From 4e54170aa55d32016023ece339b5d43eae215f1e Mon Sep 17 00:00:00 2001 From: ls <1793460677@qq.com> Date: Mon, 30 Mar 2026 15:26:09 +0800 Subject: [PATCH] =?UTF-8?q?add:=20agv=E6=94=B9=E9=80=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../run/TwoNDCSocketConnectionAutoRun.java | 81 ++----------------- .../ndctwo/AgvNdcTwoDeviceDriver.java | 54 +------------ .../server/impl/LimitRegionalServiceImpl.java | 1 - .../service/quartz/task/ToAgvDevice.java | 74 ----------------- 4 files changed, 11 insertions(+), 199 deletions(-) delete mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/ToAgvDevice.java diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java index 3f93ff7..772a3a5 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java @@ -7,9 +7,7 @@ import org.nl.acs.AcsConfig; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.device.domain.Device; import org.nl.acs.device.service.DeviceService; -import org.nl.acs.device_driver.agv.ndcone.AgvNdcOneDeviceDriver; -import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver; -import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver; + import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; import org.nl.acs.instruction.domain.Instruction; @@ -142,12 +140,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { boolean flag = false; if (arr.length < 10) { - LuceneLogDto logDto = LuceneLogDto.builder() - .device_code("ndc") - .content("接收agv上报信息：" + bs) - .build(); - logDto.setLog_level(4); - luceneExecuteLogService.deviceExecuteLog(logDto); + log.info("接收agv上报信息：" + bs); } else { if (arr[8] * 256 + arr[9] == 0x73) { @@ -175,8 +168,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { String device_code = null; String old_device_code = null; String emptyNum = null; - //自动门 - StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; + if (agvaddr != 0) { old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr); if (StrUtil.contains(old_device_code, "-")) { @@ -192,8 +184,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { device = deviceAppService.findDeviceByCode(device_code); } - AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver; - AgvNdcOneDeviceDriver agvNdcOneDeviceDriver; + //开始任务 if (phase == 0x01) { if (!ObjectUtil.isEmpty(inst)) { @@ -213,15 +204,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } else { String agvcar = inst.getCarno(); Device agvDevice = deviceAppService.findDeviceByCode(agvcar); - if (agvDevice != null) { - if (agvDevice.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) agvDevice.getDeviceDriver(); - agvNdcTwoDeviceDriver.setInstruction(null); - } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.setInstruction(null); - } - } + inst.setInstruction_status("2"); try { instructionService.finish(inst); @@ -251,52 +234,14 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { log.info(agvaddr + "对应设备号为空!"); return; } - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - try { - standardAutodoorDeviceDriver.writing("to_open", "1"); - standardAutodoorDeviceDriver.writing("to_close", "0"); - } catch (Exception e) { - log.info("下发电气信号失败:" + e.getMessage()); - e.printStackTrace(); - } - if (standardAutodoorDeviceDriver.getOpen() == 1 && standardAutodoorDeviceDriver.getToOpen() == 1) { - log.info("下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getOpen()); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } else { - log.info("未下发NDC信号原因: 下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getToClose()); - } - } - } else { - log.info(agvaddr + "对应设备号为空!"); - } + } else if (phase == 0x51) { if (ObjectUtil.isEmpty(device_code)) { log.info(agvaddr + "对应设备号为空!"); return; } - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - try { - standardAutodoorDeviceDriver.writing("to_close", "1"); - standardAutodoorDeviceDriver.writing("to_open", "0"); - } catch (Exception e) { - log.info("下发电气信号失败:" + e.getMessage()); - e.printStackTrace(); - } - if (standardAutodoorDeviceDriver.getClose() == 1) { - log.info("读取关门信号值为:{}", standardAutodoorDeviceDriver.getClose()); - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } else { - log.info("未下发NDC信号原因: 读取自动门信号值为:{}", standardAutodoorDeviceDriver.getClose()); - } - } - } else { - log.info(device_code + "对应设备号为空!"); - } + } else if (phase == 0x64){ log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station); Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null); @@ -329,17 +274,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable { device = deviceAppService.findDeviceByCode(Integer.toString(arr[20])); } try { - if (ObjectUtil.isNotEmpty(device)) { - if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) { - agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver(); - agvNdcTwoDeviceDriver.processSocket(arr); - } else if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) { - agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver(); - agvNdcOneDeviceDriver.processSocket(arr); - } - } else { - log.info("当前phase：" + phase + "未找到对应设备"); - } + } catch (Exception e) { log.info("processSocket出错:{},{}", e, e.getMessage()); e.printStackTrace(); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/ndctwo/AgvNdcTwoDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/ndctwo/AgvNdcTwoDeviceDriver.java index f3fef58..9345be7 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/ndctwo/AgvNdcTwoDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/ndctwo/AgvNdcTwoDeviceDriver.java @@ -15,9 +15,7 @@ import org.nl.acs.common.base.CommonFinalParam; import org.nl.acs.device.domain.Device; import org.nl.acs.device.service.DeviceService; import org.nl.acs.device_driver.DeviceDriver; -import org.nl.acs.device_driver.FeedLmsRealFailed; import org.nl.acs.device_driver.agv.utils.TwoAgvPhase; -import org.nl.acs.device_driver.autodoor.standard_autodoor.StandardAutodoorDeviceDriver; import org.nl.acs.device_driver.conveyor.standard_inspect_site.StandardInspectSiteDeviceDriver; import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.device_driver.driver.AbstractDeviceDriver; @@ -54,7 +52,7 @@ import java.util.Map; @Slf4j @Data @RequiredArgsConstructor -public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor, FeedLmsRealFailed { +public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, DeviceStageMonitor { ISysParamService ISysParamService = SpringContextHolder.getBean(ISysParamService.class); InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class); @@ -162,8 +160,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; //标准-光电检测 StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; - //自动门 - StandardAutodoorDeviceDriver standardAutodoorDeviceDriver; + if (phase == 0x02) { @@ -401,44 +398,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic } - //进入区域（phase值） - else if (phase == 0x50) { - device = deviceAppService.findDeviceByCode(device_code); - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - String address = standardAutodoorDeviceDriver.getExtraValue().get("address").toString(); - - try { - standardAutodoorDeviceDriver.writing("to_open", "1"); - - } catch (Exception e) { - log.info("下发电气信号失败:" + e.getMessage()); - e.printStackTrace(); - } - - log.info("未下发NDC信号原因: 下发开门信号值为:{},读取开门信号值为:{}", standardAutodoorDeviceDriver.getToOpen(), standardAutodoorDeviceDriver.getOpen()); - } - } - //离开区域（phase值） - else if (phase == 0x51) { - data = ndcAgvService.sendAgvOneModeInst(phase, index, 0); - - if (device.getDeviceDriver() instanceof StandardAutodoorDeviceDriver) { - standardAutodoorDeviceDriver = (StandardAutodoorDeviceDriver) device.getDeviceDriver(); - - try { - - standardAutodoorDeviceDriver.writing("to_close", "1"); - - } catch (Exception e) { - log.info("下发电气信号失败:" + e.getMessage()); - e.printStackTrace(); - } - data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0); - } - } //上报异常信息 //（不需要WCS反馈） else if (phase == 0x67) { @@ -508,15 +469,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic } - @Override - public JSONObject feedLmsRealFailedInfo() { - JSONObject jo = new JSONObject(); - jo.put("device_code", this.getDevice().getDevice_code()); - jo.put("device_name", this.getDevice().getDevice_name()); - jo.put("fault_code", String.valueOf(error)); - jo.put("fault_info", error == 0 ? "正常" : error_message); - jo.put("fault_type", error_type); - return jo; - } + } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/limit_regional/server/impl/LimitRegionalServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/limit_regional/server/impl/LimitRegionalServiceImpl.java index 4dfabaf..687d15e 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/limit_regional/server/impl/LimitRegionalServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/limit_regional/server/impl/LimitRegionalServiceImpl.java @@ -34,7 +34,6 @@ import org.springframework.transaction.annotation.Transactional; import javax.annotation.PostConstruct; import java.util.*; -import static sun.audio.AudioDevice.device; @Service @AllArgsConstructor diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/ToAgvDevice.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/ToAgvDevice.java deleted file mode 100644 index 8de42f3..0000000 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/ToAgvDevice.java +++ /dev/null @@ -1,74 +0,0 @@ -package org.nl.system.service.quartz.task; - -import com.alibaba.fastjson.JSONArray; -import com.alibaba.fastjson.JSONObject; -import lombok.extern.slf4j.Slf4j; -import org.nl.acs.agv.server.AgvService; -import org.nl.acs.agv.server.dto.AgvDto; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.common.mnt.websocket.MsgType; -import org.nl.common.mnt.websocket.SocketMsg; -import org.nl.common.mnt.websocket.WebSocketServer; -import org.springframework.beans.factory.annotation.Autowired; -import org.springframework.stereotype.Component; - -import java.util.Map; - -/** - * 查询AGV设备状态 - */ -@Slf4j -@Component -public class ToAgvDevice { - @Autowired - AcsToWmsService acsToWmsService; - @Autowired - AgvService agvService; - - public void run() throws Exception { - JSONObject json = new JSONObject(); - Map agv_map = agvService.findAllAgvFromCache(); - - JSONArray agv_rows = new JSONArray(); - JSONObject row = new JSONObject(); - - for (AgvDto agvDto : agv_map.values()) { - row.put("device_code", agvDto.getName()); - row.put("energyLevel", agvDto.getEnergyLevel()); - if (agvDto.getState().equals("UNKNOWN")) { - row.put("status_name", "有任务"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("UNAVAILABLE")) { - row.put("status_name", "网络异常"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("ERROR")) { - row.put("status_name", "机器错误"); - row.put("flag", "1"); - } - if (agvDto.getState().equals("IDLE")) { - row.put("status_name", "空闲"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("EXECUTING")) { - row.put("status_name", "运行中"); - row.put("flag", "0"); - } - if (agvDto.getState().equals("CHARGING")) { - row.put("status_name", "充电中"); - row.put("flag", "0"); - } - row.put("transportOrder", agvDto.getTransportOrder()); - row.put("positionX", agvDto.getPositionX()); - row.put("positionY", agvDto.getPositionY()); - row.put("positionAngle", agvDto.getPositionAngle()); - agv_rows.add(row); - } - json.put("agv_rows", agv_rows); - SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO); - WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data"); - -// acsToWmsService.feedbackAgv(row); - } -}