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add: agv改造

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ls
2026-03-30 15:26:09 +08:00
parent 5f033e094d
commit 4e54170aa5
4 changed files with 11 additions and 199 deletions
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81
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -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();

54
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -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;
}
}

1
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/limit_regional/server/impl/LimitRegionalServiceImpl.java
View File

@@ -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

74
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/ToAgvDevice.java
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@@ -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<String, AgvDto> 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);
}
}