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This commit is contained in:
USER-20220102CG\noblelift
2022-08-17 19:01:13 +08:00
parent 8a65e47bbd
commit 97756e5a41
12 changed files with 14 additions and 595 deletions
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1
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
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@@ -31,7 +31,6 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.opc.DeviceType;
import org.nl.acs.task.service.TaskService;
import org.nl.exception.BadRequestException;
import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

20
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/rljn_package_palletSplit_manipulator/RljnPackagePalletSplitManipulatorDeviceDriver.java
View File

@@ -698,7 +698,7 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
//码垛强制完成 半托缓存
if (!requireSucess) {
applyEmpty();
mandatoryPalletizing();
mandatoryPalletizing("0");
}
break;
case 8:
@@ -729,7 +729,7 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
//强制去包装
if (!requireSucess) {
applyEmpty();
mandatoryPalletizing();
mandatoryPalletizing("1");
}
break;
}
@@ -917,7 +917,11 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
} else {
this.instruction_require_time = date;
JSONObject json = new JSONObject();
json.put("device_code",this.device_code);
String linkobj = (String)this.getDevice().getExtraValue().get("link_device_code");
String demosub = linkobj.substring(1,linkobj.length()-1);
String demoArray[] = demosub.split(",");
List<String> demoList = Arrays.asList(demoArray);
json.put("device_code",demoList.get(put_station-1).replace("\"",""));
json.put("vehicle_code",barcode);
JSONObject jo = acsToWmsService.getVehicle(json);
@@ -1071,7 +1075,8 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
String demosub = linkobj.substring(1,linkobj.length()-1);
String demoArray[] = demosub.split(",");
List<String> demoList = Arrays.asList(demoArray);
json.put("device_code",demoList.get(put_station-1).replace("\"","")); json.put("qty",qty);
json.put("device_code",demoList.get(put_station-1).replace("\"",""));
json.put("qty",qty);
json.put("vehicle_code",barcode);
json.put("is_full","1");
json.put("product_code",product_code);
@@ -1150,7 +1155,7 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
*
* @param
*/
public synchronized boolean mandatoryPalletizing() {
public synchronized boolean mandatoryPalletizing(String type) {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);
@@ -1165,7 +1170,8 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
json.put("device_code",demoList.get(put_station-1).replace("\"",""));
json.put("qty",qty);
json.put("vehicle_code",barcode);
json.put("is_full","1");
json.put("material_code",material);
json.put("is_full",type);
json.put("product_code",product_code);
json.put("AlongSide",AlongSide);
json.put("BshortSide",BshortSide);
@@ -1230,8 +1236,8 @@ public class RljnPackagePalletSplitManipulatorDeviceDriver extends AbstractOpcDe
JSONObject jsonObject = JSONObject.parseObject(result.body());
if (result.getStatus() == 200 && StrUtil.equals(jsonObject.getString("status"),"200")) {
this.writing(this.mode);
this.setRequireSucess(true);
}
this.setRequireSucess(true);
}
return true;
}

58
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/rest/AcsToXrlkController.java
View File

@@ -1,58 +0,0 @@
package org.nl.acs.ext.xr_lk.rest;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.ext.xr_lk.service.AcsToXrlkService;
import org.nl.annotation.Log;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
/**
* @author ludj
* @date 2021-07-21
**/
@RestController
@RequiredArgsConstructor
@Api(tags = "新锐立库接口")
@RequestMapping("/api/xrlk")
@Slf4j
public class AcsToXrlkController {
private final AcsToXrlkService acsToXrlkService;
@PostMapping("/isPutPermission")
@Log("获取对接位是否允许放货")
@ApiOperation("获取对接位是否允许放货")
public ResponseEntity<Object> getPutPermission(@RequestBody String device_code) {
return new ResponseEntity<>(acsToXrlkService.isPutPermission(device_code), HttpStatus.OK);
}
@PostMapping("/isTakePermission")
@Log("获取对接位是否允许取货")
@ApiOperation("获取对接位是否允许取货")
public ResponseEntity<Object> getTakePermission(@RequestBody String device_code) {
return new ResponseEntity<>(acsToXrlkService.isTakePermission(device_code), HttpStatus.OK);
}
@PostMapping("/invokeDoor")
@Log("获取是否允许进入")
@ApiOperation("获取是否允许进入")
public ResponseEntity<Object> getInOutMode(@RequestBody String device_code) {
return new ResponseEntity<>(acsToXrlkService.invokeDoor(device_code), HttpStatus.OK);
}
@PostMapping("/AGVWorkStatus")
@Log("动作完成")
@ApiOperation("动作完成")
public ResponseEntity<Object> AGVWorkStatus(@RequestBody String device_code, String type) {
return new ResponseEntity<>(acsToXrlkService.AGVWorkStatus(device_code, type), HttpStatus.OK);
}
}

25
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/rest/XrlkToAcsController.java
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@@ -1,25 +0,0 @@
package org.nl.acs.ext.xr_lk.rest;
import io.swagger.annotations.Api;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.ext.xr_lk.service.XrlkToAcsService;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
/**
* @author wangs
* @date 2021-07-21
**/
@RestController
@RequiredArgsConstructor
@Api(tags = "新锐立库接口")
@RequestMapping("/api/xrlk")
@Slf4j
public class XrlkToAcsController {
private final XrlkToAcsService xrlkToAcsService;
}

41
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/service/AcsToXrlkService.java
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@@ -1,41 +0,0 @@
package org.nl.acs.ext.xr_lk.service;
import cn.hutool.http.HttpResponse;
public interface AcsToXrlkService {
/**
* 获取是否允许进入：
*
* @param device_code
* @return
*/
HttpResponse invokeDoor(String device_code);
/**
* 获取对接位是否允许放货：
*
* @param device_code
* @return
*/
HttpResponse isPutPermission(String device_code);
/**
* 获取对接位是否允许取货
*
* @param device_code
* @return
*/
HttpResponse isTakePermission(String device_code);
/**
* 动作完成
*
* @param device_code
* @return
*/
HttpResponse AGVWorkStatus(String device_code, String type);
}

6
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/service/XrlkToAcsService.java
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@@ -1,6 +0,0 @@
package org.nl.acs.ext.xr_lk.service;
public interface XrlkToAcsService {
}

105
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/service/impl/AcsToXRlkServiceImpl.java
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@@ -1,105 +0,0 @@
package org.nl.acs.ext.xr_lk.service.impl;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.device.address.service.AddressService;
import org.nl.acs.device.address.service.dto.AddressDto;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.ext.xr_lk.service.AcsToXrlkService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@Service
@RequiredArgsConstructor
@Slf4j
public class AcsToXRlkServiceImpl implements AcsToXrlkService {
@Autowired
AcsConfigService acsConfigService;
@Autowired
DeviceService deviceService;
@Autowired
AddressService addressService;
@Override
public HttpResponse invokeDoor(String device_code) {
String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.ERPURL);
AddressDto addressDto = addressService.findByCode("invokeDoor");
String url = wcsurl + addressDto.getMethods_url() + device_code;
HttpResponse result = null;
try {
//{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
result = HttpRequest.get(url)
.execute();
System.out.println(result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
System.out.println(msg);
}
return result;
}
@Override
public HttpResponse isPutPermission(String device_code) {
String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.ERPURL);
AddressDto addressDto = addressService.findByCode("isPutPermission");
String url = wcsurl + addressDto.getMethods_url() + device_code;
HttpResponse result = null;
try {
//{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
result = HttpRequest.get(url)
.execute();
System.out.println(result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
System.out.println(msg);
}
return result;
}
@Override
public HttpResponse isTakePermission(String device_code) {
String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.ERPURL);
AddressDto addressDto = addressService.findByCode("isTakePermission");
String url = wcsurl + addressDto.getMethods_url() + device_code;
HttpResponse result = null;
try {
//{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
result = HttpRequest.get(url)
.execute();
System.out.println(result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
System.out.println(msg);
}
return result;
}
@Override
public HttpResponse AGVWorkStatus(String device_code, String type) {
String wcsurl = acsConfigService.findConfigFromCache().get(AcsConfig.ERPURL);
AddressDto addressDto = addressService.findByCode("AGVWorkStatus");
String url = wcsurl + addressDto.getMethods_url();
HttpResponse result = null;
try {
//{"status":400,"timestamp":"2021-10-22 16:32:22","message":"业务类型不正确!"}
result = HttpRequest.get(url)
.execute();
System.out.println(result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
System.out.println(msg);
}
return result;
}
}

25
acs/hd/nladmin-system/src/main/java/org/nl/acs/ext/xr_lk/service/impl/XrlkToAcsServiceImpl.java
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@@ -1,25 +0,0 @@
package org.nl.acs.ext.xr_lk.service.impl;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.ext.xr_lk.service.XrlkToAcsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.task.service.TaskService;
import org.springframework.stereotype.Service;
@Service
@RequiredArgsConstructor
@Slf4j
public class XrlkToAcsServiceImpl implements XrlkToAcsService {
private final InstructionService InstructionService;
private final TaskService TaskService;
private final DeviceService DeviceService;
private final DeviceAppService DeviceAppService;
private final RouteLineService RouteLineService;
}

1
acs/hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java
View File

@@ -6,7 +6,6 @@ import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.test.service.TestService;
import org.nl.start.auto.run.LetteringSocketConnectionAutoRun;
import org.springframework.stereotype.Service;
import java.io.IOException;

138
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/LetteringSocketConnectionAutoRun.java
View File

@@ -1,138 +0,0 @@
package org.nl.start.auto.run;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.config.server.impl.AcsConfigServiceImpl;
import org.nl.utils.SpringContextHolder;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.UnsupportedEncodingException;
import java.net.Socket;
import java.util.Date;
@Slf4j
@Component
public class LetteringSocketConnectionAutoRun 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;
boolean bConnected = true;
public LetteringSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return LetteringSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "海亮激光刻字在线连接";
}
public void autoRun() throws IOException {
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
ip = acsConfigService.findConfigFromCache().get(AcsConfig.LETTERINGURL);
port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.LETTERINGPORT));
byte[] b = new byte[1028];
s = new Socket(ip, port);
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;
bs.append(asciiToString(String.valueOf(temp)));
}
System.out.println("收到请求参数：" + bs);
//打印完成
if (StrUtil.equals(bs.toString(), "MSG 3")) {
}
}
}
public static void write(String str) throws IOException {
System.out.println(str);
dos.write(hexStringToByte(bytesToHexString(stringToByte(str))));
}
public static byte[] stringToByte(String str) {
byte[] bytes = str.getBytes();
return bytes;
}
public static String bytesToHexString(byte[] src) {
StringBuilder builder = new StringBuilder();
for (int i = 0; i < src.length; i++) {
int v = src[i] & 0xff;
String hv = Integer.toHexString(v);
if (hv.length() < 2) {
builder.append(0);
}
builder.append(hv);
}
return builder.toString().toUpperCase();
}
public static byte[] hexStringToByte(String hex) {
byte[] b = new byte[hex.length() / 2];
int j = 0;
for (int i = 0; i < b.length; i++) {
char c0 = hex.charAt(j++);
char c1 = hex.charAt(j++);
b[i] = (byte) ((parse(c0) << 4) | parse(c1));
}
return b;
}
private static int parse(char c) {
if (c >= 'a')
return (c - 'a' + 10) & 0x0f;
if (c >= 'A')
return (c - 'A' + 10) & 0x0f;
return (c - '0') & 0x0f;
}
/*
* Ascii转换为字符串
*
* @param value
* @return
*/
public static String asciiToString(String value) {
StringBuffer sbu = new StringBuffer();
String[] chars = value.split(",");
for (int i = 0; i < chars.length; i++) {
sbu.append((char) Integer.parseInt(chars[i]));
}
return sbu.toString();
}
public static void main(String[] args) throws UnsupportedEncodingException {
byte[] bytes = "你".getBytes("utf-8");
}
}

187
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -1,187 +0,0 @@
package org.nl.start.auto.run;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.config.server.impl.AcsConfigServiceImpl;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.ext.xr_lk.service.AcsToXrlkService;
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.utils.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.AgvServiceImpl.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
AcsConfigService acsConfigService;
@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 {
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
AgvService AgvService = SpringContextHolder.getBean(AgvService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
AcsToXrlkService acsToXrlkService = SpringContextHolder.getBean(AcsToXrlkService.class);
ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
byte[] b = new byte[1028];
s = new Socket(ip, port);
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);
}
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();
}
}
}