NDC

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/NDCSocketConnectionAutoRun.java

@@ -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();
+        }
+
+    }
+}

acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java

@@ -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);
-
+                    }
-
+                    //任务完毕
-                    } else if (phase == 0x0A) {
+                    //（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");
                 }
             }
 

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -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);

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

@@ -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 region = 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 {
@@ -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 {
+        //到达取货点
-                    data = NDCAgvService.sendAgvTwoModeInst(phase, index, 0);
+        //(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);
         }
-            }
-
-
-        } 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);
-
-            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) {
+        //(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);
+            }
 
+        }
+        //（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);
 
-        } else if (phase == 0x07) {
+        }  //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);
 
+        }
+        //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);
 
-        } else if (phase == 0x09) {
+        }
-
+        //上报异常信息
-
+        //（不需要WCS反馈）
-        } else if (phase == 0x71) {
+        else  if (phase == 0x67) {
-
+            //故障信息
-
+            if (arr[18] * 256 + arr[19] == 0) {
-        } else if (phase == 0x72) {
-
-
-        } else if (phase == 0x73) {
-
-
-        } else if (phase == 0x74) {
-
-
-        } else if (phase == 0x75) {
-
-
-        } else if (phase == 0x76) {
-
 
+            }
+            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);
         }
     }
 

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

@@ -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")

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

@@ -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
      *

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

@@ -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 {

acs/nladmin-ui/src/api/acs/instruction/instruction.js

@@ -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 }

acs/nladmin-ui/src/views/acs/instruction/index.vue

@@ -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
       }
     }