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USER-20220102CG\noblelift
2023-06-15 16:52:38 +08:00
parent 68497454e8
commit c49c62583a
12 changed files with 109 additions and 308 deletions
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16
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -1,30 +1,22 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.impl.DeviceServiceImpl;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.LokiLog;
import org.nl.acs.log.LokiLogType;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.opc.DeviceType;
import org.nl.modules.common.exception.BadRequestException;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.util.CodeUtil;
import org.nl.modules.wql.util.SpringContextHolder;
@@ -32,7 +24,6 @@ import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@Slf4j
@@ -80,10 +71,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
OneNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
TwoNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
TwoNDC2SocketConnectionAutoRun.write(b);
}
System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
}
@@ -198,8 +186,6 @@ public class NDCAgvServiceImpl implements NDCAgvService {
if (StrUtil.equals(agv_system_type, "2")) {
TwoNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(agv_system_type, "3")) {
TwoNDC2SocketConnectionAutoRun.write(b);
}
} else {
@@ -394,8 +380,6 @@ public class NDCAgvServiceImpl implements NDCAgvService {
OneNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(agv_system, "2")) {
TwoNDCSocketConnectionAutoRun.write(b);
} else if (StrUtil.equals(agv_system, "3")) {
TwoNDC2SocketConnectionAutoRun.write(b);
}
} catch (Exception e) {
e.getMessage();

55
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/HeartbeatOfflineCheckerAutoRun.java Normal file
View File

@@ -0,0 +1,55 @@
package org.nl.acs.auto.run;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.heartbeat.service.HeartbeatUnifiedService;
import org.nl.acs.heartbeat.service.impl.HeartbeatUnifiedServiceimpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.ThreadUtl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.Date;
@Slf4j
@Component
public class HeartbeatOfflineCheckerAutoRun extends AbstractAutoRunnable {
@Autowired
AutoRunService autoRunService;
private int recordTimeOut = 10000;
private Date recordTime;
int offline_loop_time_millions = 1000;
boolean heartbeat_no_use =false;
public HeartbeatOfflineCheckerAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long)this.recordTimeOut);
}
public String getCode() {
return HeartbeatOfflineCheckerAutoRun.class.getSimpleName();
}
public String getName() {
return "在线监听器";
}
public void autoRun() {
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
HeartbeatUnifiedService heartbeatUnifiedService = SpringContextHolder.getBean(HeartbeatUnifiedServiceimpl.class);
for(; !heartbeat_no_use; ThreadUtl.sleep((long)offline_loop_time_millions)) {
try {
heartbeatUnifiedService.offlineChecker();
} catch (Exception var3) {
Date date = new Date();
if (date.getTime() - this.recordTime.getTime() < (long)this.recordTimeOut) {
return;
}
this.recordTime = date;
}
}
}
}

251
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java
View File

@@ -1,251 +0,0 @@
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.service.DeviceService;
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 TwoNDC2SocketConnectionAutoRun 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
ParamService paramService;
@Autowired
AutoRunService autoRunService;
public TwoNDC2SocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return TwoNDC2SocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "2楼2区域AGV系统";
}
public void autoRun() {
try {
System.out.println("2楼2区域AGV系统链接开始");
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.AGVURL22).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT22).getValue());
byte[] b = new byte[1028];
s = new Socket(ip, port);
System.out.println("2楼2区域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;
}
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");
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.cancelNOSendAgv(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 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
device = deviceAppService.findDeviceByCode(Integer.toString(arr[18] * 256 + arr[19]));
} 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();
}
}
}

52
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -206,20 +206,23 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info(agvaddr + "对应设备号为空!");
return;
}
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
try {
standardAutodoorDeviceDriver.writing("to_open", "1");
standardAutodoorDeviceDriver.writing("to_close", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if (standardAutodoorDeviceDriver.getOpen() == 1) {
log.info("下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
if(ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
try {
standardAutodoorDeviceDriver.writing("to_open", "1");
standardAutodoorDeviceDriver.writing("to_close", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
if (standardAutodoorDeviceDriver.getOpen() == 1) {
log.info("下发开门信号值为:{},下发关门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose());
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
}
} else {
log.info(agvaddr + "对应设备号为空!");
}
} else if (phase == 0x51) {
@@ -227,17 +230,20 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info(agvaddr + "对应设备号为空!");
return;
}
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
try {
standardAutodoorDeviceDriver.writing("to_close", "1");
standardAutodoorDeviceDriver.writing("to_open", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
if(ObjectUtil.isNotEmpty(device)){
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
try {
standardAutodoorDeviceDriver.writing("to_close", "1");
standardAutodoorDeviceDriver.writing("to_open", "0");
} catch (Exception e) {
log.info("下发电气信号失败:" + e.getMessage());
e.printStackTrace();
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else {
log.info(device_code + "对应设备号为空!");
}
} else {

BIN
acs/nladmin-system/src/main/java/org/nl/acs/device.xls
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Binary file not shown.

4
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
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@@ -7,12 +7,10 @@ import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.basedriver.agv.utils.OneAgvPhase;
import org.nl.acs.device_driver.basedriver.agv.utils.TwoAgvPhase;
import org.nl.acs.device_driver.basedriver.photoelectric_inspection_site.PhotoelectricInspectionSiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutodoorDeviceDriver;
@@ -719,8 +717,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));
if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
TwoNDCSocketConnectionAutoRun.write(data);
} else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
TwoNDC2SocketConnectionAutoRun.write(data);
}
}
}

7
acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/dto/HeartbeatManageDto.java
View File

@@ -5,7 +5,7 @@ import org.nl.acs.heartbeat.enums.HeartbeatType;
import java.util.Date;
public class HeartbeatManageDto extends Dto {
public class HeartbeatManageDto {
private static final long serialVersionUID = 1L;
private String resource_code;
private String resource_name;
@@ -14,6 +14,7 @@ public class HeartbeatManageDto extends Dto {
private Date online_datetime;
private Date offline_datetime;
private Date lastreceivetime;
private String id;
public HeartbeatManageDto() {
}
@@ -25,6 +26,10 @@ public class HeartbeatManageDto extends Dto {
}
public String getId() {
return this.id;
}
public String getResource_code() {
return this.resource_code;
}

1
acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/service/HeartbeatUnifiedService.java
View File

@@ -3,6 +3,7 @@ package org.nl.acs.heartbeat.service;
import org.nl.acs.heartbeat.HeartbeatEvent;
import org.nl.acs.heartbeat.dto.HeartbeatManageDto;
import org.springframework.stereotype.Service;
import java.util.List;
import java.util.UUID;

14
acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/service_impl/HeartbeatManageServiceimpl.java → acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/service/impl/HeartbeatManageServiceimpl.java
View File

@@ -1,16 +1,19 @@
package org.nl.acs.heartbeat.service_impl;
package org.nl.acs.heartbeat.service.impl;
import com.alibaba.fastjson.JSONArray;
import org.nl.acs.heartbeat.domain.HeartbeatDomain;
import org.nl.acs.heartbeat.dto.HeartbeatManageDto;
import org.nl.acs.heartbeat.service.HeartbeatManageService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.modules.wql.core.bean.WQLObject;
import org.springframework.stereotype.Service;
import java.util.List;
import java.util.UUID;
@Service
public class HeartbeatManageServiceimpl implements HeartbeatManageService {
public HeartbeatManageServiceimpl() {
}
// public PageResult<HeartbeatManageDto> queryAllHeartbeat(PageQuery pageQuery) {
// return this.heartbeatRespository.queryPagedByColumn(pageQuery, HeartbeatManageDto.class);
@@ -40,7 +43,10 @@ public class HeartbeatManageServiceimpl implements HeartbeatManageService {
}
public List<HeartbeatManageDto> queryAllActive() {
return null;
WQLObject wo = WQLObject.getWQLObject("acs_heartbeat");
JSONArray arr = wo.query().getResultJSONArray(0);
List<HeartbeatManageDto> list = arr.toJavaList(HeartbeatManageDto.class);
return list;
}
public HeartbeatManageDto queryById(UUID id) {

9
acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/service_impl/HeartbeatUnifiedServiceimpl.java → acs/nladmin-system/src/main/java/org/nl/acs/heartbeat/service/impl/HeartbeatUnifiedServiceimpl.java
View File

@@ -1,4 +1,4 @@
package org.nl.acs.heartbeat.service_impl;
package org.nl.acs.heartbeat.service.impl;
import cn.hutool.core.util.ObjectUtil;
@@ -12,23 +12,22 @@ import org.nl.acs.heartbeat.service.HeartbeatManageService;
import org.nl.acs.heartbeat.service.HeartbeatUnifiedService;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
@Service
public class HeartbeatUnifiedServiceimpl implements HeartbeatUnifiedService, ApplicationAutoInitial {
private List<HeartbeatManageDto> heartbeats = new ArrayList();
@Autowired
private HeartbeatManageService heartbeatManageService;
public HeartbeatUnifiedServiceimpl() {
}
@Override
public void autoInitial() throws Exception {
heartbeatManageService = SpringContextHolder.getBean("heartbeatManageServiceImpl");
this.reload();
Iterator iterator = this.heartbeats.iterator();

4
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java
View File

@@ -192,9 +192,9 @@ public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerC
if (true) {
this.logItemChanged(itemId, accessor_value, value, itemDto);
}
if(!ObjectUtil.isEmpty(value)){
// if(!ObjectUtil.isEmpty(value)){
accessor_value.setValue(itemId, value);
}
// }
}
}