);
JSONObject data3 = new JSONObject();
JSONObject reach3 = new JSONObject();
reach3.put("task_code", instructionCode);
reach3.put("address", nextDeviceCode + "INPUT");
data3.put("reach", reach3);
script_args3.put("data", data3);
script_args3.put("protocol", "HTTP");
jo3.put("script_args", script_args3);
ja.add(jo3);
//将货物放下
com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
jo4.put("blockId", IdUtil.simpleUUID());
@@ -1376,16 +1404,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject jo9 = new JSONObject();
jo9.put("blockId", IdUtil.simpleUUID());
jo9.put("location", inst.getNext_device_code() + "WAITE");
jo9.put("location", inst.getNext_device_code() + "WAIT");
jo9.put("operation", "script");
jo9.put("id", inst.getNext_device_code() + "WAITE");
jo9.put("id", inst.getNext_device_code() + "WAIT");
jo9.put("script_name", "userpy/interact.py");
JSONObject script_args5 = new JSONObject();
script_args5.put("addr", addr);
JSONObject data3 = new JSONObject();
JSONObject reach3 = new JSONObject();
reach3.put("task_code", inst.getInstruction_code());
reach3.put("address", inst.getNext_device_code() + "WAITE");
reach3.put("address", inst.getNext_device_code() + "WAIT");
data3.put("reach", reach3);
script_args5.put("data", data3);
script_args5.put("protocol", "HTTP");

8
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
View File

@@ -482,6 +482,14 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
} else {
//查看是否存在输送线到对接为的指令
Instruction byNextDeviceCodeFromCache = instructionService.findByNextDeviceCodeFromCache(this.device_code);
if (ObjectUtil.isNotEmpty(byNextDeviceCodeFromCache)){
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("存在堆垛机对接为的指令")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
//补码生成堆垛机对接位到货架的指令
if (StrUtil.isNotEmpty(hand_barcode) && ObjectUtil.isEmpty(byNextDeviceCodeFromCache)) {
TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);

10
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java
View File

@@ -45,10 +45,8 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.springframework.beans.factory.annotation.Autowired;
import java.time.LocalDateTime;
import java.util.*;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
/**
* 单工位堆垛机驱动
@@ -996,7 +994,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
List list = new ArrayList();
pakageCommand(list, inst.getInstruction_code());
packagePlcCoordinate(startDevice, list);
packagePlcCoordinate(startDevice, list,"1");
if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name()) && !prohibitOutWarehouse) {
pakagePlc(inst, list,"1");
}
@@ -1009,7 +1007,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
return true;
}
private void packagePlcCoordinate(Device startDevice, List list) {
private void packagePlcCoordinate(Device startDevice, List list, String toCommand) {
if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name()) && !prohibitInWarehouse) {
if (ObjectUtil.isNotEmpty(startDevice.getExtraValue().get("z"))) {
HashMap map4 = new HashMap();
@@ -1029,6 +1027,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
map6.put("value", startDevice.getExtraValue().get("y"));
list.add(map6);
}
HashMap map2 = new HashMap();
map2.put("code", "to_command");
map2.put("value", toCommand);
list.add(map2);
}
}

16
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -546,14 +546,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
}
String start_device_code = dto.getStart_device_code();
if (StrUtil.isNotEmpty(dto.getTask_code())) {
List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
.eq(InstructionMybatis::getTask_code, dto.getTask_code()));
if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
.equals(start_device_code))) {
return;
}
}
// if (StrUtil.isNotEmpty(dto.getTask_code())) {
// List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
// .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
// if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
// .equals(start_device_code))) {
// return;
// }
// }
String currentUsername = SecurityUtils.getCurrentNickName();
String now = DateUtil.now();
if (StrUtil.isEmpty(dto.getRoute_plan_code())) {

3
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java
View File

@@ -11,14 +11,17 @@ import lombok.Getter;
@AllArgsConstructor
public enum AgvSystemTypeEnum {
/**
* 二期一楼AGV任务
* 一期1楼叉车NDC系统
*/
One_NDC_System_Type("1", "1", "一期1楼叉车NDC系统"),
/**
* 二期二楼NDC系统
* 一期2楼NDC系统
*/
Two_NDC_System_Type("2", "2", "一期2楼NDC系统"),
/**
* 二期一楼叉车任务
* 仙工AGV系统
*/
XG_System_Type("3", "3", "仙工AGV系统");