diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java new file mode 100644 index 0000000..6a4c339 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java @@ -0,0 +1,70 @@ +package org.nl.acs; + + +public interface AcsConfig { + //指令下发agv + String FORKAGV = "forkagv"; + //单工指令下发agv + String ONEFORKAGV = "oneforkagv"; + //同一站点运行最大任务数 + String ONEPOINTMAXTASK = "onePointMaxTask"; + //同一任务创建最大指令数 + String MAXINSTNUMBER = "maxInstNumber"; + //创建任务检查 + String CREATETASKCHECK = "createTaskCheck"; + //撤销任务检查 + String CANCELTASKCHECK = "cancelTaskCheck"; + //agv系统接口地址 + String AGVURL = "agvurl"; + //AGV系统端口 + String AGVPORT = "agvport"; + //rgv系统接口地址 + String RGVURL = "rgvurl"; + //RGV系统端口 + String RGVPORT = "rgvport"; + //指定AGV系统 + String AGVTYPE = "agvType"; + //WMS系统接口地址 + String WMSURL = "wmsurl"; + //WCS系统接口地址 + String WCSURL = "wcsurl"; + + String HASOTHERSYSTEM = "hasOtherSystem"; + + String ERPURL = "erpurl"; + //是否存在wms系统 + String HASWMS = "hasWms"; + + // + String MESURL= "mesurl"; + //lucene日志索引目录 + String LUCENEURL = "luceneUrl"; + //路由选择 + String ROUTE = "route"; + //忽略取放货校验 + String IGNOREHASGOODS = "ignoreHasGoods"; + //项目类型 + String BUSINESSTYPE = "businessType"; + //海亮贴标设备ip + String LETTERINGURL = "letteringUrl"; + //海亮贴标设备 + String LETTERINGPORT = "letteringPort"; + //NDC断线重连reconnection + String NDC_RECONNECTION = "NDC_reconnection"; + //自动清理日志保留时间 + String AutoCleanDays = "AutoCleanDays"; + //最大任务下发时间 + String MAXSENDTASKTIME = "maxSendTaskTime"; + //指令下发立库 + String INSTSENDLK = "instSendLk"; + /** + * 日志级别 + */ + String LOGLEVEL = "log_level"; + + String ELECTRIC ="electric"; + + String HAS_HK = "has_hk"; + + String HK_URL = "hk_url"; +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/dto/AgvDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/dto/AgvDto.java new file mode 100644 index 0000000..b9f541e --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/dto/AgvDto.java @@ -0,0 +1,80 @@ +package org.nl.acs.agv.dto; + +import lombok.Data; + +import java.io.Serializable; + +/** + * @author wangsong + */ +@Data +public class AgvDto implements Serializable { + + /** + * 名称 + */ + private String name; + + /** + * 机器人当前的自身状态 + *

+ * UNKNOWN：未知状态 + * UNAVAILABLE：通信超时或者已断开连接 + * ERROR：错误状态 + * IDLE：空闲状态 + * EXECUTING：正在执行运单 + * CHARGING：正在充电 + */ + private String state; + + /** + * 机器人的剩余电量值（单位：整数百分比） + */ + private String energyLevel; + + /** + * + */ + private String energyLevelGood; + + /** + * 机器人在 SRD 系统中的在线状态 + *

+ * TO_BE_IGNORED：机器人处于离线状态，SRD 不会标识出机器人位置。 + * TO_BE_NOTICED：机器人处于离线状态，SRD 标识出机器人的位置。 + * TO_BE_RESPECTED：机器人处于在线状态，但不能接受新的运单。 + * TO_BE_UTILIZED：机器人处于在线状态，可以接受并执行新的运单。 + */ + private String integrationLevel; + + /** + * 机器人当前的运单执行状态 + *

+ * UNAVAILABLE：无法执行任何运单和任务 + * IDLE：空闲状态 + * AWAITING_ORDER：机器人在等待运单中新的子任务 + * PROCESSING_ORDER：机器人正在执行运单 + */ + private String procState; + + /** + * 角度 + */ + private String positionAngle; + + /** + * X坐标 + */ + private String positionX; + + /** + * Y坐标 + */ + private String positionY; + + /** + * 当前任务号 + */ + private String transportOrder; + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/impl/NDCAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/impl/NDCAgvServiceImpl.java new file mode 100644 index 0000000..0c19ba3 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/impl/NDCAgvServiceImpl.java @@ -0,0 +1,311 @@ +package org.nl.acs.agv.impl; + +import cn.hutool.core.util.StrUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.dto.AgvDto; +import org.nl.acs.agv.service.NDCAgvService; +import org.nl.acs.autoThread.autoRun.impl.ndcAuto.OneNDCSocketConnectionAutoRun; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.device.service.DeviceService; +import org.nl.acs.device.device.service.impl.DeviceAppServiceImpl; +import org.nl.acs.device.device.service.impl.DeviceServiceImpl; +import org.nl.acs.log.LokiLog; +import org.nl.acs.log.LokiLogType; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.task.instruction.domain.Instruction; +import org.nl.common.db.CommonFinalParam; +import org.nl.common.utils.CodeUtil; +import org.nl.config.SpringContextHolder; +import org.nl.extInterface.wms.service.AcsToWmsService; +import org.nl.system.service.param.ISysParamService; +import org.springframework.context.annotation.Lazy; +import org.springframework.stereotype.Service; + +import java.util.HashMap; +import java.util.Map; + +/** + * @author 20220102CG\noblelift + */ +@Slf4j +@Service +@RequiredArgsConstructor +@Lazy +public class NDCAgvServiceImpl implements NDCAgvService { + + private final DeviceAppService deviceAppService; + private final ISysParamService paramService; + private final AcsToWmsService acsToWmsService; + + private final DeviceExecuteLogService logServer; + + Map AGVDeviceStatus = new HashMap(); + + @LokiLog(type = LokiLogType.AGV) + @Override + public void deleteAgvInstToNDC(Instruction inst) throws Exception { + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { + 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)); + OneNDCSocketConnectionAutoRun.write(b); + log.info("删除AGV指令成功--{}", Bytes2HexString(b)); + } + + } + + + @LokiLog(type = LokiLogType.AGV) + @Override + public void sendAgvInstToNDC(String agv_system_type, Instruction inst) { + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { + 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); + log.info("下发AGV作业任务--{}", inst.getInstruction_code()+"-----"+Bytes2HexString(b)); + OneNDCSocketConnectionAutoRun.write(b); + System.out.println("下发agv指令数据:" + Bytes2HexString(b)); + } + } + + @Override + public byte[] sendAgvOneModeInst(int phase, int index, int result, int startPoint, int nextPoint, int startHigh, int nextHigh) { + 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); + + byte[] 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 + }; + + + 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; + + } + + @Override + public byte[] sendAgvTwoModeInst(int phase, int index, int result) { + return new byte[0]; + } + + + @Override + public byte[] sendAgvOneModeInst(int phase, int index, int result) { + 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); + + byte[] 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 + }; + + 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; + } + + @Override + public byte[] sendAgvOneModeInstDis(int phase, int index, String disPoint) { + if (phase < 0 || index < 0) { + return null; + } + DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class); + int disPointAddress = deviceService.queryAddressBydeviceCode(disPoint); + + byte indexhigh = (byte) IntToHexHigh(index); + byte indexlow = (byte) IntToHexLow(index); + byte phasehigh = (byte) IntToHexHigh(phase); + byte phaselow = (byte) IntToHexLow(phase); + byte fhdhigh = (byte) IntToHexHigh(disPointAddress); + byte fhdlow = (byte) IntToHexLow(disPointAddress); + + byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD, + (byte) 0X00, (byte) 0X08, + (byte) 0X00, (byte) 0X0C, + (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) fhdhigh, (byte) fhdlow + }; + + log.info("反馈agv动作数据--index:" + hexToString(indexhigh & 0xFF) + hexToString(indexlow & 0xFF) + ",phase:" + hexToString(phasehigh & 0xFF) + hexToString(phaselow & 0xFF) + ",disPoint:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF)); + + System.out.println("反馈agv动作数据:" + Bytes2HexString(b)); + return b; + } + + @Override + public boolean createChargingTaskToNDC(String carno) { + byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno)); + byte carlow = (byte) IntToHexLow(Integer.parseInt(carno)); + + String instcode = CodeUtil.getNewCode("INSTRUCT_NO"); + byte instcodehigh = (byte) IntToHexHigh(Integer.parseInt(instcode)); + byte instcodelow = (byte) IntToHexLow(Integer.parseInt(instcode)); + + String str = "十进制下发："; + String str1 = "十六进制下发："; + str += "carno:" + (Integer.parseInt(carno)); + str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF); + + str += "/instcode:" + (instcode); + str1 += "/instcode:" + hexToString(instcodehigh & 0xFF) + hexToString(instcodelow & 0xFF); + + System.out.println(str); + System.out.println(str1); + + byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD, + (byte) 0X00, (byte) 0X08, + (byte) 0X00, (byte) 0X0C, + (byte) 0X00, (byte) 0X01, + (byte) 0X00, (byte) 0X71, + (byte) 0X00, (byte) 0X08, + (byte) 0X64, (byte) 0X80, + (byte) 0X00, (byte) 0X01, + (byte) instcodehigh, (byte) instcodelow, + (byte) carhigh, (byte) carlow + }; + log.info("下发AGV充电任务--{}", str1); + + try { + OneNDCSocketConnectionAutoRun.write(b); + } catch (Exception e) { + e.getMessage(); + return false; + } + System.out.println("下发agv充电任务数据:" + Bytes2HexString(b)); + return true; + } + + 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; + } + + + @LokiLog(type = LokiLogType.AGV) + @Override + public Map findAllAgvFromCache() { + return AGVDeviceStatus; + } + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/NDCAgvService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/NDCAgvService.java new file mode 100644 index 0000000..789606c --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/NDCAgvService.java @@ -0,0 +1,84 @@ +package org.nl.acs.agv.service; + + +import org.nl.acs.agv.dto.AgvDto; +import org.nl.acs.task.instruction.domain.Instruction; + +import java.util.Map; + +/** + * @Author: lyd + * @Description: + * @Date: 2022-08-15 + */ +public interface NDCAgvService { + /** + * 全部agv + * @return + */ + Map findAllAgvFromCache(); + + /** + * 删除NDC任务 + * + * @param inst + * @throws Exception + */ + public void deleteAgvInstToNDC(Instruction inst) throws Exception; + + /** + * 下发任务 + * @param agv_system_type + * @param inst + * @throws Exception + */ + public void sendAgvInstToNDC(String agv_system_type, Instruction inst) throws Exception; + + /** + * 一号agv指令 + * @param phase + * @param index + * @param result + * @param startPoint + * @param nextPoint + * @param startHigh + * @param nextHigh + * @return + */ + public byte[] sendAgvOneModeInst(int phase, int index, int result, int startPoint, int nextPoint, int startHigh, int nextHigh); + + /** + * 下发二号agv指令 + * @param phase + * @param index + * @param result + * @return + */ + public byte[] sendAgvTwoModeInst(int phase, int index, int result); + + /** + * 下发一号agv指令 + * @param phase + * @param index + * @param result + * @return + */ + public byte[] sendAgvOneModeInst(int phase, int index, int result); + + /** + * 下发一号agv指令（二次分配） + * @param phase + * @param index + * @param disPoint 新点位 + * @return + */ + public byte[] sendAgvOneModeInstDis(int phase, int index, String disPoint); + + /** + * 下发充电任务 + * + * @param carno + * @return + */ + public boolean createChargingTaskToNDC(String carno); +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/autoThread/autoRun/impl/ndcAuto/OneNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/autoThread/autoRun/impl/ndcAuto/OneNDCSocketConnectionAutoRun.java new file mode 100644 index 0000000..f4ecba2 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/autoThread/autoRun/impl/ndcAuto/OneNDCSocketConnectionAutoRun.java @@ -0,0 +1,341 @@ +package org.nl.acs.autoThread.autoRun.impl.ndcAuto; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.service.NDCAgvService; +import org.nl.acs.autoThread.autoRun.AbstractAutoRunnable; +import org.nl.acs.autoThread.service.AutoRunService; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.device.service.DeviceService; +import org.nl.acs.device.device.service.entity.Device; +import org.nl.acs.device.deviceDriver.service.defination.agvDefination.ndc.AgvNdcOneDeviceDriver; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.task.instruction.domain.Instruction; +import org.nl.acs.task.instruction.enums.InstructionStatusEnum; +import org.nl.acs.task.instruction.service.InstructionService; +import org.nl.acs.task.instruction.service.impl.InstructionServiceImpl; +import org.nl.common.db.CommonFinalParam; +import org.nl.config.SpringContextHolder; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.extInterface.wms.service.AcsToWmsService; +import org.nl.extInterface.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.impl.SysParamServiceImpl; +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.List; + +import static org.nl.acs.agv.impl.NDCAgvServiceImpl.Bytes2HexString; + + +/** + * Demo class + * + * @author zhoujj + * @date 2023/12/06 + */ +@Slf4j +@Component +public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { + + Socket s; + String ip = "192.168.46.225"; + 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 + ISysParamService paramService; + @Autowired + AutoRunService autoRunService; + @Autowired + LuceneExecuteLogService luceneExecuteLogService; + + + public OneNDCSocketConnectionAutoRun() { + this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); + } + + @Override + public String getCode() { + return OneNDCSocketConnectionAutoRun.class.getSimpleName(); + } + + @Override + public String getName() { + return "NDC在线连接"; + } + + @Override + public void autoRun() throws IOException { + System.out.println("NDCAgv链接开始"); + ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class); + InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class); + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + ip = paramService.findByCode(AcsConfig.AGVURL).getValue(); + port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue()); + + + try { + byte[] b = new byte[1024]; + s = new Socket(ip, port); + dos = new DataOutputStream(s.getOutputStream()); + dis = new DataInputStream(s.getInputStream()); + System.out.println("NDCAgv链接成功"); + log.info("NDCAgv链接成功"); + 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)); + } + + 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 link_inst = null; + Instruction inst = null; + List insts = null; + boolean link_flag = false; + Device agv_device = null; + String old_device_code = null; + if (carno != 0) { + agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + } + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } + } + if (!ObjectUtil.isEmpty(link_inst)) { + link_flag = true; + } + 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; + + + // + AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + + //开始任务/上报订单号 + if (phase == 0x01) { + if (!ObjectUtil.isEmpty(inst)) { + inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex()); + inst.setAgv_jobno(String.valueOf(index)); + inst.setSend_status(CommonFinalParam.ONE); + instructionService.update(inst); + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } + } + //任务完毕 + //（无车id及状态） + else if (phase == 0x0A) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.finish(inst.getInstruction_id()); + } else { + log.warn("指令号:{},未反馈wms任务完成，因为agv上报指令号查询指令为空!"); + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + log.info("指令号:{},已反馈agv任务完成!"); + } + //请求删除任务 + //(需要WCS反馈) + else if (phase == 0x30) { + data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0, 0, 0, 0, 0); + } + //任务删除确认 + //(需要WCS反馈) + else if (phase == 0xFF) { + + if (!ObjectUtil.isEmpty(inst)) { + if (!ObjectUtil.isEmpty(inst)) { + instructionService.cancelNOSendAgv(inst.getInstruction_id()); + } + } + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + + } else if (phase == 0x50) {//进入区域 + 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]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + } else if (phase == 0x51) {//离开区域 + + 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]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + } else if (phase == 0x4D) { + /*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]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + }*/ + data = NDCAgvService.sendAgvOneModeInst(phase, index, 0); + } else { + //上报异常信息 + //（不需要WCS反馈） + if (phase == 0x67) { + device = deviceAppService.findDeviceByCode(Integer.toString(arr[27])); + } else { + device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); + } + if (ObjectUtil.isNotEmpty(device)) { + if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { + agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); + try { + agvNdcOneDeviceDriver.processSocket(arr); + } catch (Exception e) { + log.error("处理phase:{},发生异常。异常信息:{}", phase, e.getMessage()); + } + } + } + + } + if (!ObjectUtil.isEmpty(data)) { + write(data); + } + + } else { + System.out.println("agv上报不是0073类型动作，不处理"); + } + } + + } catch (Exception e) { + System.out.println("Agv链接异常"); + log.info("Agv链接异常"); + log.error("agv连接出现异常:{}", e); + if (ObjectUtil.isNotEmpty(s)) { + s.close(); + } + System.out.println(e.getMessage()); + e.printStackTrace(); + + } 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 + try { + Thread.sleep(5000L); + log.info("再次下发agv数据:" + Bytes2HexString(b)); + System.out.println("再次下发agv数据:" + Bytes2HexString(b)); + dos.write(b); + dos.flush(); + } catch (Exception e1) { + e1.printStackTrace(); + } + + } + } +} + diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java index 439e14b..68209cf 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java @@ -701,97 +701,6 @@ public class DeviceServiceImpl extends CommonServiceImpl i @Override public void changeDeviceStatus(JSONObject form) { - String device_code = form.getString("device_code"); - if (StrUtil.contains(device_code, "-") && StrUtil.count(device_code, "-") == 2) { - String[] point = device_code.split("-"); - device_code = point[0]; - } - //需要数量 - String hasGoodStatus = form.getString("hasGoodStatus"); - if (StrUtil.isEmpty(hasGoodStatus)) { - hasGoodStatus = "0"; - } - String batch = form.getString("batch"); - String material_type = form.getString("material_type"); - String quantity = form.getString("quantity"); - String remark = form.getString("remark"); - String vehicle_code = form.getString("vehicle_code"); - String islock = form.getString("islock"); - String requireSucess = form.getString("requireSucess"); - String requireActionSucess = form.getString("requireActionSucess"); - String fullrequireSucess = form.getString("fullrequireSucess"); - if (device_code.indexOf(".") != -1) { - device_code = device_code.substring(0, device_code.indexOf(".")); - } - Device device = deviceAppService.findDeviceByCode(device_code); - if (ObjectUtil.isEmpty(device)) { - throw new BadRequestException(LangProcess.msg("error_isNull", device_code)); - } - StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; - //检测站点 - StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; - if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { - standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (!StrUtil.isEmpty(hasGoodStatus)) { - device.setHas_goods(Integer.parseInt(hasGoodStatus)); - } - if (StrUtil.isNotEmpty(material_type)) { - standardOrdinarySiteDeviceDriver.setMaterial(material_type); - device.setMaterial_type(material_type); - } else { - standardOrdinarySiteDeviceDriver.setMaterial(""); - device.setMaterial_type(""); - } - if (StrUtil.isNotEmpty(quantity)) { - standardOrdinarySiteDeviceDriver.setQty(quantity); - device.setQuantity(quantity); - } else { - standardOrdinarySiteDeviceDriver.setQty(""); - device.setQuantity(""); - } - if (StrUtil.isNotEmpty(remark)) { - standardOrdinarySiteDeviceDriver.setRemark(remark); - device.setRemark(remark); - } else { - standardOrdinarySiteDeviceDriver.setRemark(""); - device.setRemark(""); - } - if (StrUtil.isNotEmpty(batch)) { - standardOrdinarySiteDeviceDriver.setBatch(batch); - device.setBatch(batch); - } else { - standardOrdinarySiteDeviceDriver.setBatch(""); - device.setBatch(""); - } -//// WQLObject runpointwo = WQLObject.getWQLObject("acs_device_runpoint"); -//// JSONObject json = runpointwo.query("device_code ='" + device_code + "'").uniqueResult(0); -//// DeviceRunpoint deviceRunpoint = new LambdaQueryChainWrapper<>(deviceRunpointMapper) -//// .eq(DeviceRunpoint::getDevice_code, device_code) -//// .one(); -// if (!ObjectUtil.isEmpty(deviceRunpoint)) { -//// DeviceRunpointDto obj = json.toJavaObject(DeviceRunpointDto.class); -//// deviceRunpoint.setHasgoods(hasGoodStatus); -//// deviceRunpoint.setMaterial_type(material_type); -//// deviceRunpoint.setBatch(batch); -// device.setHas_goods(Integer.parseInt(hasGoodStatus)); -// device.setMaterial_type(material_type); -// device.setRemark(remark); -// device.setQuantity(quantity); -// device.setBatch(batch); -// device.setIslock(islock); -//// JSONObject updatejson = (JSONObject) JSONObject.toJSON(obj); -//// runpointwo.update(updatejson, "device_code = '" + device_code + "'"); -// LambdaQueryWrapper wrapper = new LambdaQueryWrapper<>(); -// wrapper.eq(DeviceRunpoint::getDevice_code, device_code); -// deviceRunpointMapper.delete(wrapper); -// } - } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { - standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); - standardInspectSiteDeviceDriver.setMaterial(material_type); - standardInspectSiteDeviceDriver.setBatch(batch); - device.setMaterial_type(material_type); - device.setBatch(batch); - } } public String formatNum(int x) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDefination.java new file mode 100644 index 0000000..61dd50b --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDefination.java @@ -0,0 +1,48 @@ +package org.nl.acs.device.deviceDriver.service.defination.agvDefination.ndc; + +import org.nl.acs.device.device.service.entity.Device; +import org.nl.acs.device.device.service.enums.DeviceType; +import org.nl.acs.device.deviceDriver.service.defination.DeviceDriverDefination; +import org.nl.acs.device.deviceDriver.service.driver.DeviceDriver; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * NDC单工位AGV + */ +@Service +public class AgvNdcOneDefination implements DeviceDriverDefination { + @Override + public String getDriverCode() { + return "agv_ndc_one"; + } + + @Override + public String getDriverName() { + return "NDC1楼AGV"; + } + + @Override + public String getDriverDescription() { + return "NDC1楼AGV"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new AgvNdcOneDeviceDriver()).init(device, this); + } + + @Override + public Class getDeviceDriverType() { + return AgvNdcOneDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.agv); + return types; + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java new file mode 100644 index 0000000..aad2db9 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/agvDefination/ndc/AgvNdcOneDeviceDriver.java @@ -0,0 +1,412 @@ +package org.nl.acs.device.deviceDriver.service.defination.agvDefination.ndc; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.service.NDCAgvService; +import org.nl.acs.autoThread.autoRun.impl.ndcAuto.OneNDCSocketConnectionAutoRun; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.device.service.DeviceService; +import org.nl.acs.device.device.service.entity.Device; +import org.nl.acs.device.deviceDriver.service.defination.ordinaryDefination.AbstractStandardDeviceDriver; +import org.nl.acs.device.deviceDriver.service.defination.ordinaryDefination.standardOrdinarySite.StandardOrdinarySiteDeviceDriver; +import org.nl.acs.log.LokiLog; +import org.nl.acs.log.LokiLogType; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.task.instruction.domain.Instruction; +import org.nl.acs.task.instruction.service.InstructionService; +import org.nl.acs.task.instruction.service.impl.InstructionServiceImpl; +import org.nl.acs.task.task.service.TaskService; +import org.nl.acs.task.task.service.dto.TaskDto; +import org.nl.acs.task.task.service.impl.TaskServiceImpl; +import org.nl.config.SpringContextHolder; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.config.thread.ThreadPoolExecutorUtil; +import org.nl.extInterface.wms.service.AcsToWmsService; +import org.nl.extInterface.wms.service.enums.WmsFeedbackStatusEnum; +import org.nl.extInterface.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.impl.SysParamServiceImpl; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.List; +import java.util.concurrent.ThreadPoolExecutor; + +/** + * NDC单工位AGV + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class AgvNdcOneDeviceDriver extends AbstractStandardDeviceDriver { + LuceneExecuteLogService lucene = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); + ISysParamService paramService = SpringContextHolder.getBean(SysParamServiceImpl.class); + InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); + NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class); + DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class); + @Autowired + LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean(TaskService.class); + private final static ThreadPoolExecutor EXECUTOR = (ThreadPoolExecutor) ThreadPoolExecutorUtil.getPoll(); + int agvaddr = 0; + int agvaddr_copy = 0; + int weight = 0; + String device_code = ""; + int phase = 0; + boolean flag = false; + int x = 0; //x坐标 + int y = 0; //y坐标 + int angle = 0; //角度 + int electric_qty = 0; //电量 + int status = 0; //agv状态 + int agv_status = 0; //车辆动作状态 + int is_have = 0; //是否有货 + int error = 0; //车辆故障 + + String transportOrder = ""; + boolean isCharge = false; + String message = null; + String agv_message = ""; + + @LokiLog(type = LokiLogType.ACS_TO_LMS) + public synchronized void processSocket(int[] arr) throws Exception { + device_code = this.getDeviceCode(); + byte[] data = null; + phase = arr[16] * 256 + arr[17]; + // agv任务号 + int index = arr[12] * 256 + arr[13]; + //任务单号和其他状态信息 + int ikey = arr[26] * 256 + arr[27]; + //站点号 + agvaddr = arr[18] * 256 + arr[19]; + //车号 + int carno = arr[20]; + Instruction link_inst = null; + List insts = null; + Instruction inst = null; + boolean link_flag = false; + Device agv_device = null; + if (carno != 0) { + agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno)); + } + if (ikey != 0) { + inst = instructionService.findByCodeFromCache(String.valueOf(ikey)); + if (ObjectUtil.isEmpty(inst)) { + inst = instructionService.findByCode(String.valueOf(ikey)); + } + } + if (!ObjectUtil.isEmpty(link_inst)) { + link_flag = true; + } + if (error != 0) { + //todo 反馈立库AGV故障信息 + } + Device device = null; + String old_device_code = null; + String emptyNum = null; + String device_code = null; + + if (phase == 0x67) { + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + } + TaskDto task = new TaskDto(); + + if (ObjectUtil.isNotEmpty(inst)) { + task = taskService.findById(inst.getTask_id()); + } + //分配 车id + //(不需要WCS反馈) + if (phase == 0x02) { + inst.setCarno(String.valueOf(carno)); + instructionService.update(inst); + transportOrder = inst.getTask_code(); + //车辆分配任务时 状态为1 执行中 + task.setTask_status("1"); + task.setCarno(String.valueOf(carno)); + taskserver.update(task); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + "反馈:" + data); + //车辆状态归零 + agv_status = 0; + + // 二次分配处理 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + // 判断是否需要二次分配 + if ("".equals(inst.getStart_device_code())) { + // 向WMS申请新点位 + JSONObject response = acsToWmsService.taskRedirection(task.getTask_code(), inst.getStart_device_code()); + if (response != null && response.getInteger("responseCode") == 0 + && ObjectUtil.isNotEmpty(response.getString("locationNew"))) { + // 返回NDC更换新位置 + data = ndcAgvService.sendAgvOneModeInstDis(phase, index, response.getString("locationNew")); + } + } + //(需要WCS反馈) + } else if (phase == 0x03) { + // 请求取货 + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空"); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } + // "========================================================================请求取货=================================================================================" + agv_status = 1; + //到达普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + // 请求wms是否可以取货 + if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_TAKE.getValue())) { + log.info("到达{}取货点开始取货", device_code + "指令号：" + ikey); + inst.setExecute_status("1"); + instructionService.update(inst); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + + } else if (phase == 0x04) { + data = getData(data, index, inst, task); + //取货完毕 + //(需要WCS反馈) + } else if (phase == 0x05) { + // 取货完成 + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + logServer.deviceExecuteLog(this.device_code, "", "", "对应设备号为空" + device_code); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey); + return; + } +// "========================================================================取货完成=================================================================================" + //反馈车辆动作 + agv_status = 2; + //到达普通站点取货完成 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + // 通知wms取货完成 + if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.TAKE_FINISH.getValue())) { + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + log.info("agv进入" + device_code + "取货完成" + "指令号：" + ikey); + flag = true; + } + } + } else if (phase == 0x06) { + //到达放货点 + // 二次分配处理 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + // 判断是否需要二次分配 + if ("".equals(inst.getStart_device_code())) { + // 向WMS申请新点位 + JSONObject response = acsToWmsService.taskRedirection(task.getTask_code(), inst.getStart_device_code()); + if (response != null && response.getInteger("responseCode") == 0 + && ObjectUtil.isNotEmpty(response.getString("locationNew"))) { + // 返回NDC更换新位置 + data = ndcAgvService.sendAgvOneModeInstDis(phase, index, response.getString("locationNew")); + } + } + } else if (phase == 0x07) { + // 请求放货 + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code) && !device_code.equals("0")) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到关联编号{}对应的指令", ikey); + return; + } +// "========================================================================请求放货=================================================================================" + agv_status = 3; + //普通站点 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.APPLY_PUT.getValue())) { + log.info("到达{}放货点", device_code + "指令号：" + ikey); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + + //放货完毕 + //(需要WCS反馈) + } else if (phase == 0x09) { + // 放货完成 + if (agvaddr == 0) { + agvaddr = agvaddr_copy; + } + if (agvaddr < 1) { + logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase); + return; + } + if (agvaddr != 0) { + old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); + if (StrUtil.contains(old_device_code, "-")) { + String[] point = old_device_code.split("-"); + device_code = point[0]; + } else if (StrUtil.contains(old_device_code, ".")) { + String[] point = old_device_code.split("\\."); + device_code = point[0]; + emptyNum = point[1]; + } else { + device_code = old_device_code; + } + } + device = deviceAppService.findDeviceByCode(device_code); + if (ObjectUtil.isEmpty(device_code)) { + log.info(agvaddr + "对应设备号为空!"); + return; + } + + //校验agv上报站点编号与指令起始点相同 + if (ObjectUtil.isEmpty(inst)) { + log.info("未找到编号{}对应的指令", ikey); + return; + } + transportOrder = ""; +// "========================================================================放货完成=================================================================================" + agv_status = 4; + //agv普通站点放货完成 + if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + if (acsToWmsService.feedbackTask(inst, WmsFeedbackStatusEnum.PUT_FINISH.getValue())) { + log.info("{}放货完成", device_code + "指令号：" + ikey); + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); + flag = true; + } + } + } + //到达位置点 + //(需要WCS反馈) + else if (phase == 0x64) {//param,agv货位id待定 + //1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备 + agvaddr = arr[18] * 256 + arr[19]; + agvaddr_copy = agvaddr; + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x50) {//进入交通灯区域 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x51) {//离开交通灯区域 + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + } else if (phase == 0x70) { + //x坐标 + x = ikey; + } else if (phase == 0x71) { + //y坐标 + y = ikey; + } else if (phase == 0x72) { + //车辆角度 + angle = ikey; + } else if (phase == 0x73) { + //agv电量 + electric_qty = ikey; + } else if (phase == 0x74) { + status = ikey; + } else if (phase == 0x75) { + is_have = ikey; + } + if (!ObjectUtil.isEmpty(data)) { + logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data); + OneNDCSocketConnectionAutoRun.write(data); + } + } + + byte[] getData(byte[] data, int index, Instruction inst, TaskDto task) { + data = ndcAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + return data; + } + + @Override + public JSONObject getDeviceStatusName() throws Exception { + return null; + } + + @Override + public void setDeviceStatus(JSONObject data) { + + } + + @Override + public void execute() throws Exception { + + } +} \ No newline at end of file diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/standardInspectSite/StandardInspectSiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/standardInspectSite/StandardInspectSiteDeviceDriver.java index 653fe79..9aecb07 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/standardInspectSite/StandardInspectSiteDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/standardInspectSite/StandardInspectSiteDeviceDriver.java @@ -153,7 +153,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver { @Override public void execute() { - try { + /* try { Thread.sleep(2000); this.devicecode = this.getDevice().getDevice_code(); if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) { @@ -283,7 +283,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver { } catch (Exception e) { System.out.println("--交互异常---"); e.printStackTrace(); - } + }*/ } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDefination.java index 0a0dbf9..0d1aab2 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDefination.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDefination.java @@ -43,7 +43,7 @@ public class StandardOrdinarySiteDefination implements DeviceDriverDefination { @Override public List getFitDeviceTypes() { List types = new LinkedList(); - types.add(DeviceType.conveyor); + types.add(DeviceType.station); return types; } } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDeviceDriver.java index 8952889..d575be5 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDeviceDriver.java @@ -1,25 +1,19 @@ package org.nl.acs.device.deviceDriver.service.defination.ordinaryDefination.standardOrdinarySite; -import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; -import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.apache.commons.lang3.ObjectUtils; -import org.nl.acs.device.deviceDriver.service.defination.ordinaryDefination.AbstractStandardDeviceDriver; -import org.nl.acs.device.storageMgt.service.dto.StorageCellDto; -import org.nl.acs.device.storageMgt.service.impl.StorageCellServiceImpl; import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.deviceDriver.service.defination.ordinaryDefination.AbstractStandardDeviceDriver; import org.nl.acs.task.TaskConfig; import org.nl.acs.task.instruction.domain.Instruction; import org.nl.acs.task.instruction.service.InstructionService; import org.nl.config.SpringContextHolder; -import org.nl.system.service.param.ISysParamService; import org.nl.extInterface.agvKit.service.AcsToKitService; import org.nl.extInterface.wms.service.AcsToWmsService; -import org.nl.extInterface.wms.service.enums.WmsFeedbackStatusEnum; +import org.nl.system.service.param.ISysParamService; import java.util.Map; @@ -74,7 +68,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv @Override public void execute() { - try { + /* try { Thread.sleep(2000); if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) { // 驱动按周期执行，当前直接 return 就会停留在等待态，下一轮继续请求 WMS 许可。 @@ -198,7 +192,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv } catch (Exception ex) { ex.printStackTrace(); log.info("设备执行失败" + ex.getMessage()); - } + }*/ } @Override @@ -214,7 +208,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv } @Override - public void setDeviceInnerParam(Map innerParamss) { + public void setDeviceInnerParam(Map innerParamss) { synchronized (lock) { // 不允许设置和上次处理相同的taskId final String taskId = innerParamss.get("taskId"); @@ -234,7 +228,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv synchronized (lock) { // 设置新任务 // 处理完成，更新状态 - if (Integer.valueOf(4).equals(agvphase)){ + if (Integer.valueOf(4).equals(agvphase)) { this.lastTakeInstCode = reqTakeInstCode; } this.reqTakeRequireSuccess = false; diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLog.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLog.java new file mode 100644 index 0000000..b6a684d --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLog.java @@ -0,0 +1,15 @@ +package org.nl.acs.log; + +import java.lang.annotation.*; + +/** + * @author: lyd + * @description: 自定义日志注解, 用作LOKI日志分类 + * @Date: 2022/10/10 + */ +@Retention(RetentionPolicy.RUNTIME) +@Target({ElementType.METHOD}) +@Documented +public @interface LokiLog { + LokiLogType type() default LokiLogType.DEFAULT; +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLogType.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLogType.java new file mode 100644 index 0000000..a20940b --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/log/LokiLogType.java @@ -0,0 +1,27 @@ +package org.nl.acs.log; + +/** + * @author: lyd + * @description: + * @Date: 2022/10/11 + */ +public enum LokiLogType { + // 默认 + DEFAULT("默认"), + // AGV接口日志 + AGV("AGV接口日志"), + // ACS请求LMS + ACS_TO_LMS("ACS请求LMS"), + // ACS请求立库 + ACS_TO_LK("ACS请求立库"); + + private String desc; + + LokiLogType(String desc) { + this.desc = desc; + } + + public String getDesc() { + return desc; + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java index 2f280ba..2c05c38 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java @@ -19,6 +19,7 @@ import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapp import lombok.extern.slf4j.Slf4j; import org.apache.commons.lang3.ObjectUtils; import org.nl.ApplicationAutoInitial; +import org.nl.acs.agv.service.NDCAgvService; import org.nl.acs.task.instruction.domain.Instruction; import org.nl.acs.task.instruction.domain.InstructionMybatis; import org.nl.acs.task.instruction.enums.InstructionStatusEnum; @@ -53,6 +54,7 @@ import org.nl.common.utils.FileUtil; import org.nl.common.utils.PageUtil; import org.nl.acs.task.instruction.service.InstructionService; import org.nl.common.utils.SecurityUtils; +import org.nl.config.MapOf; import org.nl.config.language.LangProcess; import org.nl.config.lucene.enums.LogLevelEnum; import org.nl.config.lucene.service.LuceneExecuteLogService; @@ -364,20 +366,8 @@ public class InstructionServiceImpl extends CommonServiceImpl instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class) - .eq(InstructionMybatis::getTask_code, dto.getTask_code())); - if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code() - .equals(start_device_code))) { - return; - } - } - String currentUsername = SecurityUtils.getCurrentNickName(); + String currentUsername = SecurityUtils.getCurrentUsername(); String now = DateUtil.now(); if (StrUtil.isEmpty(dto.getRoute_plan_code())) { dto.setRoute_plan_code(task.getRoute_plan_code()); @@ -394,13 +384,10 @@ public class InstructionServiceImpl extends CommonServiceImpl shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); - if (ObjectUtils.isEmpty(shortPathsList)) { - throw new Exception(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由不通"); - } - if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { - throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型"); - } - if (shortPathsList.size() > 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) - { - // 0为输送、立库任务 1 1楼叉车系统 2 2楼1区域AGV系统 3 2楼2区域AGV系统 - if (!StrUtil.equals(task.getAgv_system_type(), "0") - && ObjectUtil.isNotEmpty(task.getAgv_system_type())) { - if (StrUtil.isBlank(dto.getAgv_inst_type())) { - String agv_system_type = task.getAgv_system_type(); - String task_type = task.getTask_type(); - if (!StrUtil.equals(agv_system_type, "1")) { - dto.setAgv_inst_type("2"); - - } - dto.setAgv_system_type(task.getAgv_system_type()); - } - try { - if (StrUtil.isEmpty(dto.getAgv_inst_type()) || StrUtil.isEmpty(dto.getAgv_system_type())) { - log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" + dto.getInstruction_type() - + ",inst_system_type:" + dto.getAgv_system_type()); - } - HttpResponse httpResponse = acsToKitService.genAgvSchedulingTask(dto, 3); - log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type() - + ",AGV指令类型:" + dto.getInstruction_type()); - - } catch (Exception e) { - dto.setSend_status("2"); - dto.setRemark(e.getMessage()); - e.printStackTrace(); - log.warn("下发AGV指令异常:" + e); - LuceneLogDto logDto1 = LuceneLogDto.builder() - .deviceCode(start_device_code) - .content("下发AGV指令异常") - .build(); - logDto1.setLogLevel((LogLevelEnum.ERROR)); - luceneExecuteLogService.deviceExecuteLog(logDto1); - } + RouteLineDto route = null; + for (int i = 0; i < shortPathsList.size(); i++) { + RouteLineDto routeLineDto = shortPathsList.get(i); + String route_device = routeLineDto.getDevice_code(); + String route_next_device = routeLineDto.getNext_device_code(); + if (route_device.equals(dto.getStart_device_code()) + && route_next_device.equals(dto.getNext_device_code())) { + route = routeLineDto; + break; } } - + if (ObjectUtil.isEmpty(route)) { + throw new BadRequestException(LangProcess.msg("error_isNull", "route")); + } + // 下发ndc系统 + if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) { + NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); + ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); + } } catch (Exception e) { dto.setSend_status("2"); - log.error(e.getMessage()); - throw e; + e.printStackTrace(); + log.error(""); } InstructionMybatis entity = ConvertUtil.convert(dto, InstructionMybatis.class); instructionMapper.insert(entity); @@ -819,15 +782,15 @@ public class InstructionServiceImpl extends CommonServiceImpl + + + + + + + + ${LOG_HOME}/ACS请求WMS/%d{yyyy-MM-dd}.%i.log + + 15 + + 100MB + + 2GB + + + + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n + ${log.charset} + + + + + + + 512 + + + + + diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/AgvNdcOneDeviceDriver.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/AgvNdcOneDeviceDriver.xml new file mode 100644 index 0000000..a54b883 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/AgvNdcOneDeviceDriver.xml @@ -0,0 +1,32 @@ + + + + + + + + + ${LOG_HOME}/AGV驱动与NDC交互/%d{yyyy-MM-dd}.%i.log + + 15 + + 100MB + + 2GB + + + + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n + ${log.charset} + + + + + + + 512 + + + + + diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml new file mode 100644 index 0000000..0397bdd --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCAgvServiceImpl.xml @@ -0,0 +1,33 @@ + + + + + + + + + ${LOG_HOME}/下发NDC/%d{yyyy-MM-dd}.%i.log + + 15 + + 100MB + + 2GB + + + + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n + ${log.charset} + + + + + + + + 512 + + + + + diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCSocketConnectionAutoRun.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCSocketConnectionAutoRun.xml new file mode 100644 index 0000000..e403a4d --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/NDCSocketConnectionAutoRun.xml @@ -0,0 +1,32 @@ + + + + + + + + + ${LOG_HOME}/NDC交互日志/%d{yyyy-MM-dd}.%i.log + + 15 + + 100MBa + + 2GB + + + + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n + ${log.charset} + + + + + + + 512 + + + + + diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/log/WmsToAcs.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/log/WmsToAcs.xml new file mode 100644 index 0000000..8ed5e4a --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/log/WmsToAcs.xml @@ -0,0 +1,32 @@ + + + + + + + + + ${LOG_HOME}/WMS请求ACS/%d{yyyy-MM-dd}.%i.log + + 15 + + 100MB + + 2GB + + + + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n + ${log.charset} + + + + + + + 512 + + + + + diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml index b5abd40..982e0d5 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/logback-spring.xml @@ -12,39 +12,55 @@ https://juejin.cn/post/6844903775631572999 nlAdmin - - - + value="%cyan(%contextName-) %red(%d{yyyy-MM-dd HH:mm:ss.SSS}) %green([%thread]) %highlight(%-5level) %boldMagenta(%logger{36}) - %blue(%msg%n)"/> - + + + + + true - + ${log.pattern} - + + + + ${LOG_HOME}/%d{yyyy-MM-dd}.%i.log - 15 + 30 - 200MB + 120MB 20GB - + %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n - ${log.charset} + + + + + DEBUG + ACCEPT + DENY + + + + + + 512 @@ -53,21 +69,14 @@ https://juejin.cn/post/6844903775631572999 500 - - - - - 512 - - - - + + - - - - - - - - - - - + + + @@ -109,14 +110,11 @@ https://juejin.cn/post/6844903775631572999 - - - @@ -131,6 +129,9 @@ https://juejin.cn/post/6844903775631572999 + + + @@ -138,4 +139,27 @@ https://juejin.cn/post/6844903775631572999 + + + + + + + + + + + + + + + + + + + + + + + diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/agv/agv_ndc_one.vue b/acs2/nladmin-ui/src/views/acs/device/driver/agv/agv_ndc_one.vue index e69de29..db13247 100644 --- a/acs2/nladmin-ui/src/views/acs/device/driver/agv/agv_ndc_one.vue +++ b/acs2/nladmin-ui/src/views/acs/device/driver/agv/agv_ndc_one.vue @@ -0,0 +1,103 @@ + + + + +