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USER-20220102CG\noblelift
2022-09-07 15:09:46 +08:00
parent f6722b5e76
commit 1508345df6
7 changed files with 553 additions and 7 deletions
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2
acs/hd/README.en.md
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@@ -1,4 +1,4 @@
# hl_two_acs
# shenZhenHangRui
#### Description
{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}

4
acs/hd/README.md
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@@ -1,3 +1,3 @@
# hl_two_acs
# shenZhenHangRui
海亮老车间项目
深圳航瑞项目

2
acs/hd/nladmin-system/pom.xml
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@@ -3,7 +3,7 @@
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<parent>
<artifactId>hl_two_acs</artifactId>
<artifactId>shenZhenHangRui</artifactId>
<groupId>org.nl</groupId>
<version>1.0-SNAPSHOT</version>
</parent>

546
acs/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java Normal file
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@@ -0,0 +1,546 @@
package org.nl.start.auto.run;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import lombok.extern.slf4j.Slf4j;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
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.config.server.impl.AcsConfigServiceImpl;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.oumulong_plc.OumulongPlcDeviceDriver;
import org.nl.acs.device_driver.standard_autodoor.StandardAutodoorDeviceDriver;
import org.nl.acs.device_driver.standard_conveyor_control.StandardCoveyorControlDeviceDriver;
import org.nl.acs.device_driver.standard_emptypallet_site.StandardEmptyPalletSiteDeviceDriver;
import org.nl.acs.device_driver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.traffic_light.TrafficLightDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
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;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import java.util.Map;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
String ip = "127.0.0.1";
int port = 1234;
static DataOutputStream dos;
static DataInputStream dis;
private int recordTimeOut = 10000;
private Date recordTime;
String[] ERROR = new String[]{
"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
"抬叉停止"};
boolean bConnected = true;
boolean isReConnect = false;
@Autowired
AcsConfigService acsConfigService;
@Autowired
AutoRunService autoRunService;
public NDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return NDCSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "NDC在线连接";
}
public void autoRun() {
try {
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService AgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
byte[] b = new byte[1028];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
while (bConnected) {
int count = dis.read(b);
if (count == -1) {
break;
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];
if (temp < 0)
temp += 256;
arr[i] = temp;
StringBuffer bs1 = new StringBuffer("0");
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
}
System.out.println("收到请求参数：" + bs);
boolean flag = false;
if (arr[8] * 256 + arr[9] == 0x73) {
byte[] data = null;
System.out.println("接收agv上报信息：" + bs);
//执行阶段
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction inst = null;
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
String old_device_code = null;
String emptyNum = null;
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
device = deviceAppService.findDeviceByCode(device_code);
}
StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
StandardCoveyorControlDeviceDriver standardCoveyorControlDeviceDriver;
StandardStorageDeviceDriver standardStorageDeviceDriver;
StandardAutodoorDeviceDriver standardAutodoorDeviceDriver;
StandardEmptyPalletSiteDeviceDriver standardEmptyPalletSiteDeviceDriver;
OumulongPlcDeviceDriver oumulongPlcDeviceDriver;
TrafficLightDeviceDriver trafficLightDeviceDriver;
int type = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.BUSINESSTYPE));
if (phase == 0x01) {
data = AgvService.sendAgvOneModeInst(phase, index);
if (!ObjectUtil.isEmpty(inst)) {
inst.setInstruction_status("1");
inst.setAgv_jobno(String.valueOf(index));
inst.setSend_status("1");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
flag = true;
}
//分配 车id
else if (phase == 0x02) {
if (!ObjectUtil.isEmpty(inst)) {
inst.setCarno(String.valueOf(carno));
instructionService.update(inst);
}
}
// 到达取货点请求取货
else if (phase == 0x03) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
//检测站点
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 0) {
inst.setExecute_status("1");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求取货设备{}无货,无法反馈", device_code);
}
}
//空盘堆叠站点
if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver();
if (standardEmptyPalletSiteDeviceDriver.getMove() != 0) {
inst.setExecute_status("1");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求取货设备{}无货,无法反馈", device_code);
}
}
//输送机-控制点驱动
if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
if (standardCoveyorControlDeviceDriver.getMove() != 0) {
inst.setExecute_status("1");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求取货设备{}无货,无法反馈", device_code);
}
}
//标准版-货架
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
inst.setExecute_status("1");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
}
// 取货完成请求离开
else if (phase == 0x05) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() == 0) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
if (standardCoveyorControlDeviceDriver.getMove() == 0) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
standardCoveyorControlDeviceDriver.writing(1, 2);
flag = true;
} else {
log.info("AGV取货完成请求离开设备{}有货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardEmptyPalletSiteDeviceDriver) {
standardEmptyPalletSiteDeviceDriver = (StandardEmptyPalletSiteDeviceDriver) device.getDeviceDriver();
if (standardEmptyPalletSiteDeviceDriver.getMove() == 0) {
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求取货设备{}无货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
inst.setExecute_status("5");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
}
//请求放货
else if (phase == 0x07) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() == 0) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求放货设备{}有货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
if (standardCoveyorControlDeviceDriver.getMove() == 0) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV请求放货设备{}有货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
inst.setExecute_status("3");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
}
// 放货完成请求离开
else if (phase == 0x09) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
if (standardInspectSiteDeviceDriver.getMove() != 0) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
} else {
log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardCoveyorControlDeviceDriver) {
standardCoveyorControlDeviceDriver = (StandardCoveyorControlDeviceDriver) device.getDeviceDriver();
if (standardCoveyorControlDeviceDriver.getMove() != 0) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
standardCoveyorControlDeviceDriver.writing(1, 3);
flag = true;
} else {
log.info("AGV放货完成请求离开设备{}无货,无法反馈", device_code);
}
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
inst.setExecute_status("6");
instructionService.update(inst);
data = AgvService.sendAgvOneModeInst(phase, index, 0);
flag = true;
}
}
//任务完毕
//（无车id及状态）
else if (phase == 0x0A) {
if (!ObjectUtil.isEmpty(inst)) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
//请求删除任务
else if (phase == 0x30) {
flag = true;
if (!ObjectUtil.isEmpty(inst)) {
data = AgvService.sendAgvOneModeInst(0x8F, index, 0);
} else {
log.info("未找到对应的指令无法删除");
break;
}
}
//任务删除确认
//(需要WCS反馈)
else if (phase == 0xFF) {
flag = true;
if (!ObjectUtil.isEmpty(inst)) {
instructionService.cancel(inst.getInstruction_id());
}
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
//进入区域
else if (phase == 0x50) {
//开门
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
standardAutodoorDeviceDriver.OpenOrClose("1");
if (standardAutodoorDeviceDriver.getAction() == 1) {
standardAutodoorDeviceDriver.OpenOrClose("1");
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
}
if (device.getDeviceDriver() instanceof OumulongPlcDeviceDriver) {
oumulongPlcDeviceDriver = (OumulongPlcDeviceDriver) device.getDeviceDriver();
oumulongPlcDeviceDriver.OpenOrClose("1");
if (oumulongPlcDeviceDriver.getAction() == 1) {
oumulongPlcDeviceDriver.OpenOrClose("1");
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
//离开区域
else if (phase == 0x51) {
//关门
if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) {
standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver();
standardAutodoorDeviceDriver.OpenOrClose("2");
if (standardAutodoorDeviceDriver.getAction() == 2) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
}
if (device.getDeviceDriver() instanceof OumulongPlcDeviceDriver) {
oumulongPlcDeviceDriver = (OumulongPlcDeviceDriver) device.getDeviceDriver();
oumulongPlcDeviceDriver.OpenOrClose("2");
if (oumulongPlcDeviceDriver.getAction() == 2) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
}
} else if (phase == 0x64) {
data = AgvService.sendAgvOneModeInst(phase, index, 0);
}
//上报异常
else if (phase == 0x67) {
AgvDto dto = null;
Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
if (map.containsKey(String.valueOf(carno))) {
dto = map.get(String.valueOf(carno));
} else {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
if (arr[18] * 256 + arr[19] == 0) {
dto.setState("IDLE");
acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "0", "");
} else {
StringBuffer errbs = new StringBuffer();
for (int i = 0; i < ERROR.length; i++) {
if (((arr[18] * 256 + arr[19]) & (1 << i)) > 0)
errbs.append("," + ERROR[i]);
//反馈故障
}
dto.setState("ERROR");
acsToWmsService.feedbackAgvStatus(String.valueOf(carno), "1", "error");
}
}
//X坐标
else if (phase == 0x70) {
AgvDto dto = null;
Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
carno = arr[18] * 256 + arr[19];
if (map.containsKey(String.valueOf(carno))) {
dto = map.get(String.valueOf(carno));
} else {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
}
//Y坐标
else if (phase == 0x71) {
AgvDto dto = null;
Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
carno = arr[18] * 256 + arr[19];
if (map.containsKey(String.valueOf(carno))) {
dto = map.get(String.valueOf(carno));
} else {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
}
//角度
else if (phase == 0x72) {
AgvDto dto = null;
Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
carno = arr[18] * 256 + arr[19];
if (map.containsKey(String.valueOf(carno))) {
dto = map.get(String.valueOf(carno));
} else {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
}
//电量
else if (phase == 0x73) {
AgvDto dto = null;
Map<String, AgvDto> map = AgvService.findAllAgvFromCache();
carno = arr[18] * 256 + arr[19];
if (map.containsKey(String.valueOf(carno))) {
dto = map.get(String.valueOf(carno));
} else {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setEnergyLevel(String.valueOf(ikey));
}
} else {
System.out.println("agv上报不是0073类型动作，不处理");
}
}
} catch (Exception e) {
} finally {
}
}
@Override
public void stop() {
super.after();
try {
s.close();
} catch (Exception e) {
e.printStackTrace();
}
}
public static void write(byte[] b) {
try {
log.info("下发agv数据:" + Bytes2HexString(b));
System.out.println("下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}

2
acs/hd/nladmin-system/src/main/resources/config/application-dev.yml
View File

@@ -8,7 +8,7 @@ spring:
druid:
db-type: com.alibaba.druid.pool.DruidDataSource
driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:lnsh_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:hl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
# url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:rljn_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
username: ${DB_USER:root}
# password: ${DB_PWD:P@ssw0rd}

2
acs/hd/nladmin-test/pom.xml
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@@ -3,7 +3,7 @@
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<parent>
<artifactId>hl_two_acs</artifactId>
<artifactId>shenZhenHangRui</artifactId>
<groupId>org.nl</groupId>
<version>1.0-SNAPSHOT</version>
</parent>

2
acs/hd/pom.xml
View File

@@ -5,7 +5,7 @@
<modelVersion>4.0.0</modelVersion>
<groupId>org.nl</groupId>
<artifactId>hl_two_acs</artifactId>
<artifactId>shenZhenHangRui</artifactId>
<packaging>pom</packaging>
<version>1.0-SNAPSHOT</version>
<name>开发平台</name>