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rev：光栅、输送线、AGV等修改

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This commit is contained in:
liuxy
2025-01-20 10:06:08 +08:00
parent 9b2b2bfd0f
commit 60dfe9260e
6 changed files with 138 additions and 22 deletions
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5
acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
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@@ -180,7 +180,7 @@ public class AgvWaitUtil {
//放货完成等待
public JSONObject waitOutPut(String deviceCode, TaskDto task) {
public JSONObject waitOutPut(String deviceCode, TaskDto taskDto) {
log.info("仙工AGV放货完成后请求离开，设备号 - {}", deviceCode);
boolean flag = false;
@@ -190,10 +190,11 @@ public class AgvWaitUtil {
}
if (code.contains(deviceCode)) {
// 通知输送线取货完成-2
// 通知输送线放货完成离开-4
JSONObject param = new JSONObject();
param.put("toCommand",XgAgvEnum.APPLY_PUT_SUCCESS.getCode());
param.put("deviceCode",deviceCode);
param.put("isEmpBarcode", ObjectUtil.isEmpty(taskDto.getIs_empvehicle()) ? "0" : taskDto.getIs_empvehicle());
JSONObject data = new JSONObject();
data.put("DATA", param);

4
acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java
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@@ -166,7 +166,7 @@ public interface XianGongAgvService {
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
/**
* 下发运单急停
* 下发运单急停(互斥组)
*
* @param requestParam
* @return
@@ -175,7 +175,7 @@ public interface XianGongAgvService {
public <T> UnifiedResponse<T> sendOrderStopToXZ(JSONObject requestParam);
/**
* 下发运单继续
* 下发运单继续（互斥组）
*
* @param requestParam
* @return

3
acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -113,7 +113,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
return xgHttpUtil.sendGetRequest(path, type);
}
@Override
public <T> UnifiedResponse<T> deleteXZAgvInst(String instCode) {
//String path = "/api/route/transportOrders/" + instCode + "/withdrawal";
@@ -769,7 +768,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getNext_point_code() + "OUTPUT");
if ("CPJSSX,BZXXL".contains(inst.getNext_device_code())) {
block.put("operation", "script");
block.put("operation", "ForkHeight");
} else {
block.put("operation", "ForkHeight");
}

73
acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java
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@@ -7,6 +7,7 @@ import lombok.RequiredArgsConstructor;
import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.XgAgvEnum;
import org.nl.acs.agv.server.XianGongAgvService;
import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.DeviceDriverBaseReader;
@@ -19,9 +20,11 @@ import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.Device;
import org.nl.modules.lucene.service.LuceneExecuteLogService;
import org.nl.modules.lucene.service.dto.LuceneLogDto;
import org.nl.modules.quartz.task.QueryXGTGroupStatus;
import org.nl.modules.wql.util.SpringContextHolder;
import java.util.Arrays;
import java.util.List;
@Slf4j
@Getter
@@ -147,28 +150,66 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
}
private void executeLogicBefore() {
// 告诉agv急停
if (error == 1 && ObjectUtil.isNotEmpty(car_no)) {
String[] carArr = {car_no};
JSONObject json = new JSONObject();
json.put("vehicles", carArr);
// 请求下发agv急停
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
//创建订单序列
xianGongAgv.sendOrderStopToXZ(json);
// 告诉agv急停(车辆)
if (error == 1) {
// 只给agv下发第二个互斥组，例如GS01A2
String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
if (substring.equals("2")) {
// 根据当前互斥组设备里的状态
JSONObject param = new JSONObject();
String[] paramArr = {this.currentDeviceCode};
param.put("blockGroup", paramArr);
UnifiedResponse<List<JSONObject>> objectUnifiedResponse = SpringContextHolder.getBean(XianGongAgvService.class).blockGroupStatus(param);
List<JSONObject> dataList = objectUnifiedResponse.getData();
String[] carArr = {dataList.get(0).getString("id")};
JSONObject json = new JSONObject();
json.put("vehicles", carArr);
// 请求下发agv急停
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
//创建订单序列
xianGongAgv.sendOrderStopToXZ(json);
}
}
/* // 告诉agv急停(互斥组)
if (error == 1) {
JSONObject json = new JSONObject();
// 只给agv下发第二个互斥组，例如GS01A2
String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
if (substring.equals("2")) {
json.put("block_name", this.currentDeviceCode);
// 请求下发agv急停
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
//创建订单序列
xianGongAgv.sendOrderStopToXZ(json);
}
}*/
// 给光栅下发命令5
if (error == 5) {
String[] key = {"toCommand"};
Integer[] value = {5};
writing(Arrays.asList(key),Arrays.asList(value));
String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
if (substring.equals("2")) {
// 给输送线写5
String[] key = {"toCommand"};
Integer[] value = {5};
writing(Arrays.asList(key),Arrays.asList(value));
// 如果车号不为空则告诉agv继续作业
if (ObjectUtil.isNotEmpty(car_no)) {
String[] carArr = {car_no};
// 根据当前互斥组设备里的状态
JSONObject param = new JSONObject();
String[] paramArr = {this.currentDeviceCode};
param.put("blockGroup", paramArr);
UnifiedResponse<List<JSONObject>> objectUnifiedResponse = SpringContextHolder.getBean(XianGongAgvService.class).blockGroupStatus(param);
List<JSONObject> dataList = objectUnifiedResponse.getData();
String[] carArr = {dataList.get(0).getString("id")};
JSONObject json = new JSONObject();
json.put("vehicles", carArr);
// 请求下发agv继续
XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
//创建订单序列
@@ -192,7 +233,7 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
@Override
public void setDeviceStatus(JSONObject data) {
}
}

5
acs2/nladmin-system/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java
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@@ -3,6 +3,7 @@ package org.nl.acs.ext.xg;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.ext.RequestAdapter;
@@ -13,6 +14,9 @@ import org.nl.modules.system.service.ParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
@@ -54,6 +58,7 @@ public class XgHttpUtil {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(10000)

70
acs2/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXGTGroupStatus.java Normal file
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@@ -0,0 +1,70 @@
package org.nl.modules.quartz.task;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.XgAgvEnum;
import org.nl.acs.agv.server.XianGongAgvService;
import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.wql.core.bean.WQLObject;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Collectors;
/**
* 查询AGV互斥组状态
*/
@Slf4j
@Component("queryXGTGroupStatus")
@RequiredArgsConstructor
public class QueryXGTGroupStatus {
@Autowired
private XianGongAgvService agvService;
@Autowired
private DeviceAppService deviceAppService;
public void run() {
try {
// 查询所有光栅设备
List<JSONObject> deviceList = WQLObject.getWQLObject("acs_device").query("device_type = 'color' and device_code LIKE '%A2'")
.getResultJSONArray(0).toJavaList(JSONObject.class);
// 组织数据查询
List<String> deviceCodeList = deviceList.stream()
.map(row -> row.getString("device_code"))
.collect(Collectors.toList());
JSONObject param = new JSONObject();
param.put("blockGroup", deviceCodeList);
// 调用接口
UnifiedResponse<List<JSONObject>> objectUnifiedResponse = agvService.blockGroupStatus(param);
List<JSONObject> dataList = objectUnifiedResponse.getData();
for (JSONObject json : dataList) {
// true 占用，false 没占用
if (json.getBoolean("status")) {
// 下发光电颜色为红色
Device device = deviceAppService.findDeviceByCode(json.getString("name"));
LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
// 给三色灯写入进入颜色红色-3
String[] key = {"toColor"};
Integer[] value = {XgAgvEnum.GS_COLOR_RED.getCode()};
driver.writing(Arrays.asList(key),Arrays.asList(value));
}
}
} catch (Exception e) {
}
}
}