代码重构
This commit is contained in:
ldj_willow
@@ -1,103 +0,0 @@
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package org.nl.acs.agv.rest;
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import io.swagger.annotations.Api;
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import io.swagger.annotations.ApiOperation;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.apache.commons.lang3.StringUtils;
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import org.nl.acs.agv.server.AgvService;
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import org.nl.acs.device.service.DeviceService;
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import org.nl.annotation.Log;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.http.HttpStatus;
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import org.springframework.http.ResponseEntity;
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import org.springframework.web.bind.annotation.*;
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import javax.servlet.http.HttpServletRequest;
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import java.util.Enumeration;
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@RestController
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@RequiredArgsConstructor
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@Api(tags = "AGV任务")
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@RequestMapping("/api")
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@Slf4j
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public class AgvController {
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@Autowired
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AgvService agvService;
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@Autowired
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DeviceService deviceService;
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@PostMapping("/agvack/{device}")
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@Log("AGV请求离开")
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@ApiOperation("AGV请求离开")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> requestAck(@PathVariable String device) {
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// String device= MapUtil.getStr(param,"device");
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return new ResponseEntity<>(agvService.requestAck(device), HttpStatus.OK);
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}
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@GetMapping("/autodoor/doors/{device}")
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@Log("查询自动门状态")
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@ApiOperation("查询自动门状态")
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public ResponseEntity<Object> queryDoorStatus(HttpServletRequest req) {
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String serviceName = req.getRequestURI();
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String param = StringUtils.substringAfterLast(serviceName, "/");
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return new ResponseEntity<>(agvService.queryDoorStatus(param), HttpStatus.OK);
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}
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@GetMapping("/autodoor/doors")
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@Log("查询自动门状态")
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@ApiOperation("查询自动门状态")
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public ResponseEntity<Object> queryAllDoorStatus(HttpServletRequest req) {
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return new ResponseEntity<>(agvService.queryAllDoorStatus(), HttpStatus.OK);
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}
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@PostMapping("/autodoor/doors/{device}")
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@Log("请求自动门开门关门")
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@ApiOperation("请求自动门开门关门")
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public ResponseEntity<Object> requestOpenOrCloseDoor(@PathVariable String device, HttpServletRequest req) {
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Enumeration<String> parameterNames = req.getParameterNames();
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String paramName = (String) parameterNames.nextElement();
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String parameterValue = req.getParameter(paramName);
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return new ResponseEntity<>(agvService.requestOpenOrCloseDoor(device, parameterValue), HttpStatus.OK);
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}
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@GetMapping("/agvInst/{instcode}")
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@Log("下发agv任务")
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@ApiOperation("下发agv任务")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> sendAgvInst(@PathVariable String instcode) throws Exception {
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return new ResponseEntity<>(agvService.sendAgvInstToMagic(instcode), HttpStatus.OK);
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}
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@GetMapping("/waitPointRequest/locationDevices/{param}")
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@Log("agv等待点请求")
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@ApiOperation("下发agv任务")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> waitPointRequest(HttpServletRequest req) throws Exception {
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String serviceName = req.getRequestURI();
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String param = StringUtils.substringAfterLast(serviceName, "/");
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return new ResponseEntity<>(agvService.waitPointRequest(param), HttpStatus.OK);
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}
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@GetMapping("/findAllAgvFromCache")
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@Log("查询内存AGV设备状态")
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@ApiOperation("查询内存AGV设备状态")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> findAllAgvFromCache() throws Exception {
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return new ResponseEntity<>(agvService.findAllAgvFromCache(), HttpStatus.OK);
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}
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@GetMapping("/queryDeviceStation")
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@Log("查询库位同步")
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@ApiOperation("查询库位同步")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> queryDevice() throws Exception {
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return new ResponseEntity<>(agvService.queryDeviceStation(), HttpStatus.OK);
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}
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}
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@@ -0,0 +1,31 @@
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package org.nl.acs.agv.rest;
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import io.swagger.annotations.Api;
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import io.swagger.annotations.ApiOperation;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.nl.acs.agv.server.MagicAgvService;
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import org.nl.annotation.Log;
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import org.springframework.http.HttpStatus;
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import org.springframework.http.ResponseEntity;
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import org.springframework.web.bind.annotation.PathVariable;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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@RestController
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@RequiredArgsConstructor
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@Api(tags = "AGV任务")
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@RequestMapping("/api/magic")
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@Slf4j
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public class MagicAgvController {
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private final MagicAgvService magicAgvService;
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@PostMapping("/agvack/{device}")
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@Log("AGV请求离开")
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@ApiOperation("AGV请求离开")
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//@PreAuthorize("@el.check('routePlan:list')")
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public ResponseEntity<Object> requestAck(@PathVariable String device) {
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return new ResponseEntity<>(magicAgvService.requestAck(device), HttpStatus.OK);
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}
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}
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@@ -0,0 +1,4 @@
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package org.nl.acs.agv.rest;
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public class NDCAgvController {
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}
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@@ -0,0 +1,4 @@
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package org.nl.acs.agv.rest;
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public class XianGongAgvController {
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}
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@@ -0,0 +1,4 @@
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package org.nl.acs.agv.rest;
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public class ZheDaAgvController {
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}
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@@ -1,94 +1,14 @@
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package org.nl.acs.agv.server;
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import cn.hutool.http.HttpResponse;
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import com.alibaba.fastjson.JSONObject;
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import org.nl.acs.agv.server.dto.AgvDto;
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import org.nl.acs.instruction.service.dto.Instruction;
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import java.util.Map;
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public interface AgvService {
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/**
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* 下发agv任务
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*
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* @param inst 指令对象
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*/
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public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception;
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public HttpResponse markComplete(String code) throws Exception;
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public HttpResponse sendAgvInstToMagic(String code) throws Exception;
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public void sendAgvInstToNDC(Instruction inst) throws Exception;
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public void sendAgvInstToNDC(String code) throws Exception;
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public HttpResponse queryAgvInstStatus(String instCode);
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public HttpResponse queryMagicAgvDeviceStatus();
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public HttpResponse queryXZAgvDeviceStatus();
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public HttpResponse queryXZAgvInstStatus(String instCode);
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//公用
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Map<String, AgvDto> findAllAgvFromCache();
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//公用
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void updateAgvFromCache(AgvDto dto);
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/**
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* 删除magic任务
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*
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* @param instCode
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* @return
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*/
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public HttpResponse deleteAgvInst(String instCode);
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/**
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* 删除先知任务
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*
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* @param instCode
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* @return
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*/
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public HttpResponse deleteXZAgvInst(String instCode);
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/**
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* 删除NDC任务
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*
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* @param inst
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* @throws Exception
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*/
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public void deleteAgvInstToNDC(Instruction inst) throws Exception;
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/**
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* 查询Magic AGV任务状态调用
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*
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* @param jobno
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* @param type
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* @param address
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* @param action
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* @param processingVehicle
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* @return
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*/
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public String process(String jobno, String type, String address, String action, String processingVehicle);
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/**
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* Magic AGV 请求离开调用
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*
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* @param device
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* @return
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*/
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public String requestAck(String device);
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/**
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* 先工agv 等待点请求
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*
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* @param
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* @return
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*/
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public String waitPointRequest(String param);
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/**
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* 请求开门、关门
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*
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@@ -97,86 +17,10 @@ public interface AgvService {
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*/
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public String requestOpenOrCloseDoor(String device, String param);
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/**
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* 查询自动门状态
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*
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* @param device
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* @return
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*/
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public String queryDoorStatus(String device);
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//
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public String queryAllDoorStatus();
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/**
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* 下发NDC agv单工动作指令
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*
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* @param phase
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* @param index
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* @param result1
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* @param result2
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*/
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public byte[] sendAgvOneModeInst(int phase, int index, int result1, int result2);
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/**
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* 下发agv单工动作指令
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*
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* @param phase
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* @param index
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*/
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public byte[] sendAgvOneModeInst(int phase, int index);
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/**
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* 反馈agv单工动作指令
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*
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* @param phase
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* @param index
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*/
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public byte[] sendAgvOneModeInst(int phase, int index, int result);
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/**
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* 下发运单序列
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*
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* @param inst
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* @return
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* @throws Exception
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*/
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public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception;
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public HttpResponse addOrderSequences(Instruction inst) throws Exception;
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/**
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* 组织json数据
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*
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* @param
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* @return
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* @throws Exception
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*/
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public String sendOrderSequencesParam(Instruction inst) throws Exception;
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public JSONObject createOrederData(Instruction inst, String type);
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/**
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* magic 全部暂停车辆
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*/
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public HttpResponse pause() throws Exception;
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/**
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* magic 暂停指定车辆
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*/
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public HttpResponse pause(String device_code) throws Exception;
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/**
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* magic 全部恢复车辆
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*/
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public HttpResponse resume() throws Exception;
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/**
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* magic 恢复指定车辆
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*/
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public HttpResponse resume(String device_code) throws Exception;
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String queryDeviceStation();
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}
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@@ -1,9 +1,98 @@
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package org.nl.acs.agv.server;
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import cn.hutool.http.HttpResponse;
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import org.nl.acs.agv.server.dto.AgvDto;
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import org.nl.acs.instruction.service.dto.Instruction;
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import java.util.Map;
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/**
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* @Author: lyd
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* @Description:
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* @Date: 2022-08-15
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*/
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public interface MagicAgvService {
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Map<String, AgvDto> findAllAgvFromCache();
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/**
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* 查询自动门状态
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*
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* @param device
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* @return
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*/
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public String queryDoorStatus(String device);
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/**
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* 根据指令号查询AGV指令状态
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* @param instCode
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* @return
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*/
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public HttpResponse queryAgvInstStatus(String instCode);
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/**
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* 下发agv任务
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*
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* @param inst 指令对象
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*/
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public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception;
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public HttpResponse sendAgvInstToMagic(String code) throws Exception;
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//查询AGV状态，故障、充电等
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public HttpResponse queryMagicAgvDeviceStatus();
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/**
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* 删除magic任务
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*
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* @param instCode
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* @return
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*/
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public HttpResponse deleteAgvInst(String instCode);
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/**
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* 查询Magic AGV任务状态调用
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*
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* @param jobno
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* @param type
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* @param address
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* @param action
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* @param processingVehicle
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* @return
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*/
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public String process(String jobno, String type, String address, String action, String processingVehicle);
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/**
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* Magic AGV 请求离开调用
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*
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* @param device
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* @return
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*/
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public String requestAck(String device);
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/**
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* magic 全部暂停车辆
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*/
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public HttpResponse pause() throws Exception;
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/**
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* magic 暂停指定车辆
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*/
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public HttpResponse pause(String device_code) throws Exception;
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/**
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* magic 全部恢复车辆
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*/
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public HttpResponse resume() throws Exception;
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/**
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* magic 恢复指定车辆
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*/
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public HttpResponse resume(String device_code) throws Exception;
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}
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@@ -1,9 +1,69 @@
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package org.nl.acs.agv.server;
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import org.nl.acs.agv.server.dto.AgvDto;
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import org.nl.acs.instruction.service.dto.Instruction;
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import java.util.Map;
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|
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/**
|
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* @Author: lyd
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* @Description:
|
||||
* @Date: 2022-08-15
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||||
*/
|
||||
public interface NDCAgvService {
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Map<String, AgvDto> findAllAgvFromCache();
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||||
|
||||
/**
|
||||
* 查询自动门状态
|
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*
|
||||
* @param device
|
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* @return
|
||||
*/
|
||||
public String queryDoorStatus(String device);
|
||||
|
||||
/**
|
||||
* 删除NDC任务
|
||||
*
|
||||
* @param inst
|
||||
* @throws Exception
|
||||
*/
|
||||
public void deleteAgvInstToNDC(Instruction inst) throws Exception;
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||||
|
||||
/**
|
||||
* 下发NDC agv单工动作指令,反馈信号，如能否进、能否出。
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||||
* 告诉AGV能否进，能否出
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||||
*
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||||
* @param phase
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||||
* @param index
|
||||
* @param result1
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||||
* @param result2
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||||
*/
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||||
public byte[] sendAgvOneModeInst(int phase, int index, int result1, int result2);
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||||
|
||||
/**
|
||||
* 下发任务
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||||
* @param inst
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||||
* @throws Exception
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||||
*/
|
||||
public void sendAgvInstToNDC(Instruction inst) throws Exception;
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||||
|
||||
public void sendAgvInstToNDC(String code) throws Exception;
|
||||
|
||||
/**
|
||||
* 下发agv单工动作指令
|
||||
*
|
||||
* @param phase
|
||||
* @param index
|
||||
*/
|
||||
public byte[] sendAgvOneModeInst(int phase, int index);
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||||
|
||||
/**
|
||||
* 反馈agv单工动作指令
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||||
* AGV调用ACS，告诉AGV是否允许进，允许出等操作.
|
||||
*
|
||||
* @param phase
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||||
* @param index
|
||||
*/
|
||||
public byte[] sendAgvOneModeInst(int phase, int index, int result);
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||||
|
||||
}
|
||||
|
||||
@@ -1,9 +1,82 @@
|
||||
package org.nl.acs.agv.server;
|
||||
|
||||
import cn.hutool.http.HttpResponse;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import org.nl.acs.agv.server.dto.AgvDto;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
|
||||
import java.util.Map;
|
||||
|
||||
/**
|
||||
* @Author: lyd
|
||||
* @Description:
|
||||
* @Date: 2022-08-15
|
||||
*/
|
||||
public interface XianGongAgvService {
|
||||
Map<String, AgvDto> findAllAgvFromCache();
|
||||
/**
|
||||
* 查询自动门状态
|
||||
*
|
||||
* @param device
|
||||
* @return
|
||||
*/
|
||||
public String queryDoorStatus(String device);
|
||||
|
||||
/**
|
||||
* 先工agv 等待点请求
|
||||
*AGV->ACS
|
||||
* @param
|
||||
* @return
|
||||
*/
|
||||
public String waitPointRequest(String param);
|
||||
|
||||
/**
|
||||
* acs->agv
|
||||
* 关闭运单系列
|
||||
* @param code
|
||||
* @return
|
||||
* @throws Exception
|
||||
*/
|
||||
public HttpResponse markComplete(String code) throws Exception;
|
||||
|
||||
/**
|
||||
* 查询AGV状态
|
||||
* @return
|
||||
*/
|
||||
public HttpResponse queryXZAgvDeviceStatus();
|
||||
|
||||
public HttpResponse queryXZAgvInstStatus(String instCode);
|
||||
|
||||
/**
|
||||
* 删除先知任务
|
||||
*
|
||||
* @param instCode
|
||||
* @return
|
||||
*/
|
||||
public HttpResponse deleteXZAgvInst(String instCode);
|
||||
|
||||
|
||||
/**
|
||||
* 下发运单序列
|
||||
*
|
||||
* @param inst
|
||||
* @return
|
||||
* @throws Exception
|
||||
*/
|
||||
public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception;
|
||||
|
||||
public HttpResponse addOrderSequences(Instruction inst) throws Exception;
|
||||
|
||||
/**
|
||||
* 组织json数据
|
||||
*
|
||||
* @param
|
||||
* @return
|
||||
* @throws Exception
|
||||
*/
|
||||
public String sendOrderSequencesParam(Instruction inst) throws Exception;
|
||||
|
||||
|
||||
public JSONObject createOrederData(Instruction inst, String type);
|
||||
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,924 @@
|
||||
package org.nl.acs.agv.server.impl;
|
||||
|
||||
import cn.hutool.core.util.ObjectUtil;
|
||||
import cn.hutool.core.util.StrUtil;
|
||||
import cn.hutool.http.HttpRequest;
|
||||
import cn.hutool.http.HttpResponse;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.MagicAgvService;
|
||||
import org.nl.acs.agv.server.dto.AgvDto;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver;
|
||||
import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
|
||||
import org.nl.acs.ext.erp.service.AcsToErpService;
|
||||
import org.nl.acs.ext.wms.service.AcsToWmsService;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.nl.acs.log.service.DeviceExecuteLogService;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.acs.opc.DeviceAppServiceImpl;
|
||||
import org.nl.acs.opc.DeviceType;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.exception.BadRequestException;
|
||||
import org.nl.utils.SpringContextHolder;
|
||||
import org.slf4j.MDC;
|
||||
import org.springframework.stereotype.Service;
|
||||
|
||||
import java.text.DateFormat;
|
||||
import java.text.SimpleDateFormat;
|
||||
import java.util.*;
|
||||
|
||||
@Slf4j
|
||||
@Service
|
||||
@RequiredArgsConstructor
|
||||
public class MagicAgvServiceImpl implements MagicAgvService {
|
||||
private final DeviceAppService deviceAppService;
|
||||
private final TaskService taskService;
|
||||
private final InstructionService instructionService;
|
||||
private final AcsConfigService acsConfigService;
|
||||
private final AcsToErpService acsToErpService;
|
||||
private final AcsToWmsService acsToWmsService;
|
||||
|
||||
private final DeviceExecuteLogService logServer;
|
||||
|
||||
Map<String, AgvDto> AGVDeviceStatus = new HashMap();
|
||||
|
||||
private String log_file_type = "log_file_type";
|
||||
private String log_type = "agv接口日志";
|
||||
|
||||
/**
|
||||
* 获得之后num个天的时间
|
||||
*
|
||||
* @param num
|
||||
* @return
|
||||
*/
|
||||
public static String getNextDay(int num) {
|
||||
Calendar calendar = Calendar.getInstance();
|
||||
calendar.add(Calendar.DAY_OF_MONTH, num);
|
||||
Date date = calendar.getTime();
|
||||
TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
|
||||
DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
|
||||
df.setTimeZone(tz);
|
||||
String nowAsISO = df.format(date);
|
||||
return nowAsISO;
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse sendAgvInstToMagic(String instcode) throws Exception {
|
||||
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
|
||||
Instruction inst = instructionService.findByCodeFromCache(instcode);
|
||||
HttpResponse result = this.sendAgvInstToMagic(inst);
|
||||
return result;
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse queryAgvInstStatus(String instCode) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instCode;
|
||||
|
||||
HttpResponse result = HttpRequest.get(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
System.out.println("查询agv指令数据:" + result.body());
|
||||
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
|
||||
JSONArray ja = new JSONArray();
|
||||
JSONObject orderjo = new JSONObject();
|
||||
String instno = inst.getInstruction_code();
|
||||
String compound_inst_data = inst.getCompound_inst_data();
|
||||
String[] str = null;
|
||||
List<String> pathlist = null;
|
||||
|
||||
if (StrUtil.equals("2", inst.getInstruction_type()) && !StrUtil.isEmpty(compound_inst_data)) {
|
||||
str = compound_inst_data.split("->");
|
||||
pathlist = Arrays.asList(str);
|
||||
|
||||
for (int i = 0; i < pathlist.size(); i++) {
|
||||
String device_code = pathlist.get(i);
|
||||
Device device = deviceAppService.findDeviceByCode(device_code);
|
||||
if (ObjectUtil.isEmpty(device)) {
|
||||
throw new BadRequestException("未找到该设备【" + device_code + "】");
|
||||
}
|
||||
if (i == 0) {
|
||||
ja.add(destination(device_code, "Load", "1", "1"));
|
||||
} else if (i == pathlist.size() - 1) {
|
||||
ja.add(destination(device_code, "Unload", "1", "1"));
|
||||
} else {
|
||||
ja.add(destination(device_code, "NOP", "1", "5"));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//指定agv车号 暂时不用
|
||||
//orderjo.put("intendedVehicle", "");
|
||||
//设置任务最终时间
|
||||
orderjo.put("deadline", getNextDay(1));
|
||||
|
||||
orderjo.put("destinations", ja);
|
||||
|
||||
JSONObject prijo = new JSONObject();
|
||||
prijo.put("key", "priority");
|
||||
prijo.put("value", inst.getPriority());
|
||||
|
||||
JSONArray prija = new JSONArray();
|
||||
prija.add(prijo);
|
||||
orderjo.put("properties", prija);
|
||||
|
||||
|
||||
} else {
|
||||
|
||||
String startAddress = inst.getStart_point_code();
|
||||
String nextAddress = inst.getNext_point_code();
|
||||
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
|
||||
Device nextdevice = appService.findDeviceByCode(nextAddress);
|
||||
Device startdevice = appService.findDeviceByCode(startAddress);
|
||||
//指定agv车号 暂时不用
|
||||
//orderjo.put("intendedVehicle", "");
|
||||
//设置任务最终时间
|
||||
orderjo.put("deadline", getNextDay(1));
|
||||
//拼接起点子任务动作，待完善，动作码需要从数据库取值
|
||||
ja.add(destination(startAddress, "Load", "1", "1"));
|
||||
//拼接终点子任务动作，待完善，动作码需要从数据库取值
|
||||
ja.add(destination(nextAddress, "Unload", "1", "1"));
|
||||
|
||||
orderjo.put("destinations", ja);
|
||||
|
||||
JSONObject prijo = new JSONObject();
|
||||
prijo.put("key", "priority");
|
||||
prijo.put("value", inst.getPriority());
|
||||
|
||||
JSONArray prija = new JSONArray();
|
||||
prija.add(prijo);
|
||||
orderjo.put("properties", prija);
|
||||
|
||||
}
|
||||
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instno;
|
||||
|
||||
log.info("下发agv指令参数:{}", orderjo.toString());
|
||||
|
||||
HttpResponse result = null;
|
||||
try {
|
||||
result = HttpRequest.post(agvurl)
|
||||
.body(String.valueOf(orderjo))//表单内容
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
} catch (Exception e) {
|
||||
throw new RuntimeException("下发agv失败！");
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* 返回一个点位操作子任务
|
||||
*
|
||||
* @param locationName 点位
|
||||
* @param operation 点位操作
|
||||
* @param propertiesType 子任务类型
|
||||
* @param pro 子任务参数
|
||||
* 调用demo:destination("sh15p", "Spin", "2", "3.14")
|
||||
* demo:destination("cz14", "JackUnload", "3", "")
|
||||
* @return
|
||||
*/
|
||||
public static JSONObject destination(String locationName, String operation, String propertiesType, String pro) {
|
||||
//新增业务订单
|
||||
JSONObject destinationOrder = new JSONObject();
|
||||
//目标工作站
|
||||
destinationOrder.put("locationName", locationName);
|
||||
//机器人在工作站要执行的操作
|
||||
destinationOrder.put("operation", operation);
|
||||
if (propertiesType.equals("1")) {//取货前等待、取货后等待
|
||||
|
||||
//pro 1 进入离开等待
|
||||
if ("1".equals(pro)) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "EntryRequired");
|
||||
pro1.put("value", "True");
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "PauseOnStation");
|
||||
pro2.put("value", "True");
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
//进入等待 离开不等待
|
||||
} else if ("2".equals(pro)) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "EntryRequired");
|
||||
pro1.put("value", "True");
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "PauseOnStation");
|
||||
pro2.put("value", "False");
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
//进入不等待 离开等待
|
||||
} else if ("3".equals(pro)) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "EntryRequired");
|
||||
pro1.put("value", "False");
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "PauseOnStation");
|
||||
pro2.put("value", "True");
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
//不等待
|
||||
} else if ("4".equals(pro)) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "EntryRequired");
|
||||
pro1.put("value", "False");
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "PauseOnStation");
|
||||
pro2.put("value", "False");
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if ("5".equals(pro)) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "PauseOnStation");
|
||||
pro2.put("value", "True");
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
}
|
||||
|
||||
} else if (propertiesType.equals("2")) {//Spin转动
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系
|
||||
pro1.put("value", pro);//弧度值，如3.14
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "spin_direction");//固定值
|
||||
pro2.put("value", "0");//弧度值，如0
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("3")) {//JackUnload,Jackload不操作
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "recognize");//固定值
|
||||
pro1.put("value", "false");//固定值
|
||||
properties.add(pro1);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("4")) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "robot_spin_angle");//坐标系类型，robot_spin_angle为机器人坐标系
|
||||
pro1.put("value", pro);//弧度值，如3.14
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "spin_direction");//固定值
|
||||
pro2.put("value", "0");//弧度值，如0
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
}
|
||||
return destinationOrder;
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse queryMagicAgvDeviceStatus() {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
agvurl = agvurl + ":" + agvport + "/v1/vehicles";
|
||||
HttpResponse result = HttpRequest.get(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("查询agv状态数据:{}", result.body());
|
||||
if (result.getStatus() == 200) {
|
||||
JSONArray ja = (JSONArray) JSONArray.parse(result.body());
|
||||
for (int i = 0; i < ja.size(); i++) {
|
||||
JSONObject jo = (JSONObject) ja.get(i);
|
||||
String name = jo.getString("name");
|
||||
String state = jo.getString("state");
|
||||
String energyLevel = jo.getString("energyLevel");
|
||||
String transportOrder = jo.getString("transportOrder");
|
||||
String positionAngle = jo.getString("positionAngle");
|
||||
String positionX = jo.getString("positionX");
|
||||
String positionY = jo.getString("positionY");
|
||||
AgvDto dto = new AgvDto();
|
||||
dto.setName(name);
|
||||
dto.setEnergyLevel(energyLevel);
|
||||
dto.setState(state);
|
||||
dto.setPositionAngle(positionAngle);
|
||||
dto.setPositionX(positionX);
|
||||
dto.setPositionY(positionY);
|
||||
dto.setTransportOrder(transportOrder);
|
||||
|
||||
if (AGVDeviceStatus.containsKey(name)) {
|
||||
AGVDeviceStatus.remove(name);
|
||||
AGVDeviceStatus.put(name, dto);
|
||||
} else {
|
||||
AGVDeviceStatus.put(name, dto);
|
||||
}
|
||||
}
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse deleteAgvInst(String instCode) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instCode + "/withdrawal";
|
||||
log.info("删除agv指令请求agvurl:{}", agvurl);
|
||||
|
||||
HttpResponse result = null;
|
||||
try {
|
||||
result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("删除agv指令请求反馈:{}", result);
|
||||
} catch (Exception e) {
|
||||
throw new RuntimeException("下发agv失败！");
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
|
||||
@Override
|
||||
public synchronized String process(String jobno, String type, String address, String action, String processingVehicle) {
|
||||
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
|
||||
boolean is_feedback = false;
|
||||
String str = "";
|
||||
String backaddress = address;
|
||||
if (address.indexOf(".") > 0) {
|
||||
str = address.substring(address.indexOf("."), address.length());
|
||||
address = address.substring(0, address.indexOf("."));
|
||||
} else if (address.indexOf("-") > 0) {
|
||||
address = address.substring(0, address.indexOf("-"));
|
||||
}
|
||||
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
|
||||
Instruction inst = instructionService.findByCodeFromCache(jobno);
|
||||
|
||||
|
||||
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
|
||||
Device addressdevice = appService.findDeviceByCode(address);
|
||||
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
|
||||
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
|
||||
SpecialOrdinarySiteDeviceDriver specialOrdinarySiteDeviceDriver;
|
||||
LnshStationDeviceDriver lnshStationDeviceDriver;
|
||||
|
||||
//请求进入
|
||||
if ("onEntry".equals(type)) {
|
||||
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//请求取货
|
||||
if ("Load".equals(action)) {
|
||||
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
|
||||
inst.setExecute_status("1");
|
||||
is_feedback = true;
|
||||
}
|
||||
//请求放货
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
|
||||
inst.setExecute_status("3");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
//晟华工位模板
|
||||
if (addressdevice.getDeviceDriver() instanceof LnshStationDeviceDriver) {
|
||||
lnshStationDeviceDriver = (LnshStationDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//请求取货
|
||||
if ("Load".equals(action)) {
|
||||
if (lnshStationDeviceDriver.getMode() == 2 && lnshStationDeviceDriver.getMove() > 0) {
|
||||
inst.setExecute_status("1");
|
||||
lnshStationDeviceDriver.setFlag(1);
|
||||
is_feedback = true;
|
||||
}
|
||||
//请求放货
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (lnshStationDeviceDriver.getMode() == 2 && lnshStationDeviceDriver.getMove() == 0) {
|
||||
inst.setExecute_status("3");
|
||||
lnshStationDeviceDriver.setFlag(3);
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
|
||||
specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//请求取货
|
||||
if ("Load".equals(action)) {
|
||||
if (addressdevice.getHas_goods() > 0) {
|
||||
inst.setExecute_status("1");
|
||||
is_feedback = true;
|
||||
}
|
||||
//请求放货
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (addressdevice.getHas_goods() == 0) {
|
||||
inst.setExecute_status("3");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//请求取货
|
||||
if ("Load".equals(action)) {
|
||||
if (addressdevice.getHas_goods() > 0) {
|
||||
inst.setExecute_status("1");
|
||||
is_feedback = true;
|
||||
}
|
||||
//请求放货
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (addressdevice.getHas_goods() == 0) {
|
||||
inst.setExecute_status("3");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
|
||||
//请求取货
|
||||
if ("Load".equals(action)) {
|
||||
inst.setExecute_status("1");
|
||||
is_feedback = true;
|
||||
//请求放货
|
||||
} else if ("Unload".equals(action)) {
|
||||
inst.setExecute_status("3");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
|
||||
//取放货完成
|
||||
} else if ("onStation".equals(type)) {
|
||||
System.out.println("取放货完成");
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//取货完成
|
||||
if ("Load".equals(action)) {
|
||||
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() == 0) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("2");
|
||||
is_feedback = true;
|
||||
}
|
||||
//放货完成
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (standardInspectSiteDeviceDriver.getMode() == 2 && standardInspectSiteDeviceDriver.getMove() > 0) {
|
||||
inst.setExecute_device_code(address);
|
||||
inst.setExecute_status("4");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
//晟华工位模板
|
||||
if (addressdevice.getDeviceDriver() instanceof LnshStationDeviceDriver) {
|
||||
lnshStationDeviceDriver = (LnshStationDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//取货完成
|
||||
if ("Load".equals(action)) {
|
||||
if (lnshStationDeviceDriver.getMode() == 2 && lnshStationDeviceDriver.getMove() == 0) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("2");
|
||||
lnshStationDeviceDriver.setFlag(2);
|
||||
is_feedback = true;
|
||||
}
|
||||
//放货完成
|
||||
} else if ("Unload".equals(action)) {
|
||||
if (lnshStationDeviceDriver.getMode() == 2 && lnshStationDeviceDriver.getMove() > 0) {
|
||||
inst.setExecute_device_code(address);
|
||||
inst.setExecute_status("4");
|
||||
lnshStationDeviceDriver.setFlag(4);
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//取货完成
|
||||
if ("Load".equals(action)) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("2");
|
||||
is_feedback = true;
|
||||
//放货完成
|
||||
} else if ("Unload".equals(action)) {
|
||||
inst.setExecute_device_code(address);
|
||||
inst.setExecute_status("4");
|
||||
is_feedback = true;
|
||||
}
|
||||
|
||||
}
|
||||
if (addressdevice.getDeviceDriver() instanceof SpecialOrdinarySiteDeviceDriver) {
|
||||
specialOrdinarySiteDeviceDriver = (SpecialOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
//取货完成
|
||||
if ("Load".equals(action)) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("2");
|
||||
is_feedback = true;
|
||||
//放货完成
|
||||
} else if ("Unload".equals(action)) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("4");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
|
||||
//取货完成
|
||||
if ("Load".equals(action)) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("2");
|
||||
is_feedback = true;
|
||||
//放货完成
|
||||
} else if ("Unload".equals(action)) {
|
||||
inst.setExecute_device_code(processingVehicle);
|
||||
inst.setExecute_status("4");
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
JSONObject requestjo = new JSONObject();
|
||||
JSONArray ja = new JSONArray();
|
||||
if (is_feedback) {
|
||||
String param = "";
|
||||
JSONObject jo = new JSONObject();
|
||||
if (str.length() > 0) {
|
||||
backaddress = backaddress + str;
|
||||
}
|
||||
if ("onEntry".equals(type)) {
|
||||
param = "EntryPermitted-" + backaddress + action;
|
||||
} else if ("onStation".equals(type)) {
|
||||
param = "ContinueOnStation-" + backaddress + action;
|
||||
}
|
||||
|
||||
jo.put("key", param);
|
||||
jo.put("value", "False");
|
||||
ja.add(jo);
|
||||
requestjo.put("properties", ja);
|
||||
log.info("反馈AGV请求数据:{}", requestjo);
|
||||
System.out.println("back agv:" + requestjo);
|
||||
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact";
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.body(String.valueOf(requestjo))
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
}
|
||||
is_feedback = false;
|
||||
|
||||
return requestjo.toString();
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String requestAck(String address) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("AGV请求离开参数:{}", address);
|
||||
boolean flag = false;
|
||||
|
||||
if (address.indexOf(".") > 0) {
|
||||
address = address.substring(0, address.indexOf("."));
|
||||
}
|
||||
if (address.indexOf("-") > 0) {
|
||||
address = address.substring(0, address.indexOf("-"));
|
||||
}
|
||||
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
|
||||
|
||||
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
|
||||
Device addressdevice = appService.findDeviceByCode(address);
|
||||
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
|
||||
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
|
||||
StandardStorageDeviceDriver standardStorageDeviceDriver;
|
||||
LnshStationDeviceDriver lnshStationDeviceDriver;
|
||||
|
||||
//mes = AgvClientXZ.mes(zlbh, device, type);
|
||||
//暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
|
||||
if ((addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver)) {
|
||||
flag = true;
|
||||
}
|
||||
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
flag = true;
|
||||
log.info("agvstatus:" + standardInspectSiteDeviceDriver.getFlag() + "");
|
||||
//取货完成离开
|
||||
if (standardInspectSiteDeviceDriver.getFlag() == 2) {
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 0) {
|
||||
flag = true;
|
||||
standardInspectSiteDeviceDriver.setFlag(5);
|
||||
}
|
||||
}
|
||||
//放货完成离开
|
||||
if (standardInspectSiteDeviceDriver.getFlag() == 4) {
|
||||
if (standardInspectSiteDeviceDriver.getMove() == 1) {
|
||||
flag = true;
|
||||
standardInspectSiteDeviceDriver.setFlag(6);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (addressdevice.getDeviceDriver() instanceof LnshStationDeviceDriver) {
|
||||
lnshStationDeviceDriver = (LnshStationDeviceDriver) addressdevice.getDeviceDriver();
|
||||
flag = true;
|
||||
log.info("agvstatus:" + lnshStationDeviceDriver.getFlag() + "");
|
||||
//取货完成离开
|
||||
if (lnshStationDeviceDriver.getFlag() == 2) {
|
||||
if (lnshStationDeviceDriver.getMove() == 0) {
|
||||
flag = true;
|
||||
lnshStationDeviceDriver.setFlag(5);
|
||||
}
|
||||
}
|
||||
//放货完成离开
|
||||
if (lnshStationDeviceDriver.getFlag() == 4) {
|
||||
if (lnshStationDeviceDriver.getMove() == 1) {
|
||||
flag = true;
|
||||
lnshStationDeviceDriver.setFlag(6);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
|
||||
flag = true;
|
||||
log.info("agvstatus:" + standardOrdinarySiteDeviceDriver.getFlag() + "");
|
||||
|
||||
//取货完成离开
|
||||
if (standardOrdinarySiteDeviceDriver.getFlag() == 2) {
|
||||
flag = true;
|
||||
standardOrdinarySiteDeviceDriver.setFlag(5);
|
||||
}
|
||||
//放货完成离开
|
||||
if (standardOrdinarySiteDeviceDriver.getFlag() == 4) {
|
||||
flag = true;
|
||||
standardOrdinarySiteDeviceDriver.setFlag(6);
|
||||
}
|
||||
}
|
||||
|
||||
if (flag) {
|
||||
log.info("AGV请求离开，反馈成功:{}", address);
|
||||
System.out.println("AGV请求离开，反馈成功 " + address);
|
||||
return "OK";
|
||||
} else {
|
||||
log.info("AGV请求离开，反馈失败{}", address);
|
||||
System.out.println("AGV请求离开，反馈失败 " + address);
|
||||
throw new RuntimeException("AGV请求离开，反馈失败 " + address);
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse pause() throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/vehicles/pause";
|
||||
log.info("暂停所有agv请求:{}", agvurl);
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("暂停所有agv请求反馈:{}", result);
|
||||
String type = "";
|
||||
if (result.getStatus() == 200) {
|
||||
type = "info";
|
||||
} else {
|
||||
type = "error";
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse pause(String device_code) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/vehicles/" + device_code + "/pause";
|
||||
log.info("暂停{} agv请求:{}", device_code, agvurl);
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("暂停{} agv请求反馈:{}", device_code, result);
|
||||
String type = "";
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse resume() throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/vehicles/resume";
|
||||
log.info("恢复所有agv请求:{}", agvurl);
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("恢复所有agv请求反馈:{}", result);
|
||||
String type = "";
|
||||
if (result.getStatus() == 200) {
|
||||
type = "info";
|
||||
} else {
|
||||
type = "error";
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse resume(String device_code) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/v1/vehicles/" + device_code + "/resume";
|
||||
log.info("恢复{} agv请求:{}", device_code, agvurl);
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("恢复{} agv请求反馈:{}", device_code, result);
|
||||
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String queryDoorStatus(String device) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("AGV查询自动门状态,参数：{}", device);
|
||||
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
|
||||
switch (type) {
|
||||
case 4:
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASOTHERSYSTEM).toString(), "1")) {
|
||||
String result = acsToWmsService.queryDoorsStatus().body();
|
||||
JSONArray ja = JSONArray.parseArray(result);
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
}
|
||||
return null;
|
||||
default:
|
||||
if (StrUtil.equals("doors", device)) {
|
||||
List<Device> list = deviceAppService.findDevice(DeviceType.autodoor);
|
||||
JSONArray ja = new JSONArray();
|
||||
for (int i = 0; i < list.size(); i++) {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(list.get(i).getDevice_code());
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
ja.add(jo);
|
||||
}
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
|
||||
} else {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(device);
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
log.info("AGV查询自动门状态,反馈：{}", jo.toString());
|
||||
return jo.toString();
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public Map<String, AgvDto> findAllAgvFromCache() {
|
||||
return AGVDeviceStatus;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,391 @@
|
||||
package org.nl.acs.agv.server.impl;
|
||||
|
||||
import cn.hutool.core.util.ObjectUtil;
|
||||
import cn.hutool.core.util.StrUtil;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.NDCAgvService;
|
||||
import org.nl.acs.agv.server.dto.AgvDto;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.device.service.DeviceService;
|
||||
import org.nl.acs.device.service.impl.DeviceServiceImpl;
|
||||
import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
|
||||
import org.nl.acs.ext.erp.service.AcsToErpService;
|
||||
import org.nl.acs.ext.wms.service.AcsToWmsService;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.nl.acs.log.service.DeviceExecuteLogService;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.acs.opc.DeviceAppServiceImpl;
|
||||
import org.nl.acs.opc.DeviceType;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.exception.BadRequestException;
|
||||
import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
|
||||
import org.nl.utils.SpringContextHolder;
|
||||
import org.slf4j.MDC;
|
||||
import org.springframework.stereotype.Service;
|
||||
|
||||
import java.util.HashMap;
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
|
||||
@Slf4j
|
||||
@Service
|
||||
@RequiredArgsConstructor
|
||||
public class NDCAgvServiceImpl implements NDCAgvService {
|
||||
|
||||
private final DeviceAppService deviceAppService;
|
||||
private final TaskService taskService;
|
||||
private final InstructionService instructionService;
|
||||
private final AcsConfigService acsConfigService;
|
||||
private final AcsToErpService acsToErpService;
|
||||
private final AcsToWmsService acsToWmsService;
|
||||
|
||||
private final DeviceExecuteLogService logServer;
|
||||
|
||||
Map<String, AgvDto> AGVDeviceStatus = new HashMap();
|
||||
|
||||
private String log_file_type = "log_file_type";
|
||||
private String log_type = "agv接口日志";
|
||||
|
||||
@Override
|
||||
public void deleteAgvInstToNDC(Instruction inst) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
int index = Integer.parseInt(inst.getAgv_jobno());
|
||||
|
||||
byte indexhigh = (byte) IntToHexHigh(index);
|
||||
byte indexlow = (byte) IntToHexLow(index);
|
||||
|
||||
String str = "十进制下发：";
|
||||
String str1 = "十六进制下发：";
|
||||
str += "index:" + index;
|
||||
str1 += "ikey:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF);
|
||||
System.out.println(str);
|
||||
System.out.println(str1);
|
||||
|
||||
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X06,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6E,
|
||||
(byte) 0X00, (byte) 0X02,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
};
|
||||
log.info("下发删除AGV指令--{}", Bytes2HexString(b));
|
||||
|
||||
NDCSocketConnectionAutoRun.write(b);
|
||||
System.out.println("下发删除agv指令数据:" + Bytes2HexString(b));
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public byte[] sendAgvOneModeInst(int phase, int index, int result1, int result2) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (phase < 0 || index < 0)
|
||||
return null;
|
||||
byte indexhigh = (byte) IntToHexHigh(index);
|
||||
byte indexlow = (byte) IntToHexLow(index);
|
||||
byte phasehigh = (byte) IntToHexHigh(phase);
|
||||
byte phaselow = (byte) IntToHexLow(phase);
|
||||
byte resulthigh1 = (byte) IntToHexHigh(result1);
|
||||
byte resultlow1 = (byte) IntToHexLow(result1);
|
||||
byte resulthigh2 = (byte) IntToHexHigh(result2);
|
||||
byte resultlow2 = (byte) IntToHexLow(result2);
|
||||
|
||||
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0D,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow,
|
||||
(byte) resulthigh1, (byte) resultlow1,
|
||||
(byte) resulthigh2, (byte) resultlow2
|
||||
};
|
||||
|
||||
log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));
|
||||
//87CD 0008 000C 0001 006D 0008 0000 0114 000E 0000
|
||||
//87CD 0008 000C 0001 006D 0008 0003 0114 008F 0000
|
||||
System.out.println("反馈agv动作数据:" + Bytes2HexString(b));
|
||||
return b;
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void sendAgvInstToNDC(Instruction inst) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String instcode = inst.getInstruction_code();
|
||||
int type = Integer.parseInt(inst.getInstruction_type());
|
||||
int priority = Integer.parseInt(inst.getPriority()) + 128;
|
||||
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
|
||||
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
|
||||
int startAddress = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
|
||||
int nextAddress = deviceService.queryAddressBydeviceCode(inst.getNext_point_code());
|
||||
|
||||
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
|
||||
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
|
||||
byte typehigh = (byte) IntToHexHigh(type);
|
||||
byte typelow = (byte) IntToHexLow(type);
|
||||
byte qhdhigh = (byte) IntToHexHigh(startAddress);
|
||||
byte qhdlow = (byte) IntToHexLow(startAddress);
|
||||
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
|
||||
byte fhdlow = (byte) IntToHexLow(nextAddress);
|
||||
byte prioritylow = (byte) IntToHexLow(priority);
|
||||
|
||||
String str = "十进制下发：";
|
||||
String str1 = "十六进制下发：";
|
||||
str += "ikey:" + (Integer.parseInt(instcode));
|
||||
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
|
||||
|
||||
str += "/type:" + (type);
|
||||
str1 += "/type:" + hexToString(typehigh & 0xFF) + hexToString(typelow & 0xFF);
|
||||
|
||||
str += "/qhd:" + (startAddress);
|
||||
str1 += "/qhd:" + hexToString(qhdhigh & 0xFF) + hexToString(qhdlow & 0xFF);
|
||||
str += "/fhd:" + (nextAddress);
|
||||
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
|
||||
|
||||
str += "/priority:" + (priority);
|
||||
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
|
||||
|
||||
System.out.println(str);
|
||||
System.out.println(str1);
|
||||
|
||||
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X12,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X71,
|
||||
(byte) 0X00, (byte) 0X0E,
|
||||
(byte) 0X01, prioritylow,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) ikeyhigh, (byte) ikeylow,
|
||||
(byte) ikeyhigh, (byte) ikeylow,
|
||||
(byte) typehigh, (byte) typelow,
|
||||
(byte) qhdhigh, (byte) qhdlow,
|
||||
(byte) fhdhigh, (byte) fhdlow
|
||||
};
|
||||
log.info("下发AGV作业指令--{}", str1);
|
||||
|
||||
NDCSocketConnectionAutoRun.write(b);
|
||||
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void sendAgvInstToNDC(String instcode) throws Exception {
|
||||
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
|
||||
Instruction inst = instructionService.findByCodeFromCache(instcode);
|
||||
sendAgvInstToNDC(inst);
|
||||
}
|
||||
|
||||
|
||||
String hexToString(int i) {
|
||||
return (i < 16 ? "0" + Integer.toHexString(i) : Integer.toHexString(i)).toUpperCase();
|
||||
}
|
||||
|
||||
|
||||
public static int IntToHexHigh(int b) {
|
||||
int big = (b & 0xFF00) >> 8;
|
||||
return big;
|
||||
}
|
||||
|
||||
public static int IntToHexLow(int b) {
|
||||
int little = b & 0xFF;
|
||||
return little;
|
||||
}
|
||||
|
||||
|
||||
public static String Bytes2HexString(byte[] b) {
|
||||
String ret = "";
|
||||
for (int i = 0; i < b.length; i++) {
|
||||
String hex = Integer.toHexString(b[i] & 0xFF);
|
||||
if (hex.length() == 1) {
|
||||
hex = '0' + hex;
|
||||
}
|
||||
ret += hex.toUpperCase();
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
@Override
|
||||
public byte[] sendAgvOneModeInst(int phase, int index) {
|
||||
return new byte[0];
|
||||
}
|
||||
|
||||
@Override
|
||||
public byte[] sendAgvOneModeInst(int phase, int index, int result) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (phase < 0 || index < 0)
|
||||
return null;
|
||||
byte indexhigh = (byte) IntToHexHigh(index);
|
||||
byte indexlow = (byte) IntToHexLow(index);
|
||||
byte phasehigh = (byte) IntToHexHigh(phase);
|
||||
byte phaselow = (byte) IntToHexLow(phase);
|
||||
byte resulthigh = (byte) IntToHexHigh(result);
|
||||
byte resultlow = (byte) IntToHexLow(result);
|
||||
|
||||
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
|
||||
byte[] b = new byte[]{};
|
||||
switch (type) {
|
||||
case 0:
|
||||
b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0A,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X06,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow
|
||||
};
|
||||
break;
|
||||
case 1:
|
||||
b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0D,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow,
|
||||
(byte) resulthigh, (byte) resultlow
|
||||
};
|
||||
break;
|
||||
case 2:
|
||||
b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0A,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X06,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow
|
||||
};
|
||||
break;
|
||||
case 5:
|
||||
b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0A,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X06,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow
|
||||
};
|
||||
break;
|
||||
case 7:
|
||||
b = new byte[]{(byte) 0X87, (byte) 0XCD,
|
||||
(byte) 0X00, (byte) 0X08,
|
||||
(byte) 0X00, (byte) 0X0A,
|
||||
(byte) 0X00, (byte) 0X01,
|
||||
(byte) 0X00, (byte) 0X6D,
|
||||
(byte) 0X00, (byte) 0X06,
|
||||
(byte) indexhigh, (byte) indexlow,
|
||||
(byte) 0X01, (byte) 0X12,
|
||||
(byte) phasehigh, (byte) phaselow
|
||||
};
|
||||
break;
|
||||
}
|
||||
log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF));
|
||||
|
||||
System.out.println("反馈agv动作数据:" + Bytes2HexString(b));
|
||||
return b;
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String queryDoorStatus(String device) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("AGV查询自动门状态,参数：{}", device);
|
||||
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
|
||||
switch (type) {
|
||||
case 4:
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASOTHERSYSTEM).toString(), "1")) {
|
||||
String result = acsToWmsService.queryDoorsStatus().body();
|
||||
JSONArray ja = JSONArray.parseArray(result);
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
}
|
||||
return null;
|
||||
default:
|
||||
if (StrUtil.equals("doors", device)) {
|
||||
List<Device> list = deviceAppService.findDevice(DeviceType.autodoor);
|
||||
JSONArray ja = new JSONArray();
|
||||
for (int i = 0; i < list.size(); i++) {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(list.get(i).getDevice_code());
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
ja.add(jo);
|
||||
}
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
|
||||
} else {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(device);
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
log.info("AGV查询自动门状态,反馈：{}", jo.toString());
|
||||
return jo.toString();
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public Map<String, AgvDto> findAllAgvFromCache() {
|
||||
return AGVDeviceStatus;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,634 @@
|
||||
package org.nl.acs.agv.server.impl;
|
||||
|
||||
import cn.hutool.core.util.ObjectUtil;
|
||||
import cn.hutool.core.util.StrUtil;
|
||||
import cn.hutool.http.HttpRequest;
|
||||
import cn.hutool.http.HttpResponse;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.XianGongAgvService;
|
||||
import org.nl.acs.agv.server.dto.AgvDto;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
|
||||
import org.nl.acs.ext.erp.service.AcsToErpService;
|
||||
import org.nl.acs.ext.wms.service.AcsToWmsService;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.nl.acs.log.service.DeviceExecuteLogService;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.acs.opc.DeviceType;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.exception.BadRequestException;
|
||||
import org.slf4j.MDC;
|
||||
import org.springframework.stereotype.Service;
|
||||
|
||||
import java.text.DateFormat;
|
||||
import java.text.SimpleDateFormat;
|
||||
import java.util.*;
|
||||
|
||||
@Slf4j
|
||||
@Service
|
||||
@RequiredArgsConstructor
|
||||
public class XianGongAgvServiceImpl implements XianGongAgvService {
|
||||
private final DeviceAppService deviceAppService;
|
||||
private final TaskService taskService;
|
||||
private final InstructionService instructionService;
|
||||
private final AcsConfigService acsConfigService;
|
||||
private final AcsToErpService acsToErpService;
|
||||
private final AcsToWmsService acsToWmsService;
|
||||
|
||||
private final DeviceExecuteLogService logServer;
|
||||
|
||||
Map<String, AgvDto> AGVDeviceStatus = new HashMap();
|
||||
|
||||
private String log_file_type = "log_file_type";
|
||||
private String log_type = "agv接口日志";
|
||||
|
||||
@Override
|
||||
public String waitPointRequest(String param) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("收到AGV请求参数:{}", param);
|
||||
String[] strs = param.split("-");
|
||||
String address = strs[0];
|
||||
String inst_code = strs[1];
|
||||
String type = strs[2];
|
||||
String newaddress = null;
|
||||
// 前置点会加上p
|
||||
if (address.endsWith("IN")) {
|
||||
newaddress = address.substring(0, address.length() - 2);
|
||||
} else if (address.endsWith("OUT")) {
|
||||
newaddress = address.substring(0, address.length() - 3);
|
||||
} else if (address.endsWith("P") || address.endsWith("L") || address.endsWith("R")) {
|
||||
newaddress = address.substring(0, address.length() - 1);
|
||||
} else if (address.endsWith("CZ")) {
|
||||
newaddress = address.substring(0, address.length() - 2);
|
||||
} else if (address.endsWith("IQ") || address.endsWith("OQ")) {
|
||||
newaddress = address.substring(0, address.length() - 2);
|
||||
} else {
|
||||
newaddress = address;
|
||||
}
|
||||
boolean is_feedback = false;
|
||||
|
||||
Device device = deviceAppService.findDeviceByCode(newaddress);
|
||||
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
|
||||
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
|
||||
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
|
||||
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
|
||||
//人工确认信号
|
||||
if (standardOrdinarySiteDeviceDriver.getManua_confirm() == 2) {
|
||||
is_feedback = true;
|
||||
standardOrdinarySiteDeviceDriver.setManua_confirm(0);
|
||||
} else {
|
||||
standardOrdinarySiteDeviceDriver.setManua_confirm(1);
|
||||
}
|
||||
}
|
||||
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
|
||||
//请求取货
|
||||
if (StrUtil.equals(type, "01") && address.endsWith("IN")
|
||||
&& standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 1);
|
||||
is_feedback = true;
|
||||
}
|
||||
//取货完成
|
||||
else if (StrUtil.equals(type, "02")) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 2);
|
||||
is_feedback = true;
|
||||
}
|
||||
//取货完成离开
|
||||
else if (StrUtil.equals(type, "05") && address.endsWith("OUT")
|
||||
&& standardInspectSiteDeviceDriver.getMove() == 0) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 5);
|
||||
is_feedback = true;
|
||||
}
|
||||
//请求放货
|
||||
else if (StrUtil.equals(type, "03") && address.endsWith("IN")
|
||||
&& standardInspectSiteDeviceDriver.getMove() == 0) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 3);
|
||||
is_feedback = true;
|
||||
}
|
||||
//放货完成
|
||||
else if (StrUtil.equals(type, "04")) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 4);
|
||||
is_feedback = true;
|
||||
}
|
||||
//放货完成离开
|
||||
else if (StrUtil.equals(type, "06") && address.endsWith("OUT")
|
||||
&& standardInspectSiteDeviceDriver.getMove() != 0) {
|
||||
standardInspectSiteDeviceDriver.writing(1, 6);
|
||||
is_feedback = true;
|
||||
}
|
||||
}
|
||||
JSONObject jo = new JSONObject();
|
||||
if (is_feedback) {
|
||||
jo.put("name", param);
|
||||
jo.put("lastAction", "wait");
|
||||
jo.put("lastActionStatus", "DONE");
|
||||
jo.put("status", "IDLE");
|
||||
} else {
|
||||
jo.put("name", param);
|
||||
jo.put("lastAction", "wait");
|
||||
jo.put("lastActionStatus", "FAILED");
|
||||
jo.put("status", "IDLE");
|
||||
}
|
||||
is_feedback = false;
|
||||
log.info("反馈AGV请求参数:{}", jo.toString());
|
||||
|
||||
return jo.toString();
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse markComplete(String code) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/api/route/orderSequences/" + code + "/markComplete";
|
||||
log.info("关闭agv运单序列请求:{}", agvurl);
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
//.body(String.valueOf(orderjo))//表单内容
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("关闭agv运单序列请求反馈:{}", result);
|
||||
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse queryXZAgvDeviceStatus() {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
|
||||
String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
|
||||
|
||||
HttpResponse result = HttpRequest.get(agvurl1)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
|
||||
|
||||
HttpResponse result2 = HttpRequest.get(agvurl2)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
|
||||
System.out.println("查询agv状态数据:" + result.body());
|
||||
if (result.getStatus() == 200) {
|
||||
JSONArray ja = (JSONArray) JSONArray.parse(result.body());
|
||||
|
||||
for (int i = 0; i < ja.size(); i++) {
|
||||
JSONObject jo = (JSONObject) ja.get(i);
|
||||
String name = jo.getString("name");
|
||||
String state = jo.getString("state");
|
||||
String energyLevel = jo.getString("energyLevel");
|
||||
String transportOrder = jo.getString("transportOrder");
|
||||
JSONObject detailjo = (JSONObject) JSONObject.parse(result2.body());
|
||||
JSONObject item = (JSONObject) detailjo.get(name);
|
||||
String x = item.getString("x");
|
||||
String y = item.getString("y");
|
||||
String angle = item.getString("angle");
|
||||
AgvDto dto = new AgvDto();
|
||||
dto.setName(name);
|
||||
dto.setEnergyLevel(energyLevel);
|
||||
dto.setState(state);
|
||||
dto.setTransportOrder(transportOrder);
|
||||
dto.setPositionAngle(angle);
|
||||
dto.setPositionX(x);
|
||||
dto.setPositionY(y);
|
||||
if (AGVDeviceStatus.containsKey(name)) {
|
||||
AGVDeviceStatus.remove(name);
|
||||
AGVDeviceStatus.put(name, dto);
|
||||
} else {
|
||||
AGVDeviceStatus.put(name, dto);
|
||||
}
|
||||
}
|
||||
}
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse queryXZAgvInstStatus(String instCode) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + instCode;
|
||||
|
||||
HttpResponse result = HttpRequest.get(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
System.out.println("查询agv指令数据:" + result.body());
|
||||
|
||||
return result;
|
||||
} else {
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse deleteXZAgvInst(String instCode) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + instCode + "/withdrawal";
|
||||
log.info("删除agv指令请求agvurl:{}", agvurl);
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info("删除agv指令请求反馈:{}", result);
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
|
||||
JSONObject jo = new JSONObject();
|
||||
jo.put("intendedVehicle", "");
|
||||
jo.put("category", "");
|
||||
jo.put("failureFatal", false);
|
||||
jo.put("complete", false);
|
||||
JSONArray transports = new JSONArray();
|
||||
JSONObject orderjo = new JSONObject();
|
||||
orderjo.put("name", inst.getInstruction_code());
|
||||
orderjo.put("order", createOrederData(inst, "1"));
|
||||
transports.add(orderjo);
|
||||
jo.put("transports", transports);
|
||||
|
||||
JSONArray ja1 = new JSONArray();
|
||||
JSONObject jo1 = new JSONObject();
|
||||
jo1.put("key", "");
|
||||
jo1.put("value", "");
|
||||
ja1.add(jo1);
|
||||
jo.put("properties", ja1);
|
||||
|
||||
log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo.toString());
|
||||
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/api/route/orderSequences/" + inst.getTask_code();
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.body(String.valueOf(jo))//表单内容
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info(agvurl);
|
||||
log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body());
|
||||
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public HttpResponse addOrderSequences(Instruction inst) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
JSONObject orderjo = createOrederData(inst, "1");
|
||||
log.info("指令号：{},追加agv订单序列参数:{}", inst.getInstruction_code(), orderjo.toString());
|
||||
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
|
||||
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
|
||||
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
|
||||
|
||||
agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + inst.getInstruction_code();
|
||||
|
||||
HttpResponse result = HttpRequest.post(agvurl)
|
||||
.body(String.valueOf(orderjo))//表单内容
|
||||
.timeout(20000)//超时，毫秒
|
||||
.execute();
|
||||
log.info(agvurl);
|
||||
log.info("任务号：{},指令号{},状态{},追加agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body());
|
||||
|
||||
return result;
|
||||
} else {
|
||||
return null;
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String sendOrderSequencesParam(Instruction inst) throws Exception {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
JSONObject jo = new JSONObject();
|
||||
jo.put("intendedVehicle", "");
|
||||
jo.put("category", "Park");
|
||||
jo.put("failureFatal", true);
|
||||
jo.put("complete", false);
|
||||
JSONArray transports = new JSONArray();
|
||||
JSONObject orderjo = createOrederData(inst, "0");
|
||||
JSONObject order = new JSONObject();
|
||||
orderjo.put("order", order);
|
||||
orderjo.put("name", inst.getInstruction_code());
|
||||
transports.add(orderjo);
|
||||
jo.put("transports", transports);
|
||||
return jo.toString();
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public JSONObject createOrederData(Instruction inst, String inst_type) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
String inst_code = inst.getInstruction_code();
|
||||
String task_code = inst.getTask_code();
|
||||
String compound_inst_data = inst.getCompound_inst_data();
|
||||
String[] str = null;
|
||||
List<String> pathlist = null;
|
||||
if (!StrUtil.isEmpty(compound_inst_data)) {
|
||||
str = compound_inst_data.split("->");
|
||||
pathlist = Arrays.asList(str);
|
||||
}
|
||||
JSONArray ja = new JSONArray();
|
||||
JSONObject orderjo = new JSONObject();
|
||||
|
||||
//1表示追加任务，需将task_code赋值给wrappingSequence
|
||||
if (StrUtil.equals("1", inst_type)) {
|
||||
orderjo.put("wrappingSequence", task_code);
|
||||
}
|
||||
String instno = inst.getInstruction_code();
|
||||
//指定agv车号 暂时不用
|
||||
//orderjo.put("intendedVehicle", "");
|
||||
//设置任务最终时间
|
||||
orderjo.put("deadline", getNextDay(1));
|
||||
orderjo.put("category", "");
|
||||
//拼接起点子任务动作，待完善，动作码需要从数据库取值
|
||||
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
|
||||
|
||||
switch (type) {
|
||||
case 3:
|
||||
break;
|
||||
case 4:
|
||||
break;
|
||||
case 6:
|
||||
String startAddress = inst.getStart_device_code();
|
||||
String nextAddress = inst.getNext_device_code();
|
||||
Device startdevice = deviceAppService.findDeviceByCode(startAddress);
|
||||
Device nextdevice = deviceAppService.findDeviceByCode(nextAddress);
|
||||
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
|
||||
//起点
|
||||
if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
|
||||
ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
|
||||
+ "-" + inst_code + "-" + "01"));
|
||||
ja.add(destination2(startAddress, "Load", "3", startAddress
|
||||
+ "-" + inst_code + "-" + "02"));
|
||||
ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT"
|
||||
+ "-" + inst_code + "-" + "05"));
|
||||
|
||||
} else {
|
||||
ja.add(destination2(nextAddress, "Wait", "1", startAddress
|
||||
+ "-" + inst_code + "-" + "01"));
|
||||
ja.add(destination2(startAddress, "Load", "3", startAddress
|
||||
+ "-" + inst_code + "-" + "01"));
|
||||
}
|
||||
|
||||
if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
|
||||
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
|
||||
+ "-" + inst_code + "-" + "03"));
|
||||
ja.add(destination2(nextAddress, "ForkLoad", "3", nextAddress
|
||||
+ "-" + inst_code + "-" + "04"));
|
||||
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
|
||||
+ "-" + inst_code + "-" + "06"));
|
||||
} else {
|
||||
ja.add(destination2(nextAddress, "Wait", "1", nextAddress
|
||||
+ "-" + inst_code + "-" + "01"));
|
||||
ja.add(destination2(nextAddress, "ForkLoad", "3", nextAddress
|
||||
+ "-" + inst_code + "-" + "01"));
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
orderjo.put("destinations", ja);
|
||||
JSONObject prijo = new JSONObject();
|
||||
prijo.put("key", "duration");
|
||||
prijo.put("value", "101");
|
||||
|
||||
JSONArray prija = new JSONArray();
|
||||
prija.add(prijo);
|
||||
orderjo.put("properties", prija);
|
||||
|
||||
return orderjo;
|
||||
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* 获得之后num个天的时间
|
||||
*
|
||||
* @param num
|
||||
* @return
|
||||
*/
|
||||
public static String getNextDay(int num) {
|
||||
Calendar calendar = Calendar.getInstance();
|
||||
calendar.add(Calendar.DAY_OF_MONTH, num);
|
||||
Date date = calendar.getTime();
|
||||
TimeZone tz = TimeZone.getTimeZone("Asia/Shanghai");
|
||||
DateFormat df = new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
|
||||
df.setTimeZone(tz);
|
||||
String nowAsISO = df.format(date);
|
||||
return nowAsISO;
|
||||
}
|
||||
|
||||
/**
|
||||
* 返回一个点位操作子任务 先知使用
|
||||
*
|
||||
* @param locationName 点位
|
||||
* @param operation 点位操作
|
||||
* @param propertiesType 子任务类型
|
||||
* @param pro 子任务参数
|
||||
* 调用demo:destination("sh15p", "Spin", "2", "3.14")
|
||||
* demo:destination("cz14", "JackUnload", "3", "")
|
||||
* @return
|
||||
*/
|
||||
public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro) {
|
||||
|
||||
//新增业务订单
|
||||
JSONObject destinationOrder = new JSONObject();
|
||||
//目标工作站
|
||||
destinationOrder.put("locationName", locationName);
|
||||
//机器人在工作站要执行的操作
|
||||
destinationOrder.put("operation", operation);
|
||||
if (propertiesType.equals("1")) {//Wait请求是否继续
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "device:queryAtExecuted");//固定值
|
||||
pro2.put("value", pro + ":wait");//pro为wait请求的标识，一般用点位拼接的字符串
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("2")) {//Spin转动
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系
|
||||
pro1.put("value", pro);//弧度值，如3.14
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "spin_direction");//固定值
|
||||
pro2.put("value", "0");//弧度值，如0
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("3")) {//JackUnload,Jackload不操作
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "recognize");//固定值
|
||||
pro1.put("value", "false");//固定值
|
||||
properties.add(pro1);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("4")) {
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro1 = new JSONObject();
|
||||
pro1.put("key", "robot_spin_angle");//坐标系类型，robot_spin_angle为机器人坐标系
|
||||
pro1.put("value", pro);//弧度值，如3.14
|
||||
properties.add(pro1);
|
||||
JSONObject pro2 = new JSONObject();
|
||||
pro2.put("key", "spin_direction");//固定值
|
||||
pro2.put("value", "0");//弧度值，如0
|
||||
properties.add(pro2);
|
||||
destinationOrder.put("properties", properties);
|
||||
} else if (propertiesType.equals("5")) {//Wait请求是否继续
|
||||
JSONArray properties = new JSONArray();
|
||||
JSONObject pro2 = new JSONObject();
|
||||
|
||||
destinationOrder.put("properties", "[]");
|
||||
}
|
||||
return destinationOrder;
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public String queryDoorStatus(String device) {
|
||||
try {
|
||||
MDC.put(log_file_type, log_type);
|
||||
log.info("AGV查询自动门状态,参数：{}", device);
|
||||
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
|
||||
switch (type) {
|
||||
case 4:
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASOTHERSYSTEM).toString(), "1")) {
|
||||
String result = acsToWmsService.queryDoorsStatus().body();
|
||||
JSONArray ja = JSONArray.parseArray(result);
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
}
|
||||
return null;
|
||||
default:
|
||||
if (StrUtil.equals("doors", device)) {
|
||||
List<Device> list = deviceAppService.findDevice(DeviceType.autodoor);
|
||||
JSONArray ja = new JSONArray();
|
||||
for (int i = 0; i < list.size(); i++) {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(list.get(i).getDevice_code());
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
ja.add(jo);
|
||||
}
|
||||
log.info("AGV查询自动门状态,反馈：{}", ja.toString());
|
||||
return ja.toString();
|
||||
|
||||
} else {
|
||||
Device doordevice = deviceAppService.findDeviceByCode(device);
|
||||
if (ObjectUtil.isEmpty(doordevice)) {
|
||||
throw new BadRequestException("未找到对应设备");
|
||||
}
|
||||
String mes = null;
|
||||
StandardAutodoorDeviceDriver autodoor;
|
||||
if (doordevice.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
|
||||
autodoor = (StandardAutodoorDeviceDriver) doordevice.getDeviceDriver();
|
||||
mes = autodoor.getStatus();
|
||||
}
|
||||
JSONObject jo = JSONObject.parseObject(mes);
|
||||
log.info("AGV查询自动门状态,反馈：{}", jo.toString());
|
||||
return jo.toString();
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
MDC.remove(log_file_type);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public Map<String, AgvDto> findAllAgvFromCache() {
|
||||
return AGVDeviceStatus;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -7,6 +7,7 @@ import org.nl.acs.opc.OpcUtl;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.acs.task.service.dto.TaskDto;
|
||||
import org.nl.acs.task.service.impl.TaskServiceImpl;
|
||||
import org.nl.utils.SpringContextHolder;
|
||||
|
||||
@Data
|
||||
public class ConveyorDevice {
|
||||
@@ -47,7 +48,7 @@ public class ConveyorDevice {
|
||||
String MODE = "RD1.RD1." + id + ".mode";
|
||||
String code = OpcUtl.read(MODE);
|
||||
if ("2".equals(code)) {
|
||||
TaskService taskserver = new TaskServiceImpl();
|
||||
TaskService taskserver = SpringContextHolder.getBean(TaskServiceImpl.class);
|
||||
TaskDto dto = new TaskDto();
|
||||
dto.setStart_point_code(id);
|
||||
dto.setNext_point_code("1002");
|
||||
|
||||
@@ -15,6 +15,7 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
|
||||
import org.nl.acs.device_driver.special_ordinary_site.SpecialOrdinarySiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.nl.acs.monitor.DeviceStageMonitor;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.acs.opc.DeviceAppServiceImpl;
|
||||
@@ -24,6 +25,7 @@ import org.nl.acs.route.service.dto.RouteLineDto;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.acs.task.service.dto.TaskDto;
|
||||
import org.nl.modules.system.util.CodeUtil;
|
||||
import org.nl.utils.RedisUtils;
|
||||
import org.nl.utils.SpringContextHolder;
|
||||
import org.nl.wql.core.bean.WQLObject;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
@@ -38,7 +40,7 @@ import java.util.Date;
|
||||
@Slf4j
|
||||
@Data
|
||||
@RequiredArgsConstructor
|
||||
public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
|
||||
public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
|
||||
@Autowired
|
||||
RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
|
||||
@Autowired
|
||||
@@ -385,5 +387,23 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public JSONObject getDeviceStatusName() {
|
||||
JSONObject data = new JSONObject();
|
||||
data.put("device_name", this.getDevice().getDevice_name());
|
||||
if (mode == 1) {
|
||||
|
||||
data.put("mode", "单机");
|
||||
}
|
||||
if (mode == 2) {
|
||||
data.put("mode", "联机");
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void setDeviceStatus(JSONObject data) {
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -232,13 +232,7 @@ public interface InstructionService {
|
||||
*/
|
||||
Integer querySameOriginInst(String code);
|
||||
|
||||
/**
|
||||
* 查询相同起点、终点指令的数量
|
||||
*
|
||||
* @param code
|
||||
* @return
|
||||
*/
|
||||
//Integer querySameOriginInst(String code);
|
||||
|
||||
|
||||
boolean removeByCodeFromCache(String code);
|
||||
|
||||
|
||||
@@ -12,18 +12,17 @@ import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.apache.commons.lang3.ObjectUtils;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.impl.MagicAgvServiceImpl;
|
||||
import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
|
||||
import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.device.service.DeviceService;
|
||||
import org.nl.acs.device.service.impl.DeviceServiceImpl;
|
||||
import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver;
|
||||
import org.nl.acs.device_driver.lnsh.lnsh_station.LnshStationDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_conveyor_control_with_plcscanner.StandardCoveyorControlWithPlcScannerDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_conveyor_control_with_scanner.StandardCoveyorControlWithScannerDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.nl.acs.opc.Device;
|
||||
@@ -32,7 +31,6 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
|
||||
import org.nl.acs.route.service.RouteLineService;
|
||||
import org.nl.acs.route.service.dto.RouteLineDto;
|
||||
import org.nl.acs.route.service.impl.RouteLineServiceImpl;
|
||||
import org.nl.acs.task.enums.TaskTypeEnum;
|
||||
import org.nl.acs.task.service.TaskService;
|
||||
import org.nl.acs.task.service.dto.TaskDto;
|
||||
import org.nl.exception.BadRequestException;
|
||||
@@ -45,7 +43,6 @@ import org.nl.utils.SpringContextHolder;
|
||||
import org.nl.wql.WQL;
|
||||
import org.nl.wql.core.bean.WQLObject;
|
||||
import org.nl.wql.util.WqlUtil;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.data.domain.Pageable;
|
||||
import org.springframework.stereotype.Service;
|
||||
import org.springframework.transaction.annotation.Transactional;
|
||||
@@ -67,16 +64,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
|
||||
List<Instruction> instructions = new ArrayList();
|
||||
|
||||
@Autowired
|
||||
DeviceAppService deviceAppService;
|
||||
@Autowired
|
||||
AgvService agvService;
|
||||
@Autowired
|
||||
AcsConfigService acsConfigService;
|
||||
@Autowired
|
||||
RouteLineService routeLineService;
|
||||
@Autowired
|
||||
TaskService taskService;
|
||||
private final DeviceAppService deviceAppService;
|
||||
|
||||
private final AcsConfigService acsConfigService;
|
||||
private final RouteLineService routeLineService;
|
||||
private final TaskService taskService;
|
||||
|
||||
|
||||
@Override
|
||||
@@ -84,15 +76,13 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
this.reload();
|
||||
}
|
||||
|
||||
@Override
|
||||
public synchronized void reload() {
|
||||
this.instructions = this.queryAll("instruction_status <2 and is_delete =0");
|
||||
}
|
||||
|
||||
@Override
|
||||
public Map<String, Object> queryAll(Map whereJson, Pageable page) {
|
||||
/*WQLObject wo = WQLObject.getWQLObject("acs_instruction");
|
||||
ResultBean rb = wo.pagequery(WqlUtil.getHttpContext(page), "instruction_status < 2 and is_delete =0 ", "update_time desc");
|
||||
*/
|
||||
this.reload();
|
||||
HashMap<String, String> map = new HashMap<>();
|
||||
map.put("flag", "1");
|
||||
@@ -301,28 +291,32 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
// != 0 为agv任务
|
||||
if (!StrUtil.equals(type, "0")) {
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")) {
|
||||
HttpResponse result = agvService.sendAgvInstToMagic(dto);
|
||||
MagicAgvServiceImpl magicAgvService = SpringContextHolder.getBean(MagicAgvServiceImpl.class);
|
||||
HttpResponse result = magicAgvService.sendAgvInstToMagic(dto);
|
||||
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
|
||||
dto.setSend_status("2");
|
||||
} else {
|
||||
dto.setSend_status("1");
|
||||
}
|
||||
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
|
||||
agvService.sendAgvInstToNDC(dto);
|
||||
NDCAgvServiceImpl ndcAgvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
|
||||
ndcAgvService.sendAgvInstToNDC(dto);
|
||||
dto.setSend_status("1");
|
||||
|
||||
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
|
||||
if (StrUtil.equals(task.getRequest_again_success(), "1")) {
|
||||
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
//追加订单
|
||||
HttpResponse result = agvService.addOrderSequences(dto);
|
||||
HttpResponse result = xianGongAgv.addOrderSequences(dto);
|
||||
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
|
||||
dto.setSend_status("2");
|
||||
} else {
|
||||
dto.setSend_status("1");
|
||||
}
|
||||
} else {
|
||||
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
//创建订单序列
|
||||
HttpResponse result = agvService.sendOrderSequencesToXZ(dto);
|
||||
HttpResponse result = xianGongAgv.sendOrderSequencesToXZ(dto);
|
||||
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
|
||||
dto.setSend_status("2");
|
||||
} else {
|
||||
@@ -420,17 +414,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// != 0 为agv任务
|
||||
// if(!StrUtil.equals(type,"0")){
|
||||
// if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")) {
|
||||
// agvService.sendAgvInstToMagic(dto);
|
||||
// } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
|
||||
// agvService.sendAgvInstToNDC(dto);
|
||||
// } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
|
||||
// agvService.addOrderSequences(dto);
|
||||
// }
|
||||
// }
|
||||
instructions.add(dto);
|
||||
}
|
||||
|
||||
@@ -653,11 +636,10 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
LampThreecolorDeviceDriver lampThreecolorDeviceDriver;
|
||||
|
||||
|
||||
|
||||
LnshStationDeviceDriver lnshStationDeviceDriver;
|
||||
if(device.getDeviceDriver() instanceof LnshStationDeviceDriver ){
|
||||
if (device.getDeviceDriver() instanceof LnshStationDeviceDriver) {
|
||||
lnshStationDeviceDriver = (LnshStationDeviceDriver) device.getDeviceDriver();
|
||||
lnshStationDeviceDriver.writing(3,Integer.parseInt(dto.getInstruction_code()));
|
||||
lnshStationDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
|
||||
}
|
||||
|
||||
//变更三色灯状态
|
||||
@@ -753,19 +735,22 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
|
||||
if (!StrUtil.equals(type, "0")) {
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")
|
||||
&& !StrUtil.equals(entity.getSend_status(), "2")) {
|
||||
agvService.deleteAgvInst(entity.getInstruction_code());
|
||||
MagicAgvServiceImpl magicAgvService = SpringContextHolder.getBean(MagicAgvServiceImpl.class);
|
||||
magicAgvService.deleteAgvInst(entity.getInstruction_code());
|
||||
flag = true;
|
||||
|
||||
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
|
||||
//NDC agv指令不当场取消指令,需要等agv上报
|
||||
if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
|
||||
agvService.deleteAgvInstToNDC(entity);
|
||||
NDCAgvServiceImpl ndcAgv = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
|
||||
ndcAgv.deleteAgvInstToNDC(entity);
|
||||
} else {
|
||||
flag = true;
|
||||
}
|
||||
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")
|
||||
&& !StrUtil.equals(entity.getSend_status(), "2")) {
|
||||
agvService.deleteXZAgvInst(entity.getInstruction_code());
|
||||
XianGongAgvServiceImpl xianGongAgvService = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code());
|
||||
flag = true;
|
||||
} else {
|
||||
flag = true;
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
package org.nl.acs.monitor;
|
||||
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
|
||||
/**
|
||||
* 设备监控服务
|
||||
*/
|
||||
public interface DeviceStageMonitor {
|
||||
/**
|
||||
* 根据设备获取设备状态(中文名：如故障、联机等)
|
||||
* @return
|
||||
*/
|
||||
public JSONObject getDeviceStatusName();
|
||||
|
||||
/**
|
||||
* 根据舞台数据修改设备驱动状态
|
||||
* @param data
|
||||
*/
|
||||
public void setDeviceStatus(JSONObject data);
|
||||
}
|
||||
@@ -0,0 +1,4 @@
|
||||
package org.nl.acs.monitor.rest;
|
||||
|
||||
public class DeviceStageMonitorController {
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
package org.nl.acs.monitor.service;
|
||||
|
||||
public interface Device {
|
||||
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
package org.nl.acs.monitor.service;
|
||||
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
|
||||
/**
|
||||
* 设备舞台监控服务
|
||||
*/
|
||||
public interface DeviceStageMonitorService {
|
||||
/**
|
||||
* 取设备舞台监控数据
|
||||
*
|
||||
* @param jsonArray 前端传来设备编号和节点的id
|
||||
* @return
|
||||
*/
|
||||
public JSONArray getData(JSONArray jsonArray);
|
||||
}
|
||||
@@ -0,0 +1,49 @@
|
||||
package org.nl.acs.monitor.service.impl;
|
||||
|
||||
import cn.hutool.core.util.ObjectUtil;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.monitor.DeviceStageMonitor;
|
||||
import org.nl.acs.monitor.service.DeviceStageMonitorService;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.springframework.stereotype.Service;
|
||||
|
||||
@Slf4j
|
||||
@Service
|
||||
@RequiredArgsConstructor
|
||||
public class DeviceStageMonitorServiceImpl implements DeviceStageMonitorService {
|
||||
private final DeviceAppService deviceAppService;
|
||||
|
||||
|
||||
@Override
|
||||
public JSONArray getData(JSONArray jsonArray) {
|
||||
JSONArray arr = new JSONArray();
|
||||
for (int i = 0; i < jsonArray.size(); i++) {
|
||||
JSONObject obj = new JSONObject();
|
||||
JSONObject js = jsonArray.getJSONObject(i);
|
||||
String device_code = js.getString("device_code");
|
||||
|
||||
if (ObjectUtil.isEmpty(device_code)) continue;
|
||||
|
||||
Device device = deviceAppService.findDeviceByCode(device_code);
|
||||
if (ObjectUtil.isNull(device)) continue;
|
||||
|
||||
|
||||
JSONObject json = new JSONObject();
|
||||
if (device.getDeviceDriver() instanceof DeviceStageMonitor) {
|
||||
DeviceStageMonitor monitorService = (DeviceStageMonitor) device.getDeviceDriver();
|
||||
json = monitorService.getDeviceStatusName();
|
||||
}
|
||||
|
||||
obj.put("data", json);
|
||||
obj.put("device_code", js.get("device_code"));
|
||||
obj.put("id", js.getString("id")); // 设备不存在就只保留id，方便前端查看
|
||||
arr.add(obj);
|
||||
}
|
||||
|
||||
return arr;
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,6 @@
|
||||
|
||||
package org.nl.acs.task.service.impl;
|
||||
|
||||
|
||||
import cn.hutool.core.date.DateUtil;
|
||||
import cn.hutool.core.map.MapUtil;
|
||||
import cn.hutool.core.util.IdUtil;
|
||||
@@ -13,7 +12,7 @@ import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.device.service.DeviceAssignedService;
|
||||
@@ -48,7 +47,6 @@ import org.nl.utils.SpringContextHolder;
|
||||
import org.nl.wql.WQL;
|
||||
import org.nl.wql.core.bean.WQLObject;
|
||||
import org.nl.wql.util.WqlUtil;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.data.domain.Pageable;
|
||||
import org.springframework.stereotype.Service;
|
||||
import org.springframework.transaction.annotation.Transactional;
|
||||
@@ -69,34 +67,34 @@ import java.util.regex.Pattern;
|
||||
@RequiredArgsConstructor
|
||||
@Slf4j
|
||||
public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
|
||||
List<TaskDto> tasks = new ArrayList();
|
||||
|
||||
@Autowired
|
||||
DeviceAppService deviceAppService;
|
||||
@Autowired
|
||||
RouteLineService routelineserver;
|
||||
@Autowired
|
||||
AcsToWmsService acstowmsService;
|
||||
@Autowired
|
||||
TaskFeedbackService taskFeedbackService;
|
||||
@Autowired
|
||||
AcsConfigService acsConfigService;
|
||||
@Autowired
|
||||
AgvService agvService;
|
||||
@Autowired
|
||||
RouteLineService routeLineService;
|
||||
@Autowired
|
||||
DeviceAssignedService deviceAssignedService;
|
||||
@Autowired
|
||||
InstructionService instructionService;
|
||||
@Autowired
|
||||
StorageCellService storageCellService;
|
||||
private final DeviceAppService deviceAppService;
|
||||
|
||||
private final RouteLineService routelineserver;
|
||||
|
||||
private final AcsToWmsService acstowmsService;
|
||||
|
||||
private final TaskFeedbackService taskFeedbackService;
|
||||
|
||||
private final AcsConfigService acsConfigService;
|
||||
|
||||
|
||||
private final RouteLineService routeLineService;
|
||||
|
||||
private final DeviceAssignedService deviceAssignedService;
|
||||
|
||||
private final InstructionService instructionService;
|
||||
|
||||
private final StorageCellService storageCellService;
|
||||
|
||||
@Override
|
||||
public void autoInitial() throws Exception {
|
||||
this.reload();
|
||||
}
|
||||
|
||||
@Override
|
||||
public synchronized void reload() {
|
||||
this.tasks = this.queryAll("task_status <2 and is_delete =0");
|
||||
}
|
||||
@@ -252,7 +250,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
public List<TaskDto> queryAllUnfinished(Map whereJson) {
|
||||
WQLObject wo = WQLObject.getWQLObject("acs_task");
|
||||
JSONArray arr = wo.query("task_status < 2 ").getResultJSONArray(0);
|
||||
List<TaskDto> list =arr.toJavaList(TaskDto.class);
|
||||
List<TaskDto> list = arr.toJavaList(TaskDto.class);
|
||||
return list;
|
||||
}
|
||||
|
||||
@@ -453,7 +451,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
}
|
||||
}
|
||||
WQLObject wo = WQLObject.getWQLObject("acs_task");
|
||||
JSONObject json = (JSONObject) JSONObject.toJSON(dto);
|
||||
JSONObject json = (JSONObject) JSONObject.toJSON(dto);
|
||||
|
||||
wo.insert(json);
|
||||
tasks.add(dto);
|
||||
@@ -556,7 +554,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
}
|
||||
|
||||
if (ObjectUtil.isNotEmpty(this.findByStartCode(start_device_code))
|
||||
|| ObjectUtil.isNotEmpty(this.findByNextCode(next_device_code))) {
|
||||
|| ObjectUtil.isNotEmpty(this.findByNextCode(next_device_code))) {
|
||||
throw new WDKException("已存在该起点或终点的任务!");
|
||||
}
|
||||
if (StrUtil.equals(material_type, "") || StrUtil.equals(quantity, "")) {
|
||||
@@ -586,7 +584,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
dto.setUpdate_by(currentUsername);
|
||||
|
||||
WQLObject wo = WQLObject.getWQLObject("acs_task");
|
||||
JSONObject json = (JSONObject) JSONObject.toJSON(dto);
|
||||
JSONObject json = (JSONObject) JSONObject.toJSON(dto);
|
||||
|
||||
wo.update(json);
|
||||
|
||||
@@ -810,7 +808,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
//如果属于先知AGV，关闭运单序列
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
|
||||
try {
|
||||
agvService.markComplete(entity.getTask_code());
|
||||
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
xianGongAgv.markComplete(entity.getTask_code());
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
@@ -856,7 +855,8 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
|
||||
// != 0 为agv任务
|
||||
if (!StrUtil.equals(type, "0")) {
|
||||
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
|
||||
agvService.markComplete(entity.getTask_code());
|
||||
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
xianGongAgv.markComplete(entity.getTask_code());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -30,6 +30,7 @@ import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceD
|
||||
import org.nl.acs.device_driver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_rgv.StandardRGVDeviceDriver;
|
||||
import org.nl.acs.device_driver.standard_scanner.StandardScannerDeviceDriver;
|
||||
import org.nl.acs.monitor.DeviceStageMonitor;
|
||||
import org.nl.acs.opc.Device;
|
||||
import org.nl.acs.opc.DeviceAppService;
|
||||
import org.nl.acs.opc.DeviceAppServiceImpl;
|
||||
@@ -160,7 +161,7 @@ public class StageServiceImpl implements StageService {
|
||||
public JSONArray getDeviceByCodes(JSONArray jsonArray) throws Exception { // 前端传来设备编号和节点的id
|
||||
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
|
||||
JSONArray arr = new JSONArray();
|
||||
for (int i=0; i<jsonArray.size(); i++) {
|
||||
for (int i = 0; i < jsonArray.size(); i++) {
|
||||
JSONObject obj = new JSONObject();
|
||||
JSONObject js = jsonArray.getJSONObject(i);
|
||||
//作业状态
|
||||
@@ -192,6 +193,14 @@ public class StageServiceImpl implements StageService {
|
||||
if (ObjectUtil.isNotEmpty(js.get("device_code"))) { // 查找有绑定了设备号的设备
|
||||
JSONObject jo = new JSONObject();
|
||||
Device device = appService.findDeviceByCode((String) js.get("device_code"));
|
||||
|
||||
if (device.getDeviceDriver() instanceof DeviceStageMonitor) {
|
||||
DeviceStageMonitor a = (DeviceStageMonitor) device.getDeviceDriver();
|
||||
JSONObject json = a.getDeviceStatusName();
|
||||
a.setDeviceStatus(null);
|
||||
}
|
||||
|
||||
|
||||
if (!ObjectUtil.isNull(device)) {
|
||||
// if (ObjectUtil.isNotEmpty(device.getDeviceDriver())) {
|
||||
// IDriverService driverService = applicationContext.getBean(device.getDeviceDriverDefination().getDriverCode(), IDriverService.class);
|
||||
@@ -840,8 +849,7 @@ public class StageServiceImpl implements StageService {
|
||||
jo.put("order_No", lnshPackagePalletManipulatorDeviceDriver.getOrder_No());
|
||||
jo.put("isError", lnshPackagePalletManipulatorDeviceDriver.getIserror());
|
||||
jo.put("message", lnshPackagePalletManipulatorDeviceDriver.getMessage());
|
||||
}
|
||||
else if (device.getDeviceDriver() instanceof RljnPackagePalletSplitManipulatorDeviceDriver) {
|
||||
} else if (device.getDeviceDriver() instanceof RljnPackagePalletSplitManipulatorDeviceDriver) {
|
||||
rljnPackagePalletSplitManipulatorDeviceDriver = (RljnPackagePalletSplitManipulatorDeviceDriver) device.getDeviceDriver();
|
||||
jo.put("device_code", device.getDevice_code());
|
||||
jo.put("mode", rljnPackagePalletSplitManipulatorDeviceDriver.getMode());
|
||||
@@ -864,8 +872,7 @@ public class StageServiceImpl implements StageService {
|
||||
jo.put("total_split", rljnPackagePalletSplitManipulatorDeviceDriver.getTotal_split());
|
||||
jo.put("isError", rljnPackagePalletSplitManipulatorDeviceDriver.getIserror());
|
||||
jo.put("message", rljnPackagePalletSplitManipulatorDeviceDriver.getMessage());
|
||||
}
|
||||
else if (device.getDeviceDriver() instanceof LnshLabelingMachineDeviceDriver) {
|
||||
} else if (device.getDeviceDriver() instanceof LnshLabelingMachineDeviceDriver) {
|
||||
lnshLabelingMachineDeviceDriver = (LnshLabelingMachineDeviceDriver) device.getDeviceDriver();
|
||||
if (lnshLabelingMachineDeviceDriver.getMode() == 0) {
|
||||
mode = "未联机";
|
||||
@@ -897,8 +904,7 @@ public class StageServiceImpl implements StageService {
|
||||
jo.put("labeling_qty", lnshLabelingMachineDeviceDriver.getLabeling_qty());
|
||||
jo.put("isError", lnshLabelingMachineDeviceDriver.getIserror());
|
||||
jo.put("message", lnshLabelingMachineDeviceDriver.getMessage());
|
||||
}
|
||||
else if (device.getDeviceDriver() instanceof LnshSplitManipulatorDeviceDriver) {
|
||||
} else if (device.getDeviceDriver() instanceof LnshSplitManipulatorDeviceDriver) {
|
||||
lnshSplitManipulatorDeviceDriver = (LnshSplitManipulatorDeviceDriver) device.getDeviceDriver();
|
||||
if (lnshSplitManipulatorDeviceDriver.getMode() == 0) {
|
||||
mode = "未联机";
|
||||
@@ -962,8 +968,7 @@ public class StageServiceImpl implements StageService {
|
||||
jo.put("isOnline", lnshLaminatingMachineDeviceDriver.getIsonline());
|
||||
jo.put("isError", lnshLaminatingMachineDeviceDriver.getIserror());
|
||||
jo.put("message", lnshLaminatingMachineDeviceDriver.getMessage());
|
||||
}
|
||||
else if (device.getDeviceDriver() instanceof LnshRGVDeviceDriver) {
|
||||
} else if (device.getDeviceDriver() instanceof LnshRGVDeviceDriver) {
|
||||
lnshRGVDeviceDriver = (LnshRGVDeviceDriver) device.getDeviceDriver();
|
||||
String move_1 = "";
|
||||
String move_2 = "";
|
||||
|
||||
@@ -2,15 +2,26 @@ package org.nl.modules.quartz.task;
|
||||
|
||||
import cn.hutool.core.date.DateTime;
|
||||
import cn.hutool.core.date.DateUtil;
|
||||
import cn.hutool.core.util.StrUtil;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.MagicAgvService;
|
||||
import org.nl.acs.agv.server.NDCAgvService;
|
||||
import org.nl.acs.agv.server.XianGongAgvService;
|
||||
import org.nl.acs.agv.server.dto.AgvDto;
|
||||
import org.nl.acs.agv.server.impl.MagicAgvServiceImpl;
|
||||
import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
|
||||
import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.modules.mnt.websocket.MsgType;
|
||||
import org.nl.modules.mnt.websocket.SocketMsg;
|
||||
import org.nl.modules.mnt.websocket.WebSocketServer;
|
||||
import org.nl.start.Init;
|
||||
import org.nl.utils.SpringContextHolder;
|
||||
import org.nl.wql.WQL;
|
||||
import org.nl.wql.core.bean.WQLObject;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
@@ -26,17 +37,37 @@ import java.util.Map;
|
||||
*/
|
||||
@Slf4j
|
||||
@Component
|
||||
@RequiredArgsConstructor
|
||||
public class HomeDataQuery {
|
||||
@Autowired
|
||||
AgvService agvService;
|
||||
|
||||
private final AcsConfigService acsConfigService;
|
||||
|
||||
public void run() throws Exception {
|
||||
if (!Init.isStart) {
|
||||
return;
|
||||
}
|
||||
try {
|
||||
JSONObject json = new JSONObject();
|
||||
Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
|
||||
//1、magic 2、ndc 3、先工
|
||||
String agvType = acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString();
|
||||
Map<String, AgvDto> agv_map=null;
|
||||
if (StrUtil.equals(agvType,"1")){
|
||||
MagicAgvService agvService = SpringContextHolder.getBean(MagicAgvServiceImpl.class);
|
||||
agv_map = agvService.findAllAgvFromCache();
|
||||
}
|
||||
if (StrUtil.equals(agvType,"2")){
|
||||
NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
|
||||
agv_map = agvService.findAllAgvFromCache();
|
||||
}
|
||||
if (StrUtil.equals(agvType,"3")){
|
||||
XianGongAgvService agvService = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
|
||||
agv_map = agvService.findAllAgvFromCache();
|
||||
}
|
||||
|
||||
|
||||
|
||||
AgvDto agv1 = new AgvDto();
|
||||
agv1.setName("agv1");
|
||||
agv1.setEnergyLevel("70");
|
||||
|
||||
@@ -5,11 +5,11 @@ import cn.hutool.core.util.StrUtil;
|
||||
import cn.hutool.http.HttpResponse;
|
||||
import com.alibaba.fastjson.JSONArray;
|
||||
import com.alibaba.fastjson.JSONObject;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.MagicAgvService;
|
||||
import org.nl.acs.instruction.service.InstructionService;
|
||||
import org.nl.acs.instruction.service.dto.Instruction;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
import java.util.List;
|
||||
@@ -19,13 +19,11 @@ import java.util.List;
|
||||
*/
|
||||
@Slf4j
|
||||
@Component
|
||||
@RequiredArgsConstructor
|
||||
public class QueryMagicAgvTaskStatus {
|
||||
private final InstructionService instructionService;
|
||||
|
||||
@Autowired
|
||||
InstructionService instructionService;
|
||||
|
||||
@Autowired
|
||||
AgvService agvService;
|
||||
MagicAgvService magicAgvService;
|
||||
|
||||
|
||||
public void run() throws Exception {
|
||||
@@ -34,7 +32,7 @@ public class QueryMagicAgvTaskStatus {
|
||||
for (int i = 0; i < instList.size(); i++) {
|
||||
Instruction inst = instList.get(i);
|
||||
String instcode = inst.getInstruction_code();
|
||||
HttpResponse response = agvService.queryAgvInstStatus(instcode);
|
||||
HttpResponse response = magicAgvService.queryAgvInstStatus(instcode);
|
||||
JSONObject jo = JSONObject.parseObject(response.body());
|
||||
if (MapUtil.isEmpty(jo)) continue;
|
||||
//反馈结果状态
|
||||
@@ -100,7 +98,7 @@ public class QueryMagicAgvTaskStatus {
|
||||
|
||||
String mes = "";
|
||||
|
||||
agvService.process(instcode, type, device, action, processingVehicle);
|
||||
magicAgvService.process(instcode, type, device, action, processingVehicle);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -99,6 +99,7 @@ public class JobServiceImpl implements JobService {
|
||||
@Override
|
||||
@Transactional(rollbackFor = Exception.class)
|
||||
public void delete(Set<Long> ids) {
|
||||
|
||||
jobRepository.deleteAllByIdIn(ids);
|
||||
// 删除缓存
|
||||
redisUtils.delByKeys("job::id:", ids);
|
||||
|
||||
@@ -3,7 +3,8 @@ package org.nl.start.auto.run;
|
||||
import cn.hutool.core.util.ObjectUtil;
|
||||
import cn.hutool.core.util.StrUtil;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.nl.acs.agv.server.AgvService;
|
||||
import org.nl.acs.agv.server.NDCAgvService;
|
||||
import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
|
||||
import org.nl.acs.config.AcsConfig;
|
||||
import org.nl.acs.config.server.AcsConfigService;
|
||||
import org.nl.acs.config.server.impl.AcsConfigServiceImpl;
|
||||
@@ -26,7 +27,6 @@ import java.io.IOException;
|
||||
import java.net.Socket;
|
||||
import java.util.Date;
|
||||
|
||||
import static org.nl.acs.agv.server.impl.AgvServiceImpl.Bytes2HexString;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
@@ -57,21 +57,24 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getCode() {
|
||||
return NDCSocketConnectionAutoRun.class.getSimpleName();
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "NDC在线连接";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void autoRun() {
|
||||
|
||||
try {
|
||||
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
|
||||
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
|
||||
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
|
||||
AgvService AgvService = SpringContextHolder.getBean(AgvService.class);
|
||||
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
|
||||
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
|
||||
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
|
||||
AcsToXrlkService acsToXrlkService = SpringContextHolder.getBean(AcsToXrlkService.class);
|
||||
@@ -184,4 +187,16 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
public static String Bytes2HexString(byte[] b) {
|
||||
String ret = "";
|
||||
for (int i = 0; i < b.length; i++) {
|
||||
String hex = Integer.toHexString(b[i] & 0xFF);
|
||||
if (hex.length() == 1) {
|
||||
hex = '0' + hex;
|
||||
}
|
||||
ret += hex.toUpperCase();
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user