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NDC

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This commit is contained in:
gengby
2022-11-25 17:51:57 +08:00
parent 78fdfd38e5
commit bd2d06c497
9 changed files with 527 additions and 159 deletions
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245
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/NDCSocketConnectionAutoRun.java Normal file
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@@ -0,0 +1,245 @@
package org.nl.acs.auto.run;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
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.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDefination;
import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
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 static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
String ip = "127.0.0.1";
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
AutoRunService autoRunService;
public NDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return NDCSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "NDC在线连接";
}
public void autoRun() {
try {
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());
byte[] b = new byte[1028];
s = new Socket(ip, port);
System.out.println("Agv链接成功");
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
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 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;
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);
break;
}
inst.setInstruction_status("2");
instructionService.finish(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
//请求删除任务
//(需要WCS反馈)
else if (phase == 0x30) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
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);
break;
}
instructionService.cancel(inst.getInstruction_id());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
//上报异常信息
//（不需要WCS反馈）
if(phase == 0x67){
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
} else {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
}
if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
agvNdcTwoDeviceDriver.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) {
} 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();
}
}
}

32
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@@ -79,7 +79,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
try {
byte[] b = new byte[1024];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
@@ -150,9 +149,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
instructionService.update(inst);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if (phase == 0x0A) {
}
//任务完毕
//（无车id及状态）
else if (phase == 0x0A) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
@@ -161,10 +161,16 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else if(phase == 0x30){
data = NDCAgvService.sendAgvOneModeInst(143, index, 0);
}
//请求删除任务
//(需要WCS反馈)
else if(phase == 0x30){
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0);
} else if(phase == 0xFF) {
}
//任务删除确认
//(需要WCS反馈)
else if(phase == 0xFF) {
for (Instruction inst : insts) {
if (!ObjectUtil.isEmpty(inst)) {
@@ -173,15 +179,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
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 {
//上报异常信息
//（不需要WCS反馈）
if(phase == 0x67){
device = deviceAppService.findDeviceByCode(Integer.toString(arr[27]));
} else {
@@ -197,7 +197,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
} else {
// System.out.println("agv上报不是0073类型动作，不处理");
System.out.println("agv上报不是0073类型动作，不处理");
}
}

86
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -25,7 +25,6 @@ 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;
@@ -109,7 +108,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//货架
StandardStorageDeviceDriver standardStorageDeviceDriver;
//开始任务/上报订单号
//分配 车id
//(不需要WCS反馈)
if (phase == 0x02) {
for (Instruction inst : insts) {
inst.setCarno(String.valueOf(carno));
@@ -117,7 +117,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data);
//请求取货
//到达取货点
//(需要WCS反馈)
} else if (phase == 0x03) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
@@ -167,34 +168,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
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
//(需要WCS反馈)
} else if (phase == 0x05) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
@@ -248,7 +223,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//请求放货
//到达放货点
//(需要WCS反馈)
} else if (phase == 0x07) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
@@ -298,7 +274,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
//放货完成
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
@@ -348,36 +325,21 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
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));
}
}
//到达位置点
//(需要WCS反馈)
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);
}else if(phase == 0x50){//进入交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}else if(phase == 0x51){//离开交通灯区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);

232
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -6,7 +6,7 @@ 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.auto.run.NDCSocketConnectionAutoRun;
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;
@@ -25,10 +25,9 @@ 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
* NDC双工位AGV
*/
@Slf4j
@Data
@@ -38,29 +37,17 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
ParamService ParamService = SpringContextHolder.getBean(ParamService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.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;
int agv_power = 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;
int region = 0;
@LokiLog(type = LokiLogType.ACA_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
@@ -105,87 +92,172 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
device = deviceAppService.findDeviceByCode(device_code);
if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvTwoModeInst(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) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
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) {
//判断普通站点驱动是否开启等待
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
if(StrUtil.equals("true",this.getDevice().getExtraValue().get("max_emptypalletnum").toString())){
if(standardOrdinarySiteDeviceDriver.getStatus() == 1){
data = NDCAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else {
logServer.deviceExecuteLog(this.device_code, "", "", "上位系统未允许取货");
}
} else {
data = NDCAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
}
//到达取货点
//(Itype=1/2/3,需要WCS反馈Phase)
else if (phase == 0x03) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
// 取货完毕
//(Itype=1/2/3,需要WCS反馈Phase)
else if (phase == 0x05) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
//到达取货点(Itype=1、3，需要WCS反馈)
else if (phase == 0x08) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
String instruction_type = inst.getInstruction_type();
if (StrUtil.equals(instruction_type, "1") || StrUtil.equals(instruction_type, "3")) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
}
// 取货完毕
//(Itype=1、3,需要WCS反馈)
else if (phase == 0x0A) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
String instruction_type = inst.getInstruction_type();
if (StrUtil.equals(instruction_type, "1") || StrUtil.equals(instruction_type, "3")) {
data = ndcAgvService.sendAgvTwoModeInst(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;
data = NDCAgvService.sendAgvTwoModeInst(phase, index, 0);
}
//（Itype=1,上传称重数据）
else if (phase == 0x64) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
String instruction_type = inst.getInstruction_type();
//上传称重数据
if (StrUtil.equals(instruction_type, "1")) {
weight = arr[18] * 256 + arr[19];
inst.setWeight(String.valueOf(weight));
instructionService.update(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
}
// 到达放货点
//（Itype=1/2/3,需要WCS反馈）
else if (phase == 0x0C) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
//放货完成
//(Itype=1/2/3,需要WCS反馈)
else if (phase == 0x0E) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
//到达放货点
//（Itype=1、3,需要WCS反馈）
else if (phase == 0x10) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
String instruction_type = inst.getInstruction_type();
if (StrUtil.equals(instruction_type, "1") || StrUtil.equals(instruction_type, "3")) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
}
//放货完成
//（Itype=1、3,需要WCS反馈）
else if (phase == 0x12) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
String instruction_type = inst.getInstruction_type();
if (StrUtil.equals(instruction_type, "1") || StrUtil.equals(instruction_type, "3")) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
}
//上传AGV电量
else if (phase == 0x73) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
agv_power = ikey;
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} //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 = arr[18] * 256 + arr[19];
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x64) {//param,agv货位id待定
//取货完毕
} else if (phase == 0x05) {
} else if (phase == 0x07) {
} else if (phase == 0x09) {
} else if (phase == 0x71) {
} else if (phase == 0x72) {
} else if (phase == 0x73) {
} else if (phase == 0x74) {
} else if (phase == 0x75) {
} else if (phase == 0x76) {
}
//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 = arr[18] * 256 + arr[19];
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
//上报异常信息
//（不需要WCS反馈）
else if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
TwoNDCSocketConnectionAutoRun.write(data);
NDCSocketConnectionAutoRun.write(data);
}
}

8
acs/nladmin-system/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
View File

@@ -108,6 +108,14 @@ public class InstructionController {
return new ResponseEntity<>(HttpStatus.OK);
}
@Log("强制取消指令")
@ApiOperation("强制取消指令")
@PostMapping(value = "/forceCancel/{id}")
public ResponseEntity<Object> forceCancel(@RequestBody String id) throws Exception {
instructionService.forceCancel(id);
return new ResponseEntity<>(HttpStatus.OK);
}
@Log("导出指令")
@ApiOperation("导出指令")
@GetMapping(value = "/download")

7
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java
View File

@@ -164,6 +164,13 @@ public interface InstructionService {
*/
void cancel(String id) throws Exception;
/**
* 取消指令
*
* @param id
*/
void forceCancel(String id) throws Exception;
/**
* 取消指令不下发agv
*

54
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -833,6 +833,60 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
}
}
@Override
public void forceCancel(String id) throws Exception {
//flag= true时取消指令
boolean flag = false;
Instruction entity = this.findById(id);
if (entity == null) {
throw new BadRequestException("被删除或无权限，操作失败!");
}
TaskDto task = taskService.findByCodeFromCache(entity.getTask_code());
if (StrUtil.isEmpty(entity.getRoute_plan_code())) {
entity.setRoute_plan_code(task.getRoute_plan_code());
}
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
entity.setUpdate_time(now);
entity.setUpdate_by(currentUsername);
entity.setInstruction_status("3");
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = (JSONObject) JSONObject.toJSON(entity);
wo.update(json);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
// 如果是无光电的设备 指令完成变更起点、终点状态
JSONObject jo = new JSONObject();
jo.put("device_code", entity.getStart_device_code());
if (StrUtil.equals(entity.getMaterial(), "1")) {
jo.put("hasGoodStatus", "1");
} else if (!StrUtil.equals(entity.getMaterial(), "1") && !StrUtil.isEmpty(entity.getMaterial())) {
jo.put("hasGoodStatus", "2");
} else {
jo.put("hasGoodStatus", "0");
}
jo.put("material_type", entity.getMaterial());
jo.put("batch", entity.getBatch());
jo.put("islock", "false");
deviceService.changeDeviceStatus(jo);
JSONObject jo1 = new JSONObject();
jo1.put("device_code", entity.getNext_device_code());
jo.put("hasGoodStatus", "0");
jo.put("material_type", "");
jo.put("batch", "");
jo1.put("islock", "false");
deviceService.changeDeviceStatus(jo1);
String instnextdevice = entity.getNext_device_code();
Device device = appService.findDeviceByCode(instnextdevice);
if (device == null) {
log.debug("地址对应设备未找到");
return;
}
removeByCodeFromCache(entity.getInstruction_code());
}
@Override
public void cancelNOSendAgv(String id) throws Exception {

10
acs/nladmin-ui/src/api/acs/instruction/instruction.js
View File

@@ -40,6 +40,14 @@ export function cancel(instruction_id) {
})
}
export function forceCancel(instruction_id) {
return request({
url: 'api/instruction/forceCancel/' + instruction_id,
method: 'post',
data: instruction_id
})
}
export function queryUnFinish() {
return request({
url: 'api/instruction/unfinish/',
@@ -62,4 +70,4 @@ export function reload() {
})
}
export default { add, edit, del, finish, cancel, queryUnFinish, queryByTaskId, reload }
export default { add, edit, del, finish, cancel, forceCancel, queryUnFinish, queryByTaskId, reload }

12
acs/nladmin-ui/src/views/acs/instruction/index.vue
View File

@@ -160,6 +160,7 @@
<el-dropdown-menu slot="dropdown">
<el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'a')">完成</el-dropdown-item>
<el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'b')">取消</el-dropdown-item>
<el-dropdown-item :command="beforeHandleCommand(scope.$index, scope.row,'c')">强制取消</el-dropdown-item>
</el-dropdown-menu>
</el-dropdown>
</template>
@@ -290,6 +291,14 @@ export default {
console.log(err.response.data.message)
})
},
forceCancel(index, row) {
crudInstruction.forceCancel(row.instruction_id).then(res => {
this.crud.toQuery()
this.crud.notify('强制取消成功', CRUD.NOTIFICATION_TYPE.SUCCESS)
}).catch(err => {
console.log(err.response.data.message)
})
},
reload() {
crudInstruction.reload().then(res => {
this.crud.toQuery()
@@ -313,6 +322,9 @@ export default {
case 'b':// 取消
this.cancel(command.index, command.row)
break
case 'c':// 强制取消
this.forceCancel(command.index, command.row)
break
}
}