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gengby
2022-12-13 22:49:42 +08:00
parent 3699748b42
commit bdd016c441
8 changed files with 51 additions and 40 deletions
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7
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -348,7 +348,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
ja.add(joi3);
}
}
System.out.println(ja.toString());
return ja;
}
@@ -455,20 +454,22 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/blockGroupStatus";
log.info("获取互斥组参数:{},请求路径:{}", String.valueOf(param), agvurl);
try {
HttpResponse result = HttpRequest.get(agvurl)
.body(String.valueOf(param))//表单内容
.timeout(20000)//超时，毫秒
.execute();
String body = result.body();
if (StrUtil.isNotEmpty(body)){
if (StrUtil.isNotEmpty(body)) {
JSONArray jsonArray = JSONArray.parseArray(result.body());
log.info("获取互斥组参数:{},请求路径:{},响应参数{}", String.valueOf(param), agvurl, String.valueOf(jsonArray));
return jsonArray;
}
return null;
} catch (Exception e) {
log.info("获取互斥组参数:{},请求路径:{},响应参数{}", String.valueOf(param), agvurl, e.getMessage());
return null;
}

20
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/ItemProtocol.java
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@@ -23,15 +23,19 @@ public class ItemProtocol {
public ItemProtocol(MaGangAgvDeviceDriver driver) {
this.driver = driver;
}
public int getStatus() {
return this.getOpcIntegerValue(item_status);
}
public int getType() {
return this.getOpcIntegerValue(item_type);
}
public int getX_coordinate() {
return this.getOpcIntegerValue(item_x_coordinate);
}
public int getY_coordinate() {
return this.getOpcIntegerValue(item_y_coordinate);
}
@@ -52,19 +56,19 @@ public class ItemProtocol {
public static List<ItemDto> getReadableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_status, "AGV状态", "DB620.W0"));
list.add(new ItemDto(item_type, "AGV任务类型", "DB620.W2"));
list.add(new ItemDto(item_x_coordinate, "AGVx坐标", "DB620.W4"));
list.add(new ItemDto(item_y_coordinate, "AGVy坐标", "DB620.W6"));
list.add(new ItemDto(item_status, "AGV状态", "DB602.W0"));
list.add(new ItemDto(item_type, "AGV任务类型", "DB602.W2"));
list.add(new ItemDto(item_x_coordinate, "AGVx坐标", "DB602.W4"));
list.add(new ItemDto(item_y_coordinate, "AGVy坐标", "DB602.W6"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_status, "AGV状态", "DB620.W0"));
list.add(new ItemDto(item_type, "AGV任务类型", "DB620.W2"));
list.add(new ItemDto(item_x_coordinate, "AGVx坐标", "DB620.W4"));
list.add(new ItemDto(item_y_coordinate, "AGVy坐标", "DB620.W6"));
list.add(new ItemDto(item_status, "AGV状态", "DB602.W0"));
list.add(new ItemDto(item_type, "AGV任务类型", "DB602.W2"));
list.add(new ItemDto(item_x_coordinate, "AGVx坐标", "DB602.W4"));
list.add(new ItemDto(item_y_coordinate, "AGVy坐标", "DB602.W6"));
return list;
}

1
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/agv/MaGangAgvDeviceDriver.java
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@@ -117,6 +117,7 @@ public class MaGangAgvDeviceDriver extends AbstractOpcDeviceDriver implements De
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, value);
ReadUtil.write(itemMap, server);
log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), to_command, value);
}

1
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/led/MaGangLedDeviceDriver.java
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@@ -114,6 +114,7 @@ public class MaGangLedDeviceDriver extends AbstractOpcDeviceDriver implements De
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, value);
ReadUtil.write(itemMap, server);
log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), to_command, value);
}

5
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/maGang/MaGangConveyorDeviceDriver.java
View File

@@ -258,12 +258,13 @@ public class MaGangConveyorDeviceDriver extends AbstractOpcDeviceDriver implemen
public void writing(int command) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + org.nl.acs.device_driver.basedriver.standard_conveyor_control_with_scanner.ItemProtocol.item_to_command;
+ "." + ItemProtocol.item_to_command;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_command, command);
ReadUtil.write(itemMap, server);
log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), to_command, String.valueOf(command));
}
public void writing(int type, int command) {
@@ -277,6 +278,7 @@ public class MaGangConveyorDeviceDriver extends AbstractOpcDeviceDriver implemen
log.info("设备:" + device_code + ",下发PLC信号" + to_command + ",value:" + command);
}
ReadUtil.write(itemMap, server);
log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), to_command, String.valueOf(command));
}
public void writing(String type, String value) {
@@ -287,6 +289,7 @@ public class MaGangConveyorDeviceDriver extends AbstractOpcDeviceDriver implemen
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(param, value);
ReadUtil.write(itemMap, server);
log.info("设备号{},kep点位名称{},下发信号{}", this.getDevice().getDevice_code(), param, value);
}
@Override

49
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AgvToAcsServiceImpl.java
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@@ -9,7 +9,6 @@ import org.nl.acs.device_driver.maGang.MaGangConveyorDeviceDriver;
import org.nl.acs.ext.wms.service.AgvToAcsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.common.exception.BadRequestException;
@@ -25,7 +24,6 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
private final DeviceAppService deviceAppService;
private final InstructionService instructionService;
private final DeviceExecuteLogService logService;
@Override
public Map<String, Object> waitpointRequest(JSONObject param) {
@@ -33,15 +31,18 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
String inst_code = param.getString("task_code");
//站点
String address = param.getString("address");
//车号
String vehicle_code = param.getString("device_code");
log.info("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address);
String deviceCode = RouteUtil.getDeviceCode(address);
Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(instructionDto)) {
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：指令任务号不存在! 指令号：" + inst_code);
throw new BadRequestException("请求失败,指令任务号不存在!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "指令任务号不存在或指令已取消或者指令已完成！");
throw new BadRequestException("指令任务号不存在或指令已取消或者指令已完成！");
}
Device device = deviceAppService.findDeviceByCode(deviceCode);
if (ObjectUtil.isEmpty(device)) {
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "设备号：'" + deviceCode + "'有误,请检查!");
throw new BadRequestException("设备号：'" + deviceCode + "'有误,请检查!");
}
MaGangConveyorDeviceDriver maGangConveyorDeviceDriver = (MaGangConveyorDeviceDriver) device.getDeviceDriver();
Map<String, Object> map = new HashMap<>();
map.put("status", 200);
@@ -49,55 +50,55 @@ public class AgvToAcsServiceImpl implements AgvToAcsService {
//取货点等待
if (address.contains("INGET")) {
//告诉设备请求取货
maGangConveyorDeviceDriver.writing(4);
maGangConveyorDeviceDriver.writing("to_command", "4");
//判断是否满足取货条件
if (maGangConveyorDeviceDriver.getMove() == 1 && maGangConveyorDeviceDriver.getAction() == 1) {
//满足响应成功
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
log.info("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},响应参数:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, String.valueOf(map));
return map;
} else {
//不满足抛异常
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货前-取货点无货!");
throw new BadRequestException("请求失败,取货前-取货点无货!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "不满足取货条件: move = 1 && action = 1");
throw new BadRequestException("请求失败,不满足取货条件: move = 1 && action = 1");
}
}//取货完成等待
else if (address.contains("OUTGET")) {
//取货完成以后判断取货点是否有货
if (maGangConveyorDeviceDriver.getMove() == 0) {
//无货告诉设备取货完成
maGangConveyorDeviceDriver.writing(2);
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
maGangConveyorDeviceDriver.writing("to_command", "2");
log.info("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},响应参数:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, String.valueOf(map));
return map;
} else {
//有货抛异常
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：取货完成后-取货点有货!");
throw new BadRequestException("请求失败,取货完成后-取货点有货!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "请求失败,取货完成后: move = 1!");
throw new BadRequestException("请求失败,取货完成后: move = 1!");
}
}//放货前等待
else if (address.contains("INPUT")) {
//告诉设备请求放货
maGangConveyorDeviceDriver.writing(5);
maGangConveyorDeviceDriver.writing("to_command", "5");
//判断是否满足放货信号
if (maGangConveyorDeviceDriver.getMove() == 0 && maGangConveyorDeviceDriver.getAction() == 2) {
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
log.info("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},响应参数:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, String.valueOf(map));
return map;
} else {
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：放货前-放货点有货!");
throw new BadRequestException("请求失败,放货前-放货点有货!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "放货前不满足放货条件: move = 0 && action = 2!");
throw new BadRequestException("请求失败,放货前不满足放货条件: move = 0 && action = 2!");
}
}//放货完成等待
else if (address.contains("OUTPUT")) {
//放货完成后判断放货点是否有货
if (maGangConveyorDeviceDriver.getMove() == 1) {
maGangConveyorDeviceDriver.writing(3);
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求成功-响应参数：" + map.toString());
maGangConveyorDeviceDriver.writing("to_command", "3");
log.info("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},响应参数:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, String.valueOf(map));
return map;
} else {
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：放货完成后-放货点无货!");
throw new BadRequestException("请求失败,放货完成后-放货点无货!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "放货完成后: move = 0 !");
throw new BadRequestException("请求失败,放货完成后: move = 0!");
}
}
logService.deviceExecuteLog(deviceCode, vehicle_code, inst_code, "请求路径：api/agv/waitpointRequest，请求参数：" + param.toString() + "，请求失败-原因：请求失败,地址有误! 地址：" + address);
throw new BadRequestException("请求失败,地址有误!");
log.error("请求等待点,请求路径:{},请求参数:{},指令号:{},站点:{},请求失败:{}", "api/agv/waitpointRequest", String.valueOf(param), inst_code, address, "请求失败,地址:'" + address + "'->有误!");
throw new BadRequestException("请求失败,地址:'" + address + "'->有误!");
}
}

6
acs/nladmin-system/src/main/resources/config/application-prod.yml
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@@ -6,9 +6,9 @@ spring:
druid:
db-type: com.alibaba.druid.pool.DruidDataSource
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:nmd_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:magang_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
username: ${DB_USER:root}
password: ${DB_PWD:123456}
password: ${DB_PWD:123}
# 初始连接数
initial-size: 5
# 最小连接数
@@ -154,4 +154,4 @@ loki:
systemName: acs
agvToAcs:
addr: http://127.0.0.1:8010
addr: http://192.168.0.214:8010

2
acs/nladmin-system/src/main/resources/config/application.yml
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@@ -2,7 +2,7 @@ spring:
freemarker:
check-template-location: false
profiles:
active: dev
active: prod
jackson:
time-zone: GMT+8
data: