From eb9833ce20c8769a857a72da80c5fc8087be244e Mon Sep 17 00:00:00 2001 From: "USER-20220102CG\\noblelift" <546428999@qq.com> Date: Thu, 20 Apr 2023 19:37:12 +0800 Subject: [PATCH] fix udw --- .../org/nl/acs/device/service/impl/Test.java | 18 - ...nshPalletizingManipulatorDeviceDriver.java | 2 +- ...alletizingManipulatorSiteDeviceDriver.java | 2 +- .../lnsh/lnsh_rgv/LnshRGVDeviceDriver.java | 2 +- .../nl/acs/opc/DeviceOpcProtocolRunable.java | 414 ++-- .../main/java/org/nl/acs/opc/OpcConfig.java | 1 + .../auto/run/NDCSocketConnectionAutoRun.java | 2145 +---------------- .../main/resources/config/application-dev.yml | 8 +- .../src/main/resources/logback-spring.xml | 2 +- .../src/api/acs/history/acsDeviceErrorLog.js | 27 + acs/qd/src/api/acs/history/udwData.js | 28 + .../src/views/acs/history/udwData/index.vue | 181 ++ 12 files changed, 531 insertions(+), 2299 deletions(-) delete mode 100644 acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/Test.java create mode 100644 acs/qd/src/api/acs/history/acsDeviceErrorLog.js create mode 100644 acs/qd/src/api/acs/history/udwData.js create mode 100644 acs/qd/src/views/acs/history/udwData/index.vue diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/Test.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/Test.java deleted file mode 100644 index 8e73a4e..0000000 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/Test.java +++ /dev/null @@ -1,18 +0,0 @@ -package org.nl.acs.device.service.impl; - -import java.util.ArrayList; -import java.util.List; - -public class Test { - - public static void main(String[] args) { - String device = "1001,1002"; - List list = new ArrayList<>(); - list.add("1001"); - list.add("1002"); - for (int i = 0; i < list.size(); i++) { - ConveyorDevice condev = new ConveyorDevice(list.get(i).toString()); - } - - } -} diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java index 38e10f1..ebffb03 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator/LnshPalletizingManipulatorDeviceDriver.java @@ -323,7 +323,7 @@ public class LnshPalletizingManipulatorDeviceDriver extends AbstractOpcDeviceDri json.put("producetask_code",order_No); json.put("device_code",this.device_code); json.put("material_code",material); - json.put("qty",encoder_qty); + json.put("qty",order_qty); json.put("type","2"); enterProduction(json); } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java index 5273cd4..a03524f 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_palletizing_manipulator_site/LnshPalletizingManipulatorSiteDeviceDriver.java @@ -325,7 +325,7 @@ public class LnshPalletizingManipulatorSiteDeviceDriver extends AbstractOpcDevic json.put("producetask_code",order_No); json.put("device_code",this.device_code); json.put("material_code",material); - json.put("qty",encoder_qty); + json.put("qty",order_qty); json.put("type","2"); enterProduction(json); } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java index 4e70707..c450c58 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/lnsh/lnsh_rgv/LnshRGVDeviceDriver.java @@ -372,7 +372,7 @@ public class LnshRGVDeviceDriver extends AbstractOpcDeviceDriver implements Devi break; case 3: //前工位申请任务 - if (move_1 == 0 && action_1 == 0 && task1 == 0 && action_2 == 1 && !requireSucess1) { + if (move_1 == 0 && action_1 == 0 && task1 == 0 && ( action_2 == 1 || action_2 == 2 )&& !requireSucess1) { instruction_require(); } break; diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java index 462db8d..00dbfe6 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java @@ -6,28 +6,31 @@ import cn.hutool.core.util.StrUtil; import lombok.extern.slf4j.Slf4j; import org.nl.modules.udw.UnifiedDataAccessor; import org.nl.modules.udw.UnifiedDataAccessorFactory; -import org.openscada.opc.lib.da.Group; -import org.openscada.opc.lib.da.Item; -import org.openscada.opc.lib.da.ItemState; -import org.openscada.opc.lib.da.Server; +import org.nl.modules.udw.UnifiedDataAppService; +import org.nl.start.auto.run.DeviceOpcSynchronizeAutoRun; +import org.openscada.opc.lib.da.*; import java.util.*; import java.util.concurrent.ExecutorService; import java.util.concurrent.Executors; @Slf4j -public class DeviceOpcProtocolRunable implements Runnable { +public class DeviceOpcProtocolRunable implements Runnable, DataCallback, ServerConnectionStateListener { List protocols; OpcServerManageDto OpcServer; int error_num; String message; int maxResartNum; private Server server; - boolean flag =false; + boolean flag = false; + private int all_null; + private Map itemSearchCache; public DeviceOpcProtocolRunable() { this.error_num = 0; + this.all_null = 0; this.message = null; + this.itemSearchCache = new HashMap(); this.server = null; } @@ -47,36 +50,48 @@ public class DeviceOpcProtocolRunable implements Runnable { this.OpcServer = opcServer; } - OpcItemDto getItem(String item) { - Iterator var2 = this.protocols.iterator(); - OpcItemDto dto; - do { - if (!var2.hasNext()) { - return null; + private OpcItemDto getItem(String item) { + OpcItemDto x = (OpcItemDto)this.itemSearchCache.get(item); + if (x == null) { + Iterator var3 = this.protocols.iterator(); + + while(var3.hasNext()) { + OpcItemDto dto = (OpcItemDto)var3.next(); + if (StrUtil.equals(item, dto.getItem_code())) { + x = dto; + this.itemSearchCache.put(item, dto); + break; + } } + } - dto = (OpcItemDto) var2.next(); - } while (!StrUtil.equals(item, dto.getItem_code())); - - return dto; + return x; } + @Override public void run() { - while (true) { + if (OpcConfig.opc_item_read_using_callback) { + this.runNew(); + } else { + this.runOld(); + } + } + + + + private void runOld() { + while(true) { try { this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain()); -// Group group = server.addGroup(this.OpcServer.getOpc_host()); - Group group = server.addGroup(this.OpcServer.getOpc_code()); - if(ObjectUtil.isEmpty(group)){ - log.info("group is null "); - } + this.server.addStateListener(this); + Group group = this.server.addGroup(); List itemsString = new ArrayList(); - Iterator it = this.protocols.iterator(); + Iterator var3 = this.protocols.iterator(); - while (it.hasNext()) { - OpcItemDto protocol = (OpcItemDto) it.next(); + while(var3.hasNext()) { + OpcItemDto protocol = (OpcItemDto)var3.next(); String item = protocol.getItem_code(); itemsString.add(item); } @@ -84,58 +99,60 @@ public class DeviceOpcProtocolRunable implements Runnable { Map itemsMap = new LinkedHashMap(); boolean is_error = false; StringBuilder err_message = new StringBuilder(); - Iterator var7 = itemsString.iterator(); + Iterator var6 = itemsString.iterator(); - while (var7.hasNext()) { - String string = (String) var7.next(); + while(var6.hasNext()) { + String string = (String)var6.next(); try { - itemsMap.put(string, group.addItem(string)); + Item item = group.addItem(string); + itemsMap.put(string, item); log.trace("添加成功 {}", string); - } catch (Exception var29) { - err_message.append(string + ":" + var29.getMessage()); + } catch (Exception var26) { + err_message.append(string + ":" + var26.getMessage()); if (!is_error) { is_error = true; } } } + String tag; if (is_error) { - log.info("设备OPC数据同步配置异常"); + tag = err_message.toString(); + log.warn("{}:{}", OpcConfig.resource_code, tag); } if (!OpcStartTag.is_run) { OpcStartTag.is_run = true; } - //线程名 - String tag = Thread.currentThread().getName(); - if (this.OpcServer != null) { - tag = tag + this.OpcServer.getOpc_code(); + tag = ""; + if (log.isWarnEnabled()) { + tag = Thread.currentThread().getName(); + if (this.OpcServer != null) { + tag = tag + this.getOpcGroupID(); + } } - UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); + UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); boolean time_out = false; - label97: - while (true) { + while(DeviceOpcSynchronizeAutoRun.isRun) { long begin = System.currentTimeMillis(); - Map itemStatus = null; - try { - itemStatus = group.read(true, (Item[]) itemsMap.values().toArray(new Item[0])); - } catch (Exception e){ - System.out.println("数据同步异常:"+ this.getOpcServer().getOpc_code()); - log.trace("数据同步异常:{}", this.getOpcServer().getOpc_code()); - //e.printStackTrace(); + if (log.isTraceEnabled()) { + log.trace("{} 开始记时{}", tag, DateUtil.now()); } + + Map itemStatus = group.read(true, (Item[])itemsMap.values().toArray(new Item[0])); long end = System.currentTimeMillis(); - log.trace("{} 开始记时{}", tag, DateUtil.now()); long duration = end - begin; - log.trace("{} 读取耗时：{}", tag, duration); - System.out.println("线程："+tag + " 读取耗时:"+ duration); + if (log.isTraceEnabled()) { + log.trace("{} 读取耗时：{}", tag, duration); + } + if (duration > 1000L) { if (!time_out) { - log.warn(" {} 读取超时 : {}", tag, duration); + log.warn("{} 读取超时 : {}", tag, duration); } time_out = true; @@ -143,128 +160,192 @@ public class DeviceOpcProtocolRunable implements Runnable { time_out = false; } - if(ObjectUtil.isEmpty(itemStatus)) { - System.out.println( tag + " :itemStatus is null"); - log.warn(" {} 读取异常 : {} itemStatus is null", tag); - } - - + boolean valueAllNotNull = false; Set items = itemStatus.keySet(); Iterator var18 = items.iterator(); - while (true) { - Item item; - //当前值 - Object value; - //旧的值 - Object his; - do { - if (!var18.hasNext()) { - end = System.currentTimeMillis(); - log.trace("{}", itemsString); - log.trace("{} 计算完成耗时{}", tag, end - begin); - Thread.sleep((long) OpcConfig.synchronized_millisecond); - if (this.error_num != 0) { - this.error_num = 0; - this.message = null; - } - continue label97; - } - - item = (Item) var18.next(); - ItemState itemState = (ItemState) itemStatus.get(item); - value = OpcUtl.getValue(item, itemState); - his = accessor_value.getValue(item.getId()); - if (!ObjectUtl.isEquals(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD) && his != null) { - flag = true; - log.warn("线程 {} opc 值不健康 maxResartNum:{} ", tag); - log.warn("线程 {} opc 值不健康 item: {}, 状态: {},当前读取值：{}, 系统内存值{} ", tag, item.getId(), itemState.getQuality(), value, his); - } - if(flag){ - if (this.server != null) { - try { - this.server.disconnect(); - } catch (Exception var25) { - log.warn("{} : server disconnect", var25); - } - } - DeviceOpcProtocolRunable runable = new DeviceOpcProtocolRunable(); - runable.setProtocols(protocols); - runable.setOpcServer(OpcServer); - ExecutorService executorService = Executors.newCachedThreadPool(); - executorService.submit(runable); - log.warn("opc 值不健康 item: {}, 重新创建连接,当前线程名：{}", item.getId(),tag); - break; - } - } while (ObjectUtil.equal(value, his));//如果两次的值相等，不走下面的代码 - - if(flag){ - break; + while(var18.hasNext()) { + Item item = (Item)var18.next(); + ItemState itemState = (ItemState)itemStatus.get(item); + Object value = OpcUtl.getValue(item, itemState); + if (value != null) { + valueAllNotNull = true; } - OpcItemDto itemDto = this.getItem(item.getId()); - //默认记录日志 - if (true) { - StringBuilder sb = new StringBuilder(); - //设备的ITEM项 - List relate_items = itemDto.getRelate_items(); - Iterator var26 = relate_items.iterator(); - while (var26.hasNext()) { - String relate = (String) var26.next(); - Object obj = accessor_value.getValue(relate); - sb.append("key:" + relate + "value:" + obj + ";"); + String itemId = item.getId(); + Object his = accessor_value.getValue(itemId); + if (!ObjectUtl.isEquals(itemState.getQuality(), QualityTypeValue.OPC_QUALITY_GOOD) && his != null) { + log.warn("opc 值不健康 item: {}, 状态: {}", itemId, itemState.getQuality()); + } + + if (!UnifiedDataAppService.isEquals(value, his)) { + OpcItemDto itemDto = this.getItem(itemId); + if (true) { + this.logItemChanged(itemId, accessor_value, value, itemDto); } - log.warn("信号{}变更从{}->{};信号快照：{}", new Object[]{item.getId(), his, value, sb}); - - } -// accessor_value.setValueWithPersistence(item.getId(),accessor_value.getValue(item.getId())); -// accessor_value.getHistoryUnifiedData(item.getId()); - //设置值 - accessor_value.setValue(item.getId(), value); - if(flag){ - break; + accessor_value.setValue(itemId, value); } } - if(flag){ - break; + + end = System.currentTimeMillis(); + if (log.isTraceEnabled()) { + log.trace("{}", itemsString); + log.trace("{} 计算完成耗时{}", tag, end - begin); + } + + ThreadUtl.sleep((long)OpcConfig.synchronized_millisecond); + if (this.error_num != 0) { + this.error_num = 0; + this.message = null; + } + + if (!valueAllNotNull) { + int random = (new Random()).nextInt(10) + 1; + random *= 1000; + if (this.all_null < 3) { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空,暂定{}s", tag, 5000 + random); + } + + ThreadUtl.sleep((long)(5000 + random)); + } else if (this.all_null < 6) { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空,暂定{}s", tag, 30000 + random); + } + + ThreadUtl.sleep((long)(30000 + random)); + } else if (this.all_null < 12) { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空,暂定{}ms", tag, '\uea60' + random); + } + + ThreadUtl.sleep((long)('\uea60' + random)); + } else { + if (log.isWarnEnabled()) { + log.warn("{} 所有内容都为空,暂定{}ms", tag, 120000 + random); + } + + ThreadUtl.sleep((long)(120000 + random)); + } + + ++this.all_null; + } else { + this.all_null = 0; } } - } catch (Exception var30) { + + log.warn("opc线程停止。。。"); + return; + } catch (Exception var27) { if (this.server != null) { try { this.server.disconnect(); } catch (Exception var25) { - log.warn("{} : server disconnect", var25); } } this.server = null; + if (!DeviceOpcSynchronizeAutoRun.isRun) { + log.warn("opc线程停止2。。。"); + return; + } - String error_message = "设备信息同步异常,"+var30; + String error_message = "设备信息同步异常"; if (!StrUtil.equals(this.message, error_message)) { - log.warn("", var30); + log.warn(error_message, var27); + } + + ThreadUtl.sleep((long)(OpcConfig.synchronized_exception_wait_second * 1000)); + ++this.error_num; + if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) { + this.message = error_message; + } + } + } + } + + + + private void runNew() { + Async20Access accessor = null; + + while (true) { + String opcGroupId = this.getOpcGroupID(); + + try { + if (this.server == null) { + this.server = OpcServerUtl.getServerWithOutException(this.OpcServer.getOpc_host(), this.OpcServer.getCls_id(), this.OpcServer.getUser(), this.OpcServer.getPassword(), this.OpcServer.getDomain()); + this.server.addStateListener(this); + accessor = new Async20Access(this.server, OpcConfig.synchronized_millisecond, true); + Iterator var9 = this.protocols.iterator(); + + while (var9.hasNext()) { + OpcItemDto protocol = (OpcItemDto) var9.next(); + String itemId = protocol.getItem_code(); + accessor.addItem(itemId, this); + } + + accessor.bind(); + log.info("Async20Access bind {}", opcGroupId); + } + + Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); + } catch (Exception var8) { + if (accessor != null) { + try { + log.warn("Async20Access unbind {}", opcGroupId); + accessor.unbind(); + } catch (Exception var7) { + var7.printStackTrace(); + } + + accessor = null; + } + + if (this.server != null) { + try { + this.server.disconnect(); + } catch (Exception var6) { + } + + this.server = null; + } + + if (var8 instanceof InterruptedException) { + log.warn("OPC 同步线程(%s)被中断", opcGroupId); + return; + } + + log.warn("设备信息同步异常", var8); + ThreadUtl.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); + String error_message = var8.getMessage(); + if (error_message == null) { + error_message = var8.toString(); } - try { - Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000)); - } catch (InterruptedException e) { - e.printStackTrace(); - log.warn("OPC 读取线程读取异常{} :", e); -// Thread.currentThread().interrupt();不会真正停止线程 - } ++this.error_num; if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) { - log.info("设备同步通信异常"); this.message = error_message; } } - if(flag){ - break; - } } } + + public void connectionStateChanged(boolean connected) { + if (!connected) { + this.server = null; + } + + log.warn("opc server {} {}", this.getOpcGroupID(), connected ? "connected" : "disconnected"); + } + + private String getOpcGroupID() { + String var10000 = this.OpcServer.getOpc_code(); + return var10000 + "(" + this.protocols.size() + " items)"; + } + public static String formatDuring(long mss) { long days = mss / 86400000L; long hours = mss % 86400000L / 3600000L; @@ -272,4 +353,55 @@ public class DeviceOpcProtocolRunable implements Runnable { long seconds = mss % 60000L / 1000L; return days + " days " + hours + " hours " + minutes + " minutes " + seconds + " seconds "; } + + + public void changed(Item item, ItemState itemState) { + String itemId = item.getId(); + + try { + Object value = OpcUtl.getValue(item, itemState); + UnifiedDataAccessor accessor_value = UnifiedDataAccessorFactory.getAccessor(OpcConfig.udw_opc_value_key); + accessor_value.setValue(itemId, value); + + if (value != null) { + if (log.isTraceEnabled()) { + log.trace("Item {} new value: {}, Timestamp: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime()}); + } + } else if (log.isInfoEnabled()) { + log.info("Item {} new value: {}, Timestamp: {}, Quality: {}", new Object[]{itemId, itemState.getValue(), itemState.getTimestamp().getTime(), itemState.getQuality()}); + } + + OpcItemDto itemDto = this.getItem(itemId); +// if (Boolean.TRUE.equals(itemDto.getNeed_log())) { +// this.logItemChanged(itemId, accessor_value, value, itemDto); +// } + this.logItemChanged(itemId, accessor_value, value, itemDto); + + } catch (Exception var7) { + log.error(itemId, var7); + } + + } + + private void logItemChanged(String itemId, UnifiedDataAccessor accessor_value, Object value, OpcItemDto itemDto) { + Object his = accessor_value.getValue(itemId); + List relate_items = itemDto.getRelate_items(); + if (relate_items != null && !relate_items.isEmpty()) { + StringBuilder sb = new StringBuilder(); + Iterator var8 = relate_items.iterator(); + + while (var8.hasNext()) { + String relate = (String) var8.next(); + Object obj = accessor_value.getValue(relate); + sb.append("key:" + relate + "value:" + obj + ";"); + } + log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(),itemId, his, value, sb}); +// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{};信号快照：{}", new Object[]{itemId, his, value, sb}); + } else { + log.warn("设备：{}信号{}变更从{}->{};信号快照：{}", new Object[]{itemDto.getDevice_code(),itemId, his, value}); +// this.businessLogger.setResource(itemDto.getDevice_code(), itemDto.getDevice_name()).log("信号{}变更从{}->{}", new Object[]{itemId, his, value}); + } + + } + } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcConfig.java b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcConfig.java index cadf67c..66951bf 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcConfig.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcConfig.java @@ -10,4 +10,5 @@ public class OpcConfig { public static String opc_server_default_group = "group"; public static String resource_code = "opc_sync"; public static String resource_name = "opc同步"; + public static boolean opc_item_read_using_callback = true; } diff --git a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java index 08b2583..c37b099 100644 --- a/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java +++ b/acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java @@ -199,7 +199,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { else if (phase == 0x03) { if (ObjectUtil.isEmpty(inst)) { logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); - break; + return; } if (device_code.equals("MDJXS601")) { data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -299,7 +299,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { else if (phase == 0x05) { if (ObjectUtil.isEmpty(inst)) { logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); - break; + return; } if (device_code.equals("MDJXS601")) { data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -392,7 +392,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { else if (phase == 0x06) { if (ObjectUtil.isEmpty(inst)) { logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); - break; + return; } logServer.deviceExecuteLog("ndc","","","phase==0x06," + "指令号：" + ikey + ",address：RYSMW01"); //检测站点 @@ -416,7 +416,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { else if (phase == 0x07) { if (ObjectUtil.isEmpty(inst)) { logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); - break; + return; } if (device_code.equals("MDJXS601")) { data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -497,7 +497,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { else if (phase == 0x09) { if (ObjectUtil.isEmpty(inst)) { logServer.deviceExecuteLog("ndc", "","","未找到指令号对应的指令：" + ikey); - break; + return; } if (device_code.equals("MDJXS601")) { data = AgvService.sendAgvOneModeInst(phase, index, 0); @@ -727,2130 +727,6 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { AgvService.updateAgvFromCache(dto); } break; - case 1: - //开始任务/上报订单号（无车id及状态） - if (phase == 0x01) { - data = AgvService.sendAgvOneModeInst(phase, index); - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - flag = true; - } - //分配 车id - else if (phase == 0x02) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - } - // 到达取货点请求取货 - else if (phase == 0x03) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 取货完成请求离开 - else if (phase == 0x05) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 2); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 0); - deviceService.changeDeviceStatus(jo); - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 球磨车间请求上料 - //( Itype=2，需要WCS反馈Phase) - else if (phase == 0x07) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - // 球磨车间上料完成请求离开 - else if (phase == 0x09) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - //请求放货库位 - else if (phase == 0x0A) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //调用接口 - String result = acsToWmsService.requestTaskAgain(String.valueOf(agvaddr), inst.getTask_id(), inst.getVehicle_code()); - JSONObject jo = JSON.parseObject(result); - String next_device = jo.getString("data"); - - String next_point = ""; - Device next_point_device = deviceAppService.findDeviceByCode(next_device); - if (next_point_device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) next_point_device.getDeviceDriver(); - - int number = standardEmptyPalletSiteDeviceDriver.getNumber(); - int nowinstNum = instructionService.querySameDestinationInst(next_point); - if (number + nowinstNum >= Integer.parseInt(next_point_device.getExtraValue().get("max_emptypalletnum").toString())) { - log.info("当前叠盘位{},光电数量{},存在此设备指令数{},超过最大堆叠数量：{}无法反馈", next_point, number, nowinstNum, Integer.parseInt(device.getExtraValue().get("max_emptypalletnum").toString())); - break; - } - next_point = next_device + "." + (number + nowinstNum + 1); - } else { - next_point = next_device; - } - - int next_point_address = deviceService.queryAddressBydeviceCode(next_point); - data = AgvService.sendAgvOneModeInst(phase, index, next_point_address); - - TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); - TaskDto task = taskService.findByCodeFromCache(inst.getTask_code()); - task.setNext_device_code(next_device); - task.setNext_point_code(next_device); - taskService.update(task); - - inst.setNext_device_code(next_device); - inst.setNext_point_code(next_point); - instructionService.update(inst); - flag = true; - } - //到达放货点 - else if (phase == 0x0B) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getNumber() < Integer.parseInt(emptyNum)) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}数量异常,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - - } - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //放货完成请求离开 - else if (phase == 0x0D) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getNumber() == Integer.parseInt(emptyNum)) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成设备{}数量异常,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 3); - log.info("AGV放货完成请求离开设备{}下发输送to_commad{}", device_code, 3); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0F) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //请求删除任务 - else if (phase == 0x30) { - flag = true; -// if (!ObjectUtil.isEmpty(inst)) { -// data = AgvService.sendAgvOneModeInst(0x8F, index, 0); -// } - data = AgvService.sendAgvOneModeInst(0x8F, index, 0); - - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x50)//进入区域 - { - //开门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("1"); - if (standardAutodoorDeviceDriver.getAction() == 1) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x51)//离开区域 - { - //关门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("2"); - if (standardAutodoorDeviceDriver.getAction() == 2) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x64) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //上报异常 - else if (phase == 0x67) { - int errCar = arr[26] * 256 + arr[27]; - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(errCar)); - if (arr[18] * 256 + arr[19] == 0) { - dto.setState("IDLE"); - } else { - StringBuffer errbs = new StringBuffer(); - for (int i = 0; i < ERROR.length; i++) { - if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0) - errbs.append("," + ERROR[i]); - //反馈故障 - } - dto.setState("ERROR"); - } - } - //X坐标 - else if (phase == 0x70) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //Y坐标 - else if (phase == 0x71) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //角度 - else if (phase == 0x72) { - int errCar = arr[26] * 256 + arr[27]; - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - - } - //电量 - else if (phase == 0x73) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setEnergyLevel(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - - break; - case 2: - //开始任务/上报订单号（无车id及状态） - if (phase == 0x01) { - data = AgvService.sendAgvOneModeInst(phase, index); - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - flag = true; - } - //分配 车id - else if (phase == 0x02) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - } - // 到达取货点请求取货 - else if (phase == 0x03) { - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - - } - //货架 - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 取货完成请求离开 - else if (phase == 0x05) { - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - } - //标准版-货架 - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - - } - } - // 到达放货点 - else if (phase == 0x07) { - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - - } - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - } - } - // 放货完成离开 - else if (phase == 0x09) { - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0A) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x1A) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //请求删除任务 - else if (phase == 0x30) { - flag = true; - data = AgvService.sendAgvOneModeInst(0x8F, index, 0); - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x50)//进入区域 - { - //开门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("1"); - if (standardAutodoorDeviceDriver.getAction() == 1) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x51)//离开区域 - { - //关门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("2"); - if (standardAutodoorDeviceDriver.getAction() == 2) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x64) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //上报异常 - else if (phase == 0x67) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - if (arr[18] * 256 + arr[19] == 0) { - dto.setState("IDLE"); - acsToWmsService.feedbackAgvStatus(String.valueOf(ikey), String.valueOf(arr[18] * 256 + arr[19]), ""); - } else { - StringBuffer errbs = new StringBuffer(); - for (int i = 0; i < ERROR.length; i++) { - if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0) - errbs.append("," + ERROR[i]); - //反馈故障 - } - dto.setState("ERROR"); - acsToWmsService.feedbackAgvStatus(String.valueOf(ikey), String.valueOf(arr[18] * 256 + arr[19]), "error"); - } - } - //X坐标 - else if (phase == 0x70) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //Y坐标 - else if (phase == 0x71) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //角度 - else if (phase == 0x72) { - int errCar = arr[26] * 256 + arr[27]; - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - - } - //电量 - else if (phase == 0x73) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setEnergyLevel(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } else { - - - } - break; - case 3: - - break; - case 5: - if (phase == 0x01) { - data = AgvService.sendAgvOneModeInst(phase, index); - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - flag = true; - } - //分配 车id - else if (phase == 0x02) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - } - // 到达取货点请求取货 - else if (phase == 0x03) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //检测站点 - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //输送机-控制点驱动 - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - - } - //标准版-货架 - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 取货完成请求离开 - else if (phase == 0x05) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //检测站点 - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 2); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 0); - deviceService.changeDeviceStatus(jo); - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //请求放货 - else if (phase == 0x07) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - - } - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 放货完成请求离开 - else if (phase == 0x09) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 3); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0A) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //请求删除任务 - else if (phase == 0x30) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - data = AgvService.sendAgvOneModeInst(0x8F, index, 0); - } else { - log.info("未找到对应的指令无法删除"); - break; - } - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancel(inst.getInstruction_id()); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //进入区域 - else if (phase == 0x50) { - //开门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("1"); - if (standardAutodoorDeviceDriver.getAction() == 1) { - standardAutodoorDeviceDriver.OpenOrClose("1"); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - //离开区域 - else if (phase == 0x51) { - //关门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("2"); - if (standardAutodoorDeviceDriver.getAction() == 2) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } else if (phase == 0x64) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x65) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x66) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x67) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //上报异常 - else if (phase == 0x67) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - if (ikey == 0) { - dto.setState("IDLE"); - acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "0", ""); - } else { - StringBuffer errbs = new StringBuffer(); - for (int i = 0; i < ERROR.length; i++) { - if (((ikey) & (1 << i)) > 0) - errbs.append("," + ERROR[i]); - //反馈故障 - } - dto.setState("ERROR"); - AgvService.updateAgvFromCache(dto); - acsToWmsService.feedbackAgvStatus(String.valueOf(carno), String.valueOf(ikey), "error"); - } - } - //X坐标 - else if (phase == 0x70) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //Y坐标 - else if (phase == 0x71) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //角度 - else if (phase == 0x72) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //电量 - else if (phase == 0x73) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setEnergyLevel(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - break; - case 7: - //开始任务/上报订单号（无车id及状态） - if (phase == 0x01) { - data = AgvService.sendAgvOneModeInst(phase, index); - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - flag = true; - } - //分配 车id - else if (phase == 0x02) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - } - // 到达取货点请求取货 - else if (phase == 0x03) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - standardCoveyorControlDeviceDriver.writing(1, 1); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 取货完成请求离开 - else if (phase == 0x05) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 2); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 0); - deviceService.changeDeviceStatus(jo); - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 球磨车间请求上料 - //( Itype=2，需要WCS反馈Phase) - else if (phase == 0x07) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - // 球磨车间上料完成请求离开 - else if (phase == 0x09) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - //请求放货库位 - else if (phase == 0x0A) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //调用接口 - String result = acsToWmsService.requestTaskAgain(String.valueOf(agvaddr), inst.getTask_id(), inst.getVehicle_code()); - JSONObject jo = JSON.parseObject(result); - String next_device = jo.getString("data"); - - String next_point = ""; - Device next_point_device = deviceAppService.findDeviceByCode(next_device); - if (next_point_device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) next_point_device.getDeviceDriver(); - - int number = standardEmptyPalletSiteDeviceDriver.getNumber(); - int nowinstNum = instructionService.querySameDestinationInst(next_point); - if (number + nowinstNum >= Integer.parseInt(next_point_device.getExtraValue().get("max_emptypalletnum").toString())) { - log.info("当前叠盘位{},光电数量{},存在此设备指令数{},超过最大堆叠数量：{}无法反馈", next_point, number, nowinstNum, Integer.parseInt(device.getExtraValue().get("max_emptypalletnum").toString())); - break; - } - next_point = next_device + "." + (number + nowinstNum + 1); - } else { - next_point = next_device; - } - - int next_point_address = deviceService.queryAddressBydeviceCode(next_point); - data = AgvService.sendAgvOneModeInst(phase, index, next_point_address); - - TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); - TaskDto task = taskService.findByCodeFromCache(inst.getTask_code()); - task.setNext_device_code(next_device); - task.setNext_point_code(next_device); - taskService.update(task); - - inst.setNext_device_code(next_device); - inst.setNext_point_code(next_point); - instructionService.update(inst); - flag = true; - } - //到达放货点 - else if (phase == 0x0B) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getNumber() < Integer.parseInt(emptyNum)) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}数量异常,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - - } - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //放货完成请求离开 - else if (phase == 0x0D) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getNumber() == Integer.parseInt(emptyNum)) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成设备{}数量异常,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 3); - log.info("AGV放货完成请求离开设备{}下发输送to_commad{}", device_code, 3); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0F) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //请求删除任务 - else if (phase == 0x30) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else { - log.info("未找到对应的指令无法删除"); - break; - } - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } else if (phase == 0x50)//进入区域 - { - //开门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("1"); - if (standardAutodoorDeviceDriver.getAction() == 1) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x51)//离开区域 - { - //关门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("2"); - if (standardAutodoorDeviceDriver.getAction() == 2) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - - } else if (phase == 0x64) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //上报异常 - else if (phase == 0x67) { - int errCar = arr[26] * 256 + arr[27]; - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(errCar)) { - dto = map.get(errCar); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(errCar)); - if (arr[18] * 256 + arr[19] == 0) { - dto.setState("IDLE"); - } else { - StringBuffer errbs = new StringBuffer(); - for (int i = 0; i < ERROR.length; i++) { - if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0) - errbs.append("," + ERROR[i]); - //反馈故障 - } - dto.setState("ERROR"); - } - } - //X坐标 - else if (phase == 0x70) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //Y坐标 - else if (phase == 0x71) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //角度 - else if (phase == 0x72) { - int errCar = arr[26] * 256 + arr[27]; - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - - } - //电量 - else if (phase == 0x73) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - if (map.containsKey(carno)) { - dto = map.get(carno); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setEnergyLevel(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - break; - case 9: - if (phase == 0x01) { - data = AgvService.sendAgvOneModeInst(phase, index); - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("1"); - inst.setAgv_jobno(String.valueOf(index)); - inst.setSend_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - flag = true; - } - //分配 车id - else if (phase == 0x02) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setCarno(String.valueOf(carno)); - instructionService.update(inst); - } - } - // 到达取货点请求取货 - else if (phase == 0x03) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - //检测站点 - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //空盘堆叠站点 - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //输送机-控制点驱动 - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - //普通站点 - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - - } - //标准版-货架 - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("1"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 取货完成请求离开 - else if (phase == 0x05) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 2); - flag = true; - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) { - standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver(); - if (standardEmptyPalletSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求取货设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 0); - deviceService.changeDeviceStatus(jo); - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver(); - inst.setExecute_status("5"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - if(!inst.getTask_code().startsWith("-")) { - //反馈wms系统动作完成 - inst.setFinish_type("1"); - instructionService.update(inst); - JSONObject feedjo = new JSONObject(); - feedjo.put("status","1"); - feedjo.put("device_code",device_code); - feedjo.put("vehicle_code",inst.getVehicle_code()); - feedjo.put("task_code",inst.getTask_code()); - JSONArray feedja = JSONArray.parseArray(String.valueOf(feedjo)); - acsToWmsService.feedbackActionStatusToWms(feedja); - } - - - } - //请求放货 - else if (phase == 0x07) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - - } else { - if (device.getHas_goods() == 0) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - JSONObject jo = new JSONObject(); - jo.put("device_code", device.getDevice_code()); - jo.put("hasGoodStatus", 1); - deviceService.changeDeviceStatus(jo); - } else { - log.info("AGV请求放货设备{}有货,无法反馈", device_code); - } - - } - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("3"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - } - // 放货完成请求离开 - else if (phase == 0x09) { - if (ObjectUtil.isEmpty(inst)) { - log.info("未找到指令号{}对应的指令", ikey); - break; - } - if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - if (standardInspectSiteDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) { - standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver(); - if (standardCoveyorControlDeviceDriver.getMove() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - standardCoveyorControlDeviceDriver.writing(1, 3); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.IGNOREHASGOODS), "1")) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - if (device.getHas_goods() != 0) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } else { - log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code); - } - } - - } - if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) { - inst.setExecute_status("6"); - instructionService.update(inst); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - flag = true; - } - - if(!inst.getTask_code().startsWith("-")){ - //反馈wms系统动作完成 - inst.setFinish_type("1"); - instructionService.update(inst); - JSONObject feedjo = new JSONObject(); - feedjo.put("status","2"); - feedjo.put("device_code",device_code); - feedjo.put("vehicle_code",inst.getVehicle_code()); - feedjo.put("task_code",inst.getTask_code()); - JSONArray feedja = JSONArray.parseArray(String.valueOf(feedjo)); - acsToWmsService.feedbackActionStatusToWms(feedja); - } - - } - //任务完毕 - //（无车id及状态） - else if (phase == 0x0A) { - if (!ObjectUtil.isEmpty(inst)) { - inst.setInstruction_status("2"); - instructionService.finish(inst); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //请求删除任务 - else if (phase == 0x30) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - data = AgvService.sendAgvOneModeInst(0x8F, index, 0); - } else { - log.info("未找到对应的指令无法删除"); - break; - } - } - //任务删除确认 - //(需要WCS反馈) - else if (phase == 0xFF) { - flag = true; - if (!ObjectUtil.isEmpty(inst)) { - instructionService.cancelNOSendAgv(inst.getInstruction_id()); - } - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //进入区域 - else if (phase == 0x50) { - //开门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("1"); - if (standardAutodoorDeviceDriver.getAction() == 1) { - standardAutodoorDeviceDriver.OpenOrClose("1"); - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } - //离开区域 - else if (phase == 0x51) { - //关门 - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - standardAutodoorDeviceDriver.OpenOrClose("2"); - if (standardAutodoorDeviceDriver.getAction() == 2) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - } - } else if (phase == 0x64) { - data = AgvService.sendAgvOneModeInst(phase, index, 0); - } - //上报异常 - else if (phase == 0x67) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - if (ikey == 0) { - dto.setState("IDLE"); - acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "0", ""); - } else { - StringBuffer errbs = new StringBuffer(); - for (int i = 0; i < ERROR.length; i++) { - if (((ikey) & (1 << i)) > 0) - errbs.append("," + ERROR[i]); - //反馈故障 - } - dto.setState("ERROR"); - AgvService.updateAgvFromCache(dto); - acsToWmsService.feedbackAgvStatus(String.valueOf(carno), String.valueOf(ikey), "error"); - } - } - //X坐标 - else if (phase == 0x70) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //Y坐标 - else if (phase == 0x71) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //角度 - else if (phase == 0x72) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - //电量 - else if (phase == 0x73) { - AgvDto dto = null; - Map map = AgvService.findAllAgvFromCache(); - carno = arr[18] * 256 + arr[19]; - if (map.containsKey(String.valueOf(carno))) { - dto = map.get(String.valueOf(carno)); - } else { - dto = new AgvDto(); - } - dto.setName(String.valueOf(carno)); - dto.setEnergyLevel(String.valueOf(ikey)); - AgvService.updateAgvFromCache(dto); - } - break; default: log.info("字典表未找到满足条件的项目类型"); break; @@ -2859,9 +735,14 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { write(data); } } catch (Exception e) { - System.out.println(e); - log.info(e.toString()); - log.info(e.getMessage()); + + System.out.println("Agv链接异常"); + log.info("Agv链接异常"); + log.error("agv连接出现异常:{}", e); + if(ObjectUtil.isNotEmpty(s)){ + s.close(); + } + System.out.println(e.getMessage()); e.printStackTrace(); } } else { diff --git a/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml b/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml index f918d49..6a0523b 100644 --- a/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml +++ b/acs/hd/nladmin-system/src/main/resources/config/application-dev.yml @@ -13,12 +13,12 @@ spring: druid: db-type: com.alibaba.druid.pool.DruidDataSource driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy - url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:jn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true -# url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:rljn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true +# url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:jn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true + url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:jn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true username: ${DB_USER:root} # password: ${DB_PWD:P@ssw0rd} - password: ${DB_PWD:Root.123456} -# password: ${DB_PWD:123456} +# password: ${DB_PWD:Root.123456} + password: ${DB_PWD:123456} # 初始连接数 initial-size: 5 # 最小连接数 diff --git a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml index 0f9998a..82fc74f 100644 --- a/acs/hd/nladmin-system/src/main/resources/logback-spring.xml +++ b/acs/hd/nladmin-system/src/main/resources/logback-spring.xml @@ -48,7 +48,7 @@ https://juejin.cn/post/6844903775631572999 15 - 200MB + 50MB 20GB diff --git a/acs/qd/src/api/acs/history/acsDeviceErrorLog.js b/acs/qd/src/api/acs/history/acsDeviceErrorLog.js new file mode 100644 index 0000000..12f1337 --- /dev/null +++ b/acs/qd/src/api/acs/history/acsDeviceErrorLog.js @@ -0,0 +1,27 @@ +import request from '@/utils/request' + +export function add(data) { + return request({ + url: 'api/deviceErrorLog', + method: 'post', + data + }) +} + +export function del(ids) { + return request({ + url: 'api/deviceErrorLog/', + method: 'delete', + data: ids + }) +} + +export function edit(data) { + return request({ + url: 'api/deviceErrorLog', + method: 'put', + data + }) +} + +export default { add, edit, del } diff --git a/acs/qd/src/api/acs/history/udwData.js b/acs/qd/src/api/acs/history/udwData.js new file mode 100644 index 0000000..f3d3c5d --- /dev/null +++ b/acs/qd/src/api/acs/history/udwData.js @@ -0,0 +1,28 @@ +import request from '@/utils/request' + +export function add(data) { + return request({ + url: 'api/task', + method: 'post', + data + }) +} + +export function del(ids) { + return request({ + url: 'api/task/', + method: 'delete', + data: ids + }) +} + +export function edit(data) { + return request({ + url: 'api/task', + method: 'put', + data + }) +} + +export default { edit, del } + diff --git a/acs/qd/src/views/acs/history/udwData/index.vue b/acs/qd/src/views/acs/history/udwData/index.vue new file mode 100644 index 0000000..17f53a1 --- /dev/null +++ b/acs/qd/src/views/acs/history/udwData/index.vue @@ -0,0 +1,181 @@ + + + + +