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lishuai
2024-02-18 13:41:58 +08:00
parent b038808898 3de65d80fa
commit b1aa7e47ee
4 changed files with 417 additions and 4 deletions
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348
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java Normal file
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@@ -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();
}
}
}
}

7
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/autodoor/standard_autodoor/StandardAutodoorDeviceDriver.java
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@@ -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();

44
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -403,7 +403,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
dto.setCompound_inst_data(task.getCompound_task_data());
}
}
dto.setCreate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
dto.setUpdate_by(ObjectUtil.isNotEmpty(currentUsername) ? currentUsername : "admin");
dto.setUpdate_time(now);
@@ -442,8 +441,33 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
}
if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
// 0为输送、立库任务 1 1楼叉车系统 2 2楼1区域AGV系统 3 2楼2区域AGV系统
if (!StrUtil.equals(task.getAgv_system_type(), "0")
&& ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
log.warn("下发AGV指令数据,"+ "指令号:" + dto.getInstruction_code() + ",AGV系统类型:"+ dto.getAgv_system_type()
+ ",AGV指令类型:" + dto.getInstruction_type() );
try {
if(StrUtil.isEmpty(dto.getAgv_inst_type()) || StrUtil.isEmpty(dto.getAgv_system_type())){
log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" +dto.getInstruction_type()
+",inst_system_type:" + dto.getAgv_system_type());
}
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
} catch (Exception e){
dto.setSend_status("2");
dto.setRemark(e.getMessage());
e.printStackTrace();
log.warn("下发AGV指令异常:"+ e);
}
} else {
// Boolean result = createLkInst(task.getStorage_task_type(),dto);
Resp resp = acsToLiKuService.sendInst(task.getStorage_task_type(), dto);
if (StrUtil.equals(resp.result, "true")) {
dto.setSend_status("1");
} else {
dto.setSend_status("2");
}
}
}
//判断是否是仙工AGV
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "3")) {
@@ -568,7 +592,19 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
throw new BadRequestException(LangProcess.msg("error_isNull", "route"));
}
if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
// 0为输送、立库任务 1 1楼叉车系统 2 2楼1区域AGV系统 3 2楼2区域AGV系统
if (!StrUtil.equals(task.getAgv_system_type(), "0")
&& ObjectUtil.isNotEmpty(task.getAgv_system_type())) {
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
} else {
Resp resp = acsToLiKuService.sendInst(task.getStorage_task_type(), dto);
if (StrUtil.equals(resp.result, "true")) {
dto.setSend_status("1");
} else {
dto.setSend_status("2");
}
} NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
}
} catch (Exception e) {

22
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
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@@ -928,6 +928,28 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> 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);