From 3de65d80fa882e8e4efde0b340ffb7baac1679d7 Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Sun, 18 Feb 2024 13:34:11 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E4=BC=98=E5=8C=96agv=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E4=B8=8B=E5=8F=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/TwoNDCSocketConnectionAutoRun.java | 348 ++++++++++++++++++ .../StandardAutodoorDeviceDriver.java | 7 + .../service/impl/InstructionServiceImpl.java | 44 ++- .../task/service/impl/TaskServiceImpl.java | 22 ++ 4 files changed, 417 insertions(+), 4 deletions(-) create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java new file mode 100644 index 000000000..7587a9b3c --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java @@ -0,0 +1,348 @@ +package org.nl.acs.auto.run; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.NDCAgvService; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.service.DeviceService; +import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver; +import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.opc.DeviceAppService; +import org.nl.config.SpringContextHolder; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.impl.SysParamServiceImpl; +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.InetSocketAddress; +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 + ISysParamService paramService; + @Autowired + AutoRunService autoRunService; + @Autowired + LuceneExecuteLogService luceneExecuteLogService; + + + public TwoNDCSocketConnectionAutoRun() { + this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); + } + + @Override + public String getCode() { + return TwoNDCSocketConnectionAutoRun.class.getSimpleName(); + } + + @Override + public String getName() { + return "2楼1区域AGV系统"; + } + + @Override + public void autoRun() throws IOException { + ISysParamService paramService = SpringContextHolder.getBean(SysParamServiceImpl.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); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + + try { + System.out.println("2楼1区域AGV系统链接开始"); + ip = paramService.findByCode(AcsConfig.AGVURL2).getValue(); + port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue()); +// byte[] b = new byte[1024]; +// s = new Socket(ip, port); +// System.out.println("2楼1区域Agv链接成功"); +// dos = new DataOutputStream(s.getOutputStream()); +// dis = new DataInputStream(s.getInputStream()); + + InetSocketAddress socketAddress = new InetSocketAddress(ip, port); + + byte[] b = new byte[1024]; + s = new Socket(); + s.connect(socketAddress,2*1000); + s.setKeepAlive(true);//长链接 +// s.setSoTimeout(1000* 60 * 10);//读取超时时间 + dos = new DataOutputStream(s.getOutputStream()); + dis = new DataInputStream(s.getInputStream()); + + while (bConnected) { + int count = dis.read(b); + + if (count == -1) { + log.error("agv连接出现异常:服务端被关闭"); + if (ObjectUtil.isNotEmpty(s)) { + s.close(); + } + 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 inst = null; + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + } + 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; + String old_device_code = null; + String emptyNum = null; + //自动门 + StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; + 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); + } + + AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; + //开始任务 + if (phase == 0x01) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status("1"); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status("1"); + instructionService.update(inst); + data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); + } + flag = true; + } + //任务完毕 + //（无车id及状态） + else if (phase == 0x14) { + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令号{}对应的指令", ikey); + } else { + String agvcar = inst.getCarno(); + Device agvDevice = deviceAppService.findDeviceByCode(agvcar); + if (agvDevice != null) { + if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { + agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver(); + agvNdcTwoDeviceDriver.setInstruction(null); + } + } + inst.setInstruction_status("2"); + try { + instructionService.finish(inst); + } catch (Exception e) { + e.printStackTrace(); + } + } + data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); + } + //请求删除任务 + //(需要WCS反馈) + else if (phase == 0x30) { + data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0); + } + //任务删除确认 + //(需要WCS反馈) + else if (phase == 0xFF) { + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到指令号{}对应的指令", ikey); + } else { + instructionService.cancelNOSendAgv(inst.getInstruction_id()); + } + data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); + } else if (phase == 0x50) { + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + if(ObjectUtil.isNotEmpty(device)) { + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + try { + standardAutodoorDeviceDriver.writing("to_command", 1); + } catch (Exception e) { + log.info("下发电气信号失败:" + e.getMessage()); + e.printStackTrace(); + } + if (standardAutodoorDeviceDriver.getAction() == 1 && standardAutodoorDeviceDriver.getTo_command() == 1 ) { + log.info("下发开门信号值为:{}", standardAutodoorDeviceDriver.getTo_command()); + data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); + } + } + } else { + log.info(agvaddr + "对应设备号为空!"); + } + + } else if (phase == 0x51) { + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + if(ObjectUtil.isNotEmpty(device)){ + if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { + standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); + try { + standardAutodoorDeviceDriver.writing("to_command", 2); + } catch (Exception e) { + log.info("下发电气信号失败:" + e.getMessage()); + e.printStackTrace(); + } + data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); + } + } else { + log.info(device_code + "对应设备号为空!"); + } + + } else { + //上报异常信息 + //（不需要WCS反馈） + 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])); + } + try{ + if(ObjectUtil.isNotEmpty(device)){ + if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { + agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); + agvNdcTwoDeviceDriver.processSocket(arr); + } + } else { + log.info("当前phase："+ phase +"未找到对应设备"); + } + } catch (Exception e){ + log.info("processSocket出错:{},{}" ,e, e.getMessage()); + e.printStackTrace(); + } + } + 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("TwoAgv链接异常"); + log.info("TwoAgv链接异常"); + log.error("agv连接出现异常:{}", e); + logServer.deviceExecuteLog("NDC2", "", "", "agv异常" + e.getMessage()); + logServer.deviceExecuteLog("NDC2", "", "", "agv异常" + e); + if (ObjectUtil.isNotEmpty(s)) { + s.close(); + } + System.out.println(e.getMessage()); + + } 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 (Exception e) { + // TODO Auto-generated catch block + try{ + Thread.sleep(5000); + log.info("再次下发agv数据:" + Bytes2HexString(b)); + System.out.println("再次下发agv数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (Exception e1){ + e1.printStackTrace(); + } + + } + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java index 4d73afe1d..d86e60da9 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java @@ -85,6 +85,11 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem private Date instruction_require_time = new Date(); private Date instruction_finished_time = new Date(); + int to_command = 0; + int last_to_command = 0; + + + private int instruction_require_time_out; boolean requireSucess = false; @@ -106,6 +111,7 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem mode = this.itemProtocol.getMode(); action = this.itemProtocol.getAction(); error = this.itemProtocol.getError(); + to_command = this.itemProtocol.getToCommand(); if (mode != last_mode) { } if (action != last_action) { @@ -124,6 +130,7 @@ public class StandardAutodoorDeviceDriver extends AbstractOpcDeviceDriver implem last_mode = mode; last_error = error; last_state = state; + last_to_command = to_command; //message = StringFormatUtl.format("设备报警:{}", new Object[]{}); // String manual_create_task = this.getDevice().getExtraValue().get("manual_create_task").toString(); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 6ade6ee24..ea19e9757 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -403,7 +403,6 @@ public class InstructionServiceImpl extends CommonServiceImpl impleme instdto.setNext_point_code2(next_point_code2); instdto.setAgv_system_type(agv_system_type); instdto.setAgv_inst_type(CommonFinalParam.ONE); + + if (!StrUtil.equals(agv_system_type, "1")) { + // task_type + // 1、生箔； Itype=1:取空，取满，放空，放满； + // 2、分切 Itype=3取满、取空、放满、放空； + // 3、普通任务 Itype=2:取货、放货； + // 4、叉车任务 + // 5、输送任务 + // 6、行架 + // 7、立库 + if (StrUtil.equals(task_type, "1")) { + instdto.setAgv_inst_type("1"); + } else if (StrUtil.equals(task_type, "3")) { + instdto.setAgv_inst_type("2"); + } else if (StrUtil.equals(task_type, "2")) { + instdto.setAgv_inst_type("3"); + } else if (StrUtil.equals(task_type, "8")) { + instdto.setAgv_inst_type("2"); + } + } else { + instdto.setAgv_inst_type("4"); + } instructionservice.create2(instdto); acsTask.setTask_status(CommonFinalParam.ONE);