增加电梯逻辑

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

@@ -6,6 +6,7 @@ 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.utils.SocketUtil;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
@@ -183,7 +184,16 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             }
                         }
                         data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
-
+                        //电梯开门
+                    }else if (phase == 0x50 && (agvaddr == 2421 || agvaddr == 2422 || agvaddr == 2423)) {
+                        if (SocketUtil.checkConnect(agvaddr, (byte) 0X0A)) {
+                            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        }
+                        //电梯关门
+                    }else if (phase == 0x51 && (agvaddr == 2421 || agvaddr == 2422 || agvaddr == 2423)) {
+                        if (SocketUtil.checkConnect(agvaddr, (byte) 0X00)) {
+                            data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        }
                     } else {
                         //上报异常信息
                         //（不需要WCS反馈）

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

@@ -15,6 +15,7 @@ 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.agv.utils.SocketUtil;
 import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutoDoorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_elevator.StandardElevatorDeviceDriver;
@@ -77,6 +78,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
     int last_electric_qty = 0;
     int last_status = 0;
     int last_error = 0;
+    boolean wcsFlag = false;
+    boolean wmsFlag = false;
 
     String error_code = "0";
     String error_message = "";
@@ -100,8 +103,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         List<Instruction> insts = null;
         Instruction inst = null;
         boolean flag = false;
-        boolean wcsFlag = false;
-        boolean wmsFlag = false;
         boolean link_flag = false;
         if (ikey != 0) {
             inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
@@ -199,7 +200,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
                 if ("true".equals(device.getExtraValue().get("reqWms"))
                         && !inst.getTask_code().startsWith("-")
-                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())) {
+                        && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue()) && !wmsFlag) {
                     JSONObject form = new JSONObject();
                     form.put("vehicle_code", inst.getVehicle_code());
                     form.put("status", 1);
@@ -227,6 +228,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -276,12 +279,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
                 FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
                 if (driver.getMode() != 0
-                        && driver.getMove() != 0
+                        && (driver.getMove() != 0
-                        && driver.getNumber() != 0) {
+                        || driver.getNumber() != 0)) {
                     if (!inst.getTask_code().startsWith("-")
                             && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
                             && "true".equals(device.getExtraValue().get("reqWms"))) {
@@ -327,6 +332,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             }
 
@@ -416,7 +423,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                        logServer.deviceExecuteLog(device_code, "", "", message);
 //                    }
 //                } else {
-                    wmsFlag = true;
+                wmsFlag = true;
 //                }
 
                 if (wcsFlag && wmsFlag) {
@@ -424,6 +431,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -452,7 +461,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                flag = true;
 //                    }
 //                } else {
 //                    String message = "";
@@ -473,6 +482,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
                 FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
@@ -500,7 +511,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                    flag = true;
 //                    }
                 } else {
                     String message = "";
@@ -524,6 +535,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV取货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             }
 
@@ -610,7 +623,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                        logServer.deviceExecuteLog(device_code, "", "", message);
 //                    }
 //                } else {
-                    wmsFlag = true;
+                wmsFlag = true;
 //                }
 
                 if (wcsFlag && wmsFlag) {
@@ -618,6 +631,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
@@ -646,7 +661,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                    flag = true;
 //                    }
                 } else {
                     String message = "";
@@ -667,6 +682,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
                 FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
@@ -692,7 +709,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                    flag = true;
 //                    }
                 } else {
                     String message = "";
@@ -709,6 +726,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             }
 
@@ -796,7 +815,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                        logServer.deviceExecuteLog(device_code, "", "", message);
 //                    }
 //                } else {
-                    wmsFlag = true;
+                wmsFlag = true;
 //                }
 
                 if (wcsFlag && wmsFlag) {
@@ -804,36 +823,38 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
                 StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
 
                 if (driver.getMode() != 0
                         && driver.getMove() != 0) {
-                    if (!inst.getTask_code().startsWith("-")
+//                    if (!inst.getTask_code().startsWith("-")
-                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+//                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
-                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+//                            && "true".equals(device.getExtraValue().get("reqWms"))) {
-                        JSONObject form = new JSONObject();
+//                        JSONObject form = new JSONObject();
-                        form.put("vehicle_code", inst.getVehicle_code());
+//                        form.put("vehicle_code", inst.getVehicle_code());
-                        form.put("status", 4);
+//                        form.put("status", 4);
-                        form.put("device_code", device_code);
+//                        form.put("device_code", device_code);
-                        form.put("task_code", inst.getTask_code());
+//                        form.put("task_code", inst.getTask_code());
-                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+//                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
-                            add(form);
+//                            add(form);
-                        }});
+//                        }});
-
+//
-                        if (20000 == result.getIntValue("code")) {
+//                        if (20000 == result.getIntValue("code")) {
-                            flag = true;
+//                            flag = true;
-                        } else {
+//                        } else {
-                            String resultMessage = result.getString("message");
+//                            String resultMessage = result.getString("message");
-                            this.message = resultMessage;
+//                            this.message = resultMessage;
-                            String message = resultMessage + "不允许AGV放货后离开。";
+//                            String message = resultMessage + "不允许AGV放货后离开。";
-                            driver.setMessage(message);
+//                            driver.setMessage(message);
-                            logServer.deviceExecuteLog(device_code, "", "", message);
+//                            logServer.deviceExecuteLog(device_code, "", "", message);
-                        }
+//                        }
-                    } else {
+//                    } else {
                         flag = true;
-                    }
+//                    }
                 } else {
                     String message = "";
                     if (driver.getMode() == 0) {
@@ -853,35 +874,37 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             } else if (device.getDeviceDriver() instanceof FoldDiscSiteDeviceDriver) {
                 FoldDiscSiteDeviceDriver driver = (FoldDiscSiteDeviceDriver) device.getDeviceDriver();
                 if (driver.getMode() != 0
-                        && driver.getMove() != 0
+                        && (driver.getMove() != 0
-                        && driver.getNumber() != 0) {
+                        || driver.getNumber() != 0)) {
-                    if (!inst.getTask_code().startsWith("-")
+//                    if (!inst.getTask_code().startsWith("-")
-                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
+//                            && "1".equals(paramService.findByCode(AcsConfig.HASWMS).getValue())
-                            && "true".equals(device.getExtraValue().get("reqWms"))) {
+//                            && "true".equals(device.getExtraValue().get("reqWms"))) {
-                        JSONObject form = new JSONObject();
+//                        JSONObject form = new JSONObject();
-                        form.put("vehicle_code", inst.getVehicle_code());
+//                        form.put("vehicle_code", inst.getVehicle_code());
-                        form.put("status", 4);
+//                        form.put("status", 4);
-                        form.put("device_code", device_code);
+//                        form.put("device_code", device_code);
-                        form.put("task_code", inst.getTask_code());
+//                        form.put("task_code", inst.getTask_code());
-                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
+//                        JSONObject result = acsToWmsService.feedAgvTaskStatus(new JSONArray() {{
-                            add(form);
+//                            add(form);
-                        }});
+//                        }});
-                        if (20000 == result.getIntValue("code")) {
+//                        if (20000 == result.getIntValue("code")) {
-                            flag = true;
+//                            flag = true;
-                        } else {
+//                        } else {
-                            String resultMessage = result.getString("message");
+//                            String resultMessage = result.getString("message");
-                            this.message = resultMessage;
+//                            this.message = resultMessage;
-                            String message = resultMessage + "不允许AGV放货后离开。";
+//                            String message = resultMessage + "不允许AGV放货后离开。";
-                            driver.setMessage(message);
+//                            driver.setMessage(message);
-                            logServer.deviceExecuteLog(device_code, "", "", message);
+//                            logServer.deviceExecuteLog(device_code, "", "", message);
-                        }
+//                        }
-                    } else {
+//                    } else {
                         flag = true;
-                    }
+//                    }
                 } else {
                     String message = "";
                     if (driver.getMode() == 0) {
@@ -904,6 +927,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     this.message = "";
                     driver.setMessage("");
                     logServer.deviceExecuteLog(device_code, "", "", "允许AGV放货后离开。");
+                    wmsFlag = false;
+                    wcsFlag = false;
                 }
             }
 
@@ -940,7 +965,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     device_code = old_device_code;
                 }
             }
-
             device = deviceAppService.findDeviceByCode(device_code);
             if (ObjectUtil.isEmpty(device_code)) {
                 log.info(agvaddr + "对应设备号为空!");
@@ -971,7 +995,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                    flag = true;
 //                    }
                 } else {
                     String message = "自动门未联机，无法开门。";
@@ -994,6 +1018,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 
 
             }
+
         } else if (phase == 0x51) {//离开区域
             if (agvaddr == 0) {
                 agvaddr = agvaddr_copy;
@@ -1014,7 +1039,6 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
                     device_code = old_device_code;
                 }
             }
-
             device = deviceAppService.findDeviceByCode(device_code);
             if (ObjectUtil.isEmpty(device_code)) {
                 log.info(agvaddr + "对应设备号为空!");
@@ -1045,7 +1069,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
 //                            logServer.deviceExecuteLog(device_code, "", "", message);
 //                        }
 //                    } else {
-                        flag = true;
+                    flag = true;
 //                    }
                 } else {
                     String message = "自动门未联机，无法关门。";

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/utils/SocketUtil.java

@@ -0,0 +1,139 @@
+package org.nl.acs.device_driver.basedriver.agv.utils;
+
+import cn.hutool.core.util.ObjectUtil;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.DataInputStream;
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.net.Socket;
+
+import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
+
+@Slf4j
+public class SocketUtil {
+
+    public static Socket s;
+    public static DataOutputStream dos;
+    public static DataInputStream dis;
+
+    public static boolean checkConnect(int agvaddr, byte action) {
+        try {
+            System.out.println("电梯socket链接开始");
+            byte[] b = new byte[1024];
+            byte[] call = new byte[1024];
+            byte[] move = new byte[1024];
+            s = new Socket("172.17.195.242", 102);
+//            s = new Socket("127.0.0.1", 20002);
+            dos = new DataOutputStream(s.getOutputStream());
+            dis = new DataInputStream(s.getInputStream());
+            System.out.println("电梯socket链接开始");
+            log.info("电梯socket链接成功");
+            if(agvaddr==2421){
+                call = new byte[]{(byte) 0X1A, (byte) 0X1B,
+                        (byte) 0X02, (byte) 0X01,
+                        (byte) 0X02, (byte) 0X04,
+                        (byte) 0X01, (byte) 0X01,
+                        (byte) 0X00, (byte) 0XFF,
+                        (byte) 0XFB,
+                };
+            }
+            if(agvaddr==2422){
+                call = new byte[]{(byte) 0X1A, (byte) 0X1B,
+                        (byte) 0X02, (byte) 0X01,
+                        (byte) 0X02, (byte) 0X04,
+                        (byte) 0X01, (byte) 0X02,
+                        (byte) 0X00, (byte) 0XFF,
+                        (byte) 0XF8,
+                };
+            }
+            if(action==0X0A) {
+                move = new byte[]{(byte) 0X1A, (byte) 0X1B,
+                        (byte) 0X02, (byte) 0X01,
+                        (byte) 0X04, (byte) 0X04,
+                        (byte) 0X01, (byte) 0X01,
+                        (byte) 0X0A, (byte) 0XFF,
+                        (byte) 0XF7,
+                };
+            }
+            if(action==0X00) {
+                move = new byte[]{(byte) 0X1A, (byte) 0X1B,
+                        (byte) 0X02, (byte) 0X01,
+                        (byte) 0X04, (byte) 0X04,
+                        (byte) 0X01, (byte) 0X01,
+                        (byte) 0X00, (byte) 0XFF,
+                        (byte) 0XFD,
+                };
+            }
+            write(b);
+            int[] arr = packageResult();
+            if (arr[14] * 256 + arr[15] == 0x00) {
+                if ((arr[18] * 256 + arr[19] == 0x01 && agvaddr==2421)||
+                        (arr[18] * 256 + arr[19] == 0x02 && agvaddr==2422)) {
+                    log.info("电梯已就位，下发开门指令");
+                    write(move);
+                    packageResult();
+                    if (arr[22] * 256 + arr[23] == 0x11 && action == 0X10) {
+                        log.info("电梯已开门就位，反馈NDC允许进入");
+                        return true;
+                    } else if (arr[22] * 256 + arr[23] == 0x21 && action == 0X00) {
+                        log.info("电梯已关门就位，反馈NDC");
+                        return true;
+                    }
+                } else {
+                    log.info("电梯未就位，呼叫电梯就位");
+                    write(call);
+                    packageResult();
+                }
+            } else {
+                log.info("电梯状态不为正常，直接返回");
+                return false;
+            }
+        } catch (Exception e) {
+            System.out.println("电梯socket链接异常");
+            log.info("电梯socket链接异常");
+            log.error("电梯socket链接出现异常:{}", e);
+            if (ObjectUtil.isNotEmpty(s)) {
+                try {
+                    s.close();
+                } catch (IOException ex) {
+                    throw new RuntimeException(ex);
+                }
+            }
+            System.out.println(e.getMessage());
+            e.printStackTrace();
+
+        }
+        return false;
+    }
+
+    public static void write(byte[] b) {
+        try {
+            log.info("下发电梯socket数据:" + Bytes2HexString(b));
+            System.out.println("下发电梯socket数据:" + Bytes2HexString(b));
+            dos.write(b);
+            dos.flush();
+        } catch (IOException e) {
+            // TODO Auto-generated catch block
+            e.printStackTrace();
+        }
+    }
+
+    public static int[] packageResult() throws IOException {
+        byte[] b = new byte[1024];
+        int count = dis.read(b);
+        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("接收电梯socket上报信息：" + bs);
+        return arr;
+    }
+}