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1.ndc接口调整

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2.0x03请求取货前向wms获取起始和目标高度，并更新到task
3.下发任务任务类型永远为1
This commit is contained in:
pangshenghao
2023-08-09 15:45:43 +08:00
parent 4ad099f874
commit dba5eadabd
5 changed files with 83 additions and 67 deletions
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2
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
View File

@@ -29,7 +29,7 @@ public interface NDCAgvService {
*/
public void sendAgvInstToNDC(String agv_system_type,Instruction inst) throws Exception;
public byte[] sendAgvOneModeInst(int phase, int index,int result);
public byte[] sendAgvOneModeInst(int phase, int index,int result,int pickup,int release);
public byte[] sendAgvTwoModeInst(int phase, int index,int result);

55
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -83,15 +83,16 @@ public class NDCAgvServiceImpl implements NDCAgvService {
int start_height = Integer.parseInt(task.getStart_height());
int next_height = Integer.parseInt(task.getNext_height());
int type;
if (start_height != 0 && next_height != 0) {
type = 1;
} else if (start_height != 0) {
type = 2;
} else if (next_height != 0) {
type = 3;
} else {
type = 4;
}
// if (start_height != 0 && next_height != 0) {
// type = 1;
// } else if (start_height != 0) {
// type = 2;
// } else if (next_height != 0) {
// type = 3;
// } else {
// type = 4;
// }
type = 1;
int priority = Integer.parseInt(inst.getPriority()) + 128;
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -107,10 +108,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
byte fhdhigh = (byte) IntToHexHigh(nextAddress);
byte fhdlow = (byte) IntToHexLow(nextAddress);
byte prioritylow = (byte) IntToHexLow(priority);
byte qhghigh = (byte) IntToHexHigh(start_height);
byte qhglow = (byte) IntToHexLow(start_height);
byte fhghigh = (byte) IntToHexHigh(next_height);
byte fhglow = (byte) IntToHexLow(next_height);
// byte qhghigh = (byte) IntToHexHigh(start_height);
// byte qhglow = (byte) IntToHexLow(start_height);
// byte fhghigh = (byte) IntToHexHigh(next_height);
// byte fhglow = (byte) IntToHexLow(next_height);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
@@ -123,27 +124,25 @@ public class NDCAgvServiceImpl implements NDCAgvService {
str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
str += "/priority:" + (priority);
str1 += "/priority:" + hexToString(prioritylow & 0xFF);
str += "/qhg:" + (start_height);
str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
str += "/fhg:" + (next_height);
str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
// str += "/qhg:" + (start_height);
// str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
// str += "/fhg:" + (next_height);
// str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X16,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X12,
(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,
(byte) qhghigh, (byte) qhglow,
(byte) fhghigh, (byte) fhglow
(byte) fhdhigh, (byte) fhdlow
};
log.info("下发AGV作业指令--{}", str1);
log.info("下发agv指令数据{}" ,Bytes2HexString(b));
@@ -153,22 +152,28 @@ public class NDCAgvServiceImpl implements NDCAgvService {
}
@Override
public byte[] sendAgvOneModeInst(int phase, int index, int result) {
public byte[] sendAgvOneModeInst(int phase, int index, int result,int pickup,int release) {
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 pickuphigh = (byte) IntToHexHigh(pickup);
byte pickuplow = (byte) IntToHexLow(pickup);
byte releasehigh = (byte) IntToHexHigh(release);
byte releaselow = (byte) IntToHexLow(release);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0A,
(byte) 0X00, (byte) 0X0E,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X6D,
(byte) 0X00, (byte) 0X06,
(byte) 0X00, (byte) 0X0A,
(byte) indexhigh, (byte) indexlow,
(byte) 0X01, (byte) 0X14,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow,
(byte) phasehigh, (byte) phaselow
};

8
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -166,7 +166,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
inst.setSend_status("1");
instructionService.update(inst);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
}
//任务完毕
//（无车id及状态）
@@ -176,13 +176,13 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} 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);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 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);
data = NDCAgvService.sendAgvOneModeInst(0x8F, index, 0,0,0);
}
//任务删除确认
//(需要WCS反馈)
@@ -193,7 +193,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
taskService.cancel(inst.getTask_id());
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
} else {
//上报异常信息

77
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -27,6 +27,7 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
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.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
@@ -118,7 +119,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (arr[18] * 256 + arr[19] == 0) {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
}
//普通站点
@@ -173,30 +174,40 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return;
}
TaskDto task =taskService.findById(inst.getTask_id());
int start_height= ObjectUtil.isNotEmpty(task.getStart_height())?Integer.parseInt(task.getStart_height()):0;
int next_height= ObjectUtil.isNotEmpty(task.getNext_height())?Integer.parseInt(task.getNext_height()):0;
// Object reqWms = device.getExtraValue().get("reqWms");
// if (ObjectUtil.isNotEmpty(reqWms) && reqWms.toString().equals("true")) {
// JSONArray req = new JSONArray();
// JSONObject map = new JSONObject();
// map.put("vehicle_code", inst.getVehicle_code());
// map.put("status", "1");
// map.put("device_code", inst.getStart_point_code());
// map.put("task_code", inst.getTask_code());
// req.add(map);
// HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
// JSONObject resp = JSONObject.parseObject(httpResponse.body());
// if (resp.getInteger("status") == 200) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
// } else {
// log.warn("指令号:{},acs请求wms取货申请成功,wms不允许agv申请取货,未反馈agv允许取货", inst.getInstruction_code());
// }
// } else {
// log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
// }
// } else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// }
if(!StrUtil.startWith(task.getTask_code(), '-')){
JSONArray req = new JSONArray();
JSONObject map = new JSONObject();
map.put("vehicle_code", inst.getVehicle_code());
map.put("status", "1");
map.put("device_code", inst.getStart_point_code());
map.put("task_code", inst.getTask_code());
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
JSONObject resp = JSONObject.parseObject(httpResponse.body());
if (resp.getInteger("status") == 200) {
start_height=resp.getInteger("start_height");
next_height=resp.getInteger("next_height");
task.setStart_height(String.valueOf(start_height));
task.setNext_height(String.valueOf(next_height));
taskService.update(task);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
log.info("指令号:{},acs请求wms取货申请成功,wms允许agv申请取货,已反馈agv允许取货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms取货申请成功,wms不允许agv申请取货,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
log.warn("指令号:{},acs请求wms取货申请失败，连接被拒绝,未反馈agv允许取货", inst.getInstruction_code());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,start_height,next_height);
}
//取货完毕
//(需要WCS反馈)
} else if (phase == 0x05) {
@@ -245,13 +256,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
log.info("指令号:{},acs反馈wms取货完成成功,wms允许agv取货完成,已反馈agv取货完成", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs反馈wms取货完成成功,wms不允许agv取货完成,未反馈agv取货完成", inst.getInstruction_code());
}
// } else {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
//到达放货点
//(需要WCS反馈)
@@ -299,7 +310,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
// JSONObject resp = JSONObject.parseObject(httpResponse.body());
// if (resp.getInteger("status") == 200) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
// } else {
// log.warn("指令号:{},acs请求wms放货申请成功,wms不允许agv申请放货,未反馈agv允许放货", inst.getInstruction_code());
@@ -308,7 +319,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
// }
// } else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
//放货完毕
//(需要WCS反馈)
@@ -355,13 +366,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
req.add(map);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(req);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
log.info("指令号:{},acs请求wms放货申请成功,wms允许agv申请放货,已反馈agv允许放货", inst.getInstruction_code());
} else {
log.warn("指令号:{},acs请求wms放货申请失败，连接被拒绝,未反馈agv允许放货", inst.getInstruction_code());
}
// } else {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
// }
}
//到达位置点
@@ -370,13 +381,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//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);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 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);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 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);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
} else if (phase == 0x67) {//agv异常
// if (ikey == 0) {
@@ -394,7 +405,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// dto.setError_info(error_message);
// deviceErrorLogService.create(dto);
// }
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0,0,0);
last_error = error;
} else if (phase == 0x70) {
//x坐标

8
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
View File

@@ -126,7 +126,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("1");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
agvphase = 0;
index = 0;
inst = null;
@@ -141,7 +141,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("2");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;
@@ -157,7 +157,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("5");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;
@@ -172,7 +172,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
if (ObjectUtil.isNotEmpty(inst)) {
inst.setExecute_status("6");
instructionService.update(inst);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0);
byte[] data = agvService.sendAgvOneModeInst(agvphase, index, 0,0,0);
// OneNDCSocketConnectionAutoRun.write(data);
agvphase = 0;
index = 0;