root/project_promession
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix ndc驱动

Browse Source
This commit is contained in:
张江玮
2023-08-08 17:56:47 +08:00
parent 3c02537efe
commit 1d0930a453
2 changed files with 178 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files

205
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -2,17 +2,16 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.EqualsAndHashCode;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.agv.utils.ErrorUtil;
import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
@@ -22,9 +21,8 @@ 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.log.LokiLog;
import org.nl.acs.log.LokiLogType;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.task.service.TaskService;
@@ -33,18 +31,17 @@ import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
/**
* NDC单工位AGV
*/
@EqualsAndHashCode(callSuper = false)
@Slf4j
@Data
@RequiredArgsConstructor
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver {
public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor {
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
@@ -74,8 +71,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int last_status = 0;
int last_error = 0;
@LokiLog(type = LokiLogType.ACS_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
String error_code = "0";
String error_message = "";
public synchronized void processSocket(int[] arr) {
device_code = this.getDeviceCode();
byte[] data = null;
phase = arr[16] * 256 + arr[17];
@@ -91,10 +90,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
List<Instruction> insts = null;
Instruction inst = null;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
// if (ObjectUtil.isEmpty(inst)) {
@@ -110,21 +105,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
String emptyNum = null;
String device_code = null;
if (phase == 0x67) {
//故障信息
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
//货架
StandardStorageDeviceDriver standardStorageDeviceDriver;
//
SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
//分配 车id
//(不需要WCS反馈)
if (phase == 0x02) {
@@ -151,7 +131,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -159,8 +138,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
log.info(agvaddr + "对应设备号为空！");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空！");
return;
}
//校验agv上报站点编号与指令起始点相同
@@ -169,34 +148,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "1");
map.put("device_code", inst.getStart_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getJSONObject("payload").getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms取货申请失败,wms不允许agv取货,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//取货完毕
//(需要WCS反馈)
} else if (phase == 0x05) {
@@ -215,7 +167,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -234,34 +185,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return;
}
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "2");
map.put("device_code", inst.getStart_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getJSONObject("payload").getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs反馈wms取货完成离开成功,wms允许agv取货完成离开,已反馈agv取货完成离开", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs反馈wms取货完成离开失败,wms不允许agv取货完成离开,未反馈agv取货完成离开", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs反馈wms取货完成离开失败，连接被拒绝,未反馈agv取货完成离开", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//到达放货点
//(需要WCS反馈)
} else if (phase == 0x07) {
@@ -280,7 +203,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -296,35 +218,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return;
}
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "3");
map.put("device_code", inst.getNext_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getJSONObject("payload").getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms放货申请失败,wms不允许agv放货,未反馈agv允许放货", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
@@ -343,7 +236,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} 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;
}
@@ -359,34 +251,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到编号{}对应的指令", ikey);
return;
}
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "0")) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
Object reqWms = device.getExtraValue().get("reqWms");
if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "4");
map.put("device_code", inst.getNext_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getJSONObject("payload").getInteger("status") == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
log.info("指令号:{},acs请求wms放货完成申请成功,wms允许agv放货完成,已反馈agv放货完成", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms放货完成离开失败,wms不允许agv放货完成离开,未反馈agv放货完成离开", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms放货完成离开失败，连接被拒绝,未反馈agv放货完成离开", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
//到达位置点
@@ -397,12 +261,38 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
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
} else if (phase == 0x50) {//进入区域
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
} else if (phase == 0x51) {//离开区域
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x67) {//agv异常
if (ikey == 0) {
this.setErrorInfo(ikey, "0", "正常");
} else {
Map<String, String> error = ErrorUtil.getAgvErrorMsg(ikey);
String code = error.get("code");
String info = error.get("info");
this.setErrorInfo(ikey, code, info);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
last_error = error;
} else if (phase == 0x70) {
//x坐标
x = ikey;
} else if (phase == 0x71) {
//y坐标
y = ikey;
} else if (phase == 0x72) {
//车辆角度
angle = ikey;
} else if (phase == 0x73) {
//agv电量
electric_qty = ikey;
} else if (phase == 0x74) {
//三色灯状态
status = ikey;
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
@@ -410,4 +300,19 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
}
private synchronized void setErrorInfo(int error, String error_code, String error_message) {
this.error = error;
this.error_code = error_code;
this.error_message = error_message;
}
@Override
public JSONObject getDeviceStatusName() throws Exception {
return null;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
}

123
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/ErrorUtil.java Normal file
View File

@@ -0,0 +1,123 @@
package org.nl.acs.device_driver.basedriver.agv.utils;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import org.nl.modules.system.domain.Dict;
import org.nl.modules.system.service.DictDetailService;
import org.nl.modules.system.service.DictService;
import org.nl.modules.system.service.dto.DictDetailDto;
import org.nl.modules.system.service.impl.DictDetailServiceImpl;
import org.nl.modules.system.service.impl.DictServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.function.Function;
import java.util.stream.Collectors;
/**
* @author: geng by
* @createDate: 2023/3/15
*/
public class ErrorUtil {
public static ConcurrentHashMap<String, List<DictDetailDto>> dictMap = new ConcurrentHashMap<>();
public static String getDictDetail(String type, String error_code) {
getDict();
List<DictDetailDto> dictDetailDtos = dictMap.get(type);
String detail = null;
if (ObjectUtil.isNotEmpty(dictDetailDtos)) {
for (int i = 0; i < dictDetailDtos.size(); i++) {
DictDetailDto dictDetailDto = dictDetailDtos.get(i);
String value = dictDetailDto.getValue();
String label = dictDetailDto.getLabel();
if (StrUtil.equals(value, error_code)) {
detail = label;
break;
}
}
}
return detail == null ? "字典表未配置对应的报警信息" : detail;
}
public static Map<Integer, String> getDictDetailByName(String type) {
getDict();
List<DictDetailDto> dictDetailDtos = dictMap.get(type);
Map<Integer, String> map = new HashMap<>();
if (ObjectUtil.isNotEmpty(dictDetailDtos)) {
List<DictDetailDto> dtos = dictDetailDtos
.stream()
.filter(dictDetailDto -> !dictDetailDto.getValue().equals("0"))
.filter(dictDetailDto -> !dictDetailDto.getValue().equals("-1"))
.collect(Collectors.toList());
dtos.forEach(dictDetailDto -> map.put(Integer.parseInt(dictDetailDto.getValue()), dictDetailDto.getLabel()));
}
return map;
}
public static void getDict() {
if (ObjectUtil.isEmpty(dictMap)) {
DictDetailService dictDetailService = SpringContextHolder.getBean(DictDetailServiceImpl.class);
DictService dictService = SpringContextHolder.getBean(DictServiceImpl.class);
List<Dict> dictDtos = dictService.queryAll();
for (int i = 0; i < dictDtos.size(); i++) {
Dict dictDto = dictDtos.get(i);
dictMap.put(dictDto.getName(), getDict(dictDto.getName(), t -> {
return dictDetailService.getDictByName(t);
}));
}
}
}
public static List<DictDetailDto> getDict(String name, Function<String, List<DictDetailDto>> f) {
return f.apply(name);
}
public static Map<String, String> getAgvErrorMsg(Integer ageErrorNum) {
Map<Integer, String> agvMap = getDictDetailByName("agv_error_type");
Integer[] keys = agvMap.keySet().toArray(new Integer[0]);
String message = "";
String code = "";
out:
for (int i = 1; i < 1 << keys.length; i++) {
int sum = 0;
StringBuffer sb = new StringBuffer();
StringBuffer sbCode = new StringBuffer();
inner:
for (int j = 0; j < keys.length; j++) {
if ((i & 1 << j) != 0) {
sum += keys[j];
sb.append(agvMap.get(keys[j])).append(",");
sbCode.append(keys[j]).append(",");
}
}
if (sum == ageErrorNum) {
code = sbCode.toString();
message = sb.toString();
break out;
}
}
Map<String, String> map = new HashMap<>();
String info = replace(message);
code = replace(code);
map.put("code", StrUtil.isEmpty(code) ? "-1" : code);
map.put("info", StrUtil.isEmpty(info) ? "AGV上报报警代码有误" : info);
return map;
}
public static String replace(String message) {
if (StrUtil.isEmpty(message)) {
return null;
}
if (message.endsWith(",")) {
return message.substring(0, message.length() - 1);
}
return message;
}
}