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This commit is contained in:
gengby
2023-03-09 16:21:06 +08:00
parent 290acd9c90
commit 6484d1de42
15 changed files with 190 additions and 722 deletions
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8
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
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@@ -32,4 +32,12 @@ public interface NDCAgvService {
public byte[] sendAgvOneModeInst(int phase, int index,int result);
public byte[] sendAgvTwoModeInst(int phase, int index,int result);
/**
* 下发充电任务
* @param carno
* @return
*/
public boolean createChargingTaskToNDC(String carno);
}

54
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -1,36 +1,27 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.impl.DeviceServiceImpl;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.LokiLog;
import org.nl.acs.log.LokiLogType;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.opc.DeviceType;
import org.nl.modules.common.exception.BadRequestException;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.util.CodeUtil;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.stereotype.Service;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@Slf4j
@@ -190,6 +181,49 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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();
}

12
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -64,11 +64,11 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
public String getName() {
return "1楼NDC在线连接";
return "NDC在线连接";
}
public void autoRun() throws IOException {
System.out.println("1楼NDCAgv链接开始");
System.out.println("NDCAgv链接开始");
ParamService ParamService = SpringContextHolder.getBean(ParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
@@ -85,8 +85,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
System.out.println("1楼NDCAgv链接成功");
log.info("1楼NDCAgv链接成功");
System.out.println("NDCAgv链接成功");
log.info("NDCAgv链接成功");
while (bConnected) {
int count = dis.read(b);
@@ -210,8 +210,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
} catch (Exception e) {
System.out.println("OneAgv链接异常");
log.info("OneAgv链接异常");
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);
logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());
logServer.deviceExecuteLog("1", "", "", "agv异常" + e);

243
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDC2SocketConnectionAutoRun.java
View File

@@ -1,243 +0,0 @@
package org.nl.acs.auto.run;
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.server.NDCAgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class TwoNDC2SocketConnectionAutoRun 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
ParamService paramService;
@Autowired
AutoRunService autoRunService;
public TwoNDC2SocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return TwoNDC2SocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "2楼2区域AGV系统";
}
public void autoRun() {
try {
System.out.println("2楼2区域AGV系统链接开始");
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.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);
ip = paramService.findByCode(AcsConfig.AGVURL22).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT22).getValue());
byte[] b = new byte[1028];
s = new Socket(ip, port);
System.out.println("2楼2区域AGV链接成功");
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
while (bConnected) {
int count = dis.read(b);
if (count == -1) {
break;
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];
if (temp < 0)
temp += 256;
arr[i] = temp;
StringBuffer bs1 = new StringBuffer("0");
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
}
System.out.println("收到请求参数：" + bs);
boolean flag = false;
if (arr[8] * 256 + arr[9] == 0x73) {
byte[] data = null;
System.out.println("接收agv上报信息：" + bs);
//执行阶段
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction inst = null;
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
String old_device_code = null;
String emptyNum = null;
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
device = deviceAppService.findDeviceByCode(device_code);
}
AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
//开始任务
if (phase == 0x01) {
if (!ObjectUtil.isEmpty(inst)) {
inst.setInstruction_status("1");
inst.setAgv_jobno(String.valueOf(index));
inst.setSend_status("1");
instructionService.update(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
flag = true;
}
//任务完毕
//（无车id及状态）
else if (phase == 0x14) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
inst.setInstruction_status("2");
instructionService.finish(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
//请求删除任务
//(需要WCS反馈)
else if (phase == 0x30) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0);
}
//任务删除确认
//(需要WCS反馈)
else if (phase == 0xFF) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
instructionService.cancelNOSendAgv(inst.getInstruction_id());
data = ndcAgvService.sendAgvTwoModeInst(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 (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
agvNdcTwoDeviceDriver.processSocket(arr);
}
}
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) {
} finally {
}
}
@Override
public void stop() {
super.after();
try {
s.close();
} catch (Exception e) {
e.printStackTrace();
}
}
public static void write(byte[] b) {
try {
log.info("下发agv数据:" + Bytes2HexString(b));
System.out.println("下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}

245
acs/nladmin-system/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -1,245 +0,0 @@
package org.nl.acs.auto.run;
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.server.NDCAgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.device_driver.basedriver.agv.ndctwo.AgvNdcTwoDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import java.util.List;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Slf4j
@Component
public class TwoNDCSocketConnectionAutoRun 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
ParamService paramService;
@Autowired
AutoRunService autoRunService;
public TwoNDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
public String getCode() {
return TwoNDCSocketConnectionAutoRun.class.getSimpleName();
}
public String getName() {
return "2楼1区域AGV系统";
}
public void autoRun() {
try {
System.out.println("2楼1区域AGV系统链接开始");
ParamService paramService = SpringContextHolder.getBean(ParamServiceImpl.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);
ip = paramService.findByCode(AcsConfig.AGVURL2).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue());
byte[] b = new byte[1028];
s = new Socket(ip, port);
System.out.println("2楼1区域Agv链接成功");
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
while (bConnected) {
int count = dis.read(b);
if (count == -1) {
break;
}
int[] arr = new int[count];
StringBuffer bs = new StringBuffer();
for (int i = 0; i < count; i++) {
int temp = b[i];
if (temp < 0)
temp += 256;
arr[i] = temp;
StringBuffer bs1 = new StringBuffer("0");
bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
}
System.out.println("收到请求参数：" + bs);
boolean flag = false;
if (arr[8] * 256 + arr[9] == 0x73) {
byte[] data = null;
System.out.println("接收agv上报信息：" + bs);
//执行阶段
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
//任务号
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
Instruction inst = null;
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
Device device = null;
String device_code = null;
String old_device_code = null;
String emptyNum = null;
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, "-")) {
String[] point = old_device_code.split("-");
device_code = point[0];
} else if (StrUtil.contains(old_device_code, ".")) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
device = deviceAppService.findDeviceByCode(device_code);
}
AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
//开始任务
if (phase == 0x01) {
if (!ObjectUtil.isEmpty(inst)) {
inst.setInstruction_status("1");
inst.setAgv_jobno(String.valueOf(index));
inst.setSend_status("1");
instructionService.update(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
flag = true;
}
//任务完毕
//（无车id及状态）
else if (phase == 0x14) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
inst.setInstruction_status("2");
instructionService.finish(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
}
//请求删除任务
//(需要WCS反馈)
else if (phase == 0x30) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
data = ndcAgvService.sendAgvTwoModeInst(0x8F, index, 0);
}
//任务删除确认
//(需要WCS反馈)
else if (phase == 0xFF) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
break;
}
instructionService.cancelNOSendAgv(inst.getInstruction_id());
data = ndcAgvService.sendAgvTwoModeInst(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 (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
agvNdcTwoDeviceDriver.processSocket(arr);
}
}
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) {
} finally {
}
}
@Override
public void stop() {
super.after();
try {
s.close();
} catch (Exception e) {
e.printStackTrace();
}
}
public static void write(byte[] b) {
try {
log.info("下发agv数据:" + Bytes2HexString(b));
System.out.println("下发agv数据:" + Bytes2HexString(b));
dos.write(b);
dos.flush();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}

12
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
View File

@@ -6,8 +6,6 @@ import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.TwoNDC2SocketConnectionAutoRun;
import org.nl.acs.auto.run.TwoNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
@@ -468,11 +466,11 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
TwoNDCSocketConnectionAutoRun.write(data);
} else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
TwoNDC2SocketConnectionAutoRun.write(data);
}
// if (StrUtil.equals(inst.getAgv_system_type(), "2")) {
// TwoNDCSocketConnectionAutoRun.write(data);
// } else if (StrUtil.equals(inst.getAgv_system_type(), "3")) {
// TwoNDC2SocketConnectionAutoRun.write(data);
// }
}
}

16
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CancelTaskRequest.java
View File

@@ -2,16 +2,12 @@ package org.nl.acs.ext.wms.data;
import lombok.Data;
import java.util.HashMap;
import java.util.Map;
@Data
public class CancelTaskRequest extends BaseRequest {
/**
* 任务标识
*/
private String ext_task_id;
/**
* 任务编号
*/
@@ -25,6 +21,14 @@ public class CancelTaskRequest extends BaseRequest {
/**
* 扩展属性
*/
Map<String,String> params;
Map<String,String> params = new HashMap<>();
@Override
public String toString() {
return "CancelTaskRequest{" +
"task_code='" + task_code + '\'' +
", vehicle_code='" + vehicle_code + '\'' +
", params=" + params +
'}';
}
}

73
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java
View File

@@ -2,15 +2,13 @@ package org.nl.acs.ext.wms.data;
import lombok.Data;
import java.util.HashMap;
import java.util.Map;
@Data
public class CreateTaskRequest extends BaseRequest {
/**
* 任务标识
*/
private String ext_task_id;
/**
* 任务编号
@@ -28,25 +26,10 @@ public class CreateTaskRequest extends BaseRequest {
*/
String next_device_code;
/**
* 取货点2
*/
String start_device_code2;
/**
* 放货点2
*/
String next_device_code2;
/**
* 烘箱对接位
*/
String put_device_code;
/**
* 优先级
*/
String priority;
String priority = "1";
/**
* 载具号
@@ -58,55 +41,35 @@ public class CreateTaskRequest extends BaseRequest {
*/
String vehicle_type;
/**
* 路由方案
*/
String route_plan_code;
/**
* 1、生箔；
* 2、分切
* 3、普通任务
* 4、叉车任务
* 5、输送任务
* 6、行架
* 7、立库
* 任务类型
*/
String task_type;
/**
* 立库任务类型
*
*/
String dtl_type;
/**
* Agv系统类型
* 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
*/
String agv_system_type;
/**
* 备注
*/
String remark;
/**
* 烘箱时间
*/
String oven_time;
/**
* 烘箱温度
*/
String temperature;
/**
* 扩展属性
*/
Map<String,String> params;
Map<String,String> params = new HashMap<>();
@Override
public String toString() {
return "CreateTaskRequest{" +
"task_code='" + task_code + '\'' +
", start_device_code='" + start_device_code + '\'' +
", next_device_code='" + next_device_code + '\'' +
", priority='" + priority + '\'' +
", vehicle_code='" + vehicle_code + '\'' +
", vehicle_type='" + vehicle_type + '\'' +
", task_type='" + task_type + '\'' +
", remark='" + remark + '\'' +
", params=" + params +
'}';
}
}

12
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
View File

@@ -8,6 +8,8 @@ import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.ext.wms.data.CancelTaskRequest;
import org.nl.acs.ext.wms.data.CreateTaskRequest;
import org.nl.acs.ext.wms.data.CreateTaskResponse;
import org.nl.acs.ext.wms.service.WmsToAcsService;
import org.nl.modules.logging.InterfaceLogType;
@@ -19,6 +21,8 @@ import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import java.util.List;
/**
* @author ludj
* @date 2021-07-21
@@ -35,16 +39,16 @@ public class WmsToAcsController {
@Log(value = "ACS接收WMS任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@ApiOperation("接收WMS任务")
@SaIgnore
public ResponseEntity<Object> createFromWms(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.crateTask(whereJson), HttpStatus.OK);
public ResponseEntity<Object> createFromWms(@RequestBody List<CreateTaskRequest> reqs) {
return new ResponseEntity<>(wmstoacsService.crateTask(reqs), HttpStatus.OK);
}
@PostMapping("/cancelTask")
@Log(value = "WMS取消任务",isInterfaceLog = true,interfaceLogType= InterfaceLogType.LMS_TO_ACS)
@ApiOperation("WMS取消任务")
@SaIgnore
public ResponseEntity<Object> cancelFromWms(@RequestBody String whereJson) throws Exception {
return new ResponseEntity<>(wmstoacsService.cancelFromWms(whereJson), HttpStatus.OK);
public ResponseEntity<Object> cancelFromWms(@RequestBody List<CancelTaskRequest> reqs) throws Exception {
return new ResponseEntity<>(wmstoacsService.cancelFromWms(reqs), HttpStatus.OK);
}
@PostMapping("/updateDeviceGoodsFromWms")

13
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
View File

@@ -3,28 +3,27 @@ package org.nl.acs.ext.wms.service;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.ext.wms.data.CancelTaskResponse;
import org.nl.acs.ext.wms.data.CreateTaskResponse;
import org.nl.acs.ext.wms.data.PutActionResponse;
import org.nl.acs.ext.wms.data.*;
import java.util.List;
import java.util.Map;
public interface WmsToAcsService {
/**
* 创建任务
* @param whereJson
* @param reqs
* @return
*/
CreateTaskResponse crateTask(String whereJson);
CreateTaskResponse crateTask(List<CreateTaskRequest> reqs);
/**
* 取消任务
*
* @param jsonObject 条件
* @param reqs 条件
*/
CancelTaskResponse cancelFromWms(String jsonObject) throws Exception;
CancelTaskResponse cancelFromWms(List<CancelTaskRequest> reqs) throws Exception;
/**
* 修改设置有无货属性

141
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -1,7 +1,9 @@
package org.nl.acs.ext.wms.service.impl;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.json.JSONString;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
@@ -62,33 +64,27 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
private String log_type = "LMS请求ACS";
@Override
public CancelTaskResponse cancelFromWms(String param) throws Exception {
public CancelTaskResponse cancelFromWms(List<CancelTaskRequest> reqs) throws Exception {
ParamService paramService = SpringContextHolder.getBean(ParamService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
JSONArray datas = JSONArray.parseArray(param);
CancelTaskResponse response = new CancelTaskResponse();
JSONArray errArr = new JSONArray();
for (int i = 0; i < datas.size(); i++) {
String data = datas.get(i).toString();
CancelTaskRequest request = JsonUtl.format(param, CancelTaskRequest.class);
String task_uuid = request.getExt_task_id();
for (int i = 0; i < reqs.size(); i++) {
CancelTaskRequest request = reqs.get(i);
String task_code = request.getTask_code();
String vehicle_code = request.getVehicle_code();
if (StrUtil.isEmpty(task_uuid)) {
throw new WDKException("任务标识不能为空");
}
Map<String, String> params = request.getParams();
if (StrUtil.isEmpty(task_code)) {
throw new WDKException("任务号不能为空");
}
TaskDto taskDto = taskService.findByCodeFromCache(task_code);
String cancelTaskCheck = paramService.findByCode(AcsConfig.CANCELTASKCHECK).getValue();
if (StrUtil.equals(cancelTaskCheck, "1")) {
taskService.cancel(task_uuid);
taskService.cancelNoSendWms(taskDto.getTask_id());
} else if (StrUtil.equals(cancelTaskCheck, "0")) {
Instruction inst = instructionService.findByTaskcode(task_code);
if (inst == null) {
taskService.cancel(task_uuid);
taskService.cancelNoSendWms(taskDto.getTask_id());
} else {
throw new RuntimeException("指令正在执行中,操作失败!");
}
@@ -456,47 +452,29 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
@Override
public CreateTaskResponse crateTask(String param) {
public CreateTaskResponse crateTask(List<CreateTaskRequest> reqs) {
try {
MDC.put(log_file_type, log_type);
log.info("crateTask-----输入参数{}", param);
JSONArray datas = JSONArray.parseArray(param);
log.info("crateTask-----输入参数{}", reqs);
CreateTaskResponse response = new CreateTaskResponse();
JSONArray errArr = new JSONArray();
for (int i = 0; i < datas.size(); i++) {
String data = datas.get(i).toString();
CreateTaskRequest request = JsonUtl.format(data, CreateTaskRequest.class);
String ext_task_id = request.getExt_task_id();
String task_code = request.getTask_code();
String start_device_code = request.getStart_device_code();
String start_device_code2 = request.getStart_device_code2();
String next_device_code = request.getNext_device_code();
String next_device_code2 = request.getNext_device_code2();
String put_device_code = request.getPut_device_code();
String priority = request.getPriority();
String vehicle_code = request.getVehicle_code();
String vehicle_type = request.getVehicle_type();
String route_plan_code = request.getRoute_plan_code();
String task_type = request.getTask_type();
String storage_task_type = request.getDtl_type();
String agv_system_type = request.getAgv_system_type();
String remark = request.getRemark();
double oven_time = 0.00d;
if (StrUtil.isNotEmpty(request.getOven_time())) {
oven_time = Double.parseDouble(request.getOven_time());
}
String temperature = request.getTemperature();
Map<String, String> params = request.getParams();
for (int i = 0; i < reqs.size(); i++) {
CreateTaskRequest req = reqs.get(i);
String task_code = req.getTask_code();
String start_device_code = req.getStart_device_code();
String next_device_code = req.getNext_device_code();
String priority = req.getPriority();
String vehicle_code = req.getVehicle_code();
String vehicle_type = req.getVehicle_type();
String task_type = req.getTask_type();
String remark = req.getRemark();
Map<String, String> params = req.getParams();
String start_point_code = "";
String start_point_code2 = "";
String next_point_code = "";
String next_point_code2 = "";
String put_point_code = "";
if (StrUtil.isEmpty(task_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", "任务号不能为空");
errArr.add(json);
continue;
@@ -504,7 +482,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
if (StrUtil.isEmpty(start_device_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", "起点不能为空");
errArr.add(json);
continue;
@@ -512,13 +489,10 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
if (StrUtil.isEmpty(next_device_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", "终点不能为空");
errArr.add(json);
continue;
}
JSONObject start_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_device_code + "'").uniqueResult(0);
if (!ObjectUtil.isEmpty(start_device_json)) {
start_point_code = (String) start_device_json.get("parent_storage_code") == null ? start_device_code : (String) start_device_json.get("storage_code");
@@ -527,18 +501,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
if (!ObjectUtil.isEmpty(next_device_json)) {
next_point_code = (String) next_device_json.get("parent_storage_code") == null ? next_point_code : (String) next_device_json.get("storage_code");
}
JSONObject start_device_json2 = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + start_device_code2 + "'").uniqueResult(0);
if (!ObjectUtil.isEmpty(start_device_json2)) {
start_point_code2 = (String) start_device_json2.get("parent_storage_code") == null ? start_device_code2 : (String) start_device_json2.get("storage_code");
}
JSONObject next_device_json2 = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + next_device_code2 + "'").uniqueResult(0);
if (!ObjectUtil.isEmpty(next_device_json2)) {
next_point_code2 = (String) next_device_json2.get("parent_storage_code") == null ? next_device_code2 : (String) next_device_json2.get("storage_code");
}
JSONObject put_device_json = WQLObject.getWQLObject("acs_storage_cell").query("parent_storage_code ='" + put_device_code + "'").uniqueResult(0);
if (!ObjectUtil.isEmpty(put_device_json)) {
put_point_code = (String) put_device_json.get("parent_storage_code") == null ? put_device_code : (String) put_device_json.get("storage_code");
}
if (StrUtil.isNotEmpty(start_point_code) && start_point_code.indexOf("-") > 0) {
String str[] = start_point_code.split("-");
start_device_code = str[0];
@@ -553,44 +515,15 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
next_device_code = next_point_code;
}
if (StrUtil.isNotEmpty(start_point_code2) && start_point_code2.indexOf("-") > 0) {
String str[] = start_point_code2.split("-");
start_device_code2 = str[0];
} else {
start_device_code2 = start_point_code2;
}
if (StrUtil.isNotEmpty(next_point_code2) && next_point_code2.indexOf("-") > 0) {
String str[] = next_point_code2.split("-");
next_device_code2 = str[0];
} else {
next_device_code2 = next_point_code2;
}
if (StrUtil.isNotEmpty(put_point_code) && put_point_code.indexOf("-") > 0) {
String str[] = put_point_code.split("-");
put_device_code = str[0];
} else {
put_device_code = put_point_code;
}
String route_plan_code = "";
if (StrUtil.isEmpty(route_plan_code)) {
route_plan_code = "normal";
}
// if( StrUtil.equals(task_type,"5") && taskService.querySameDeviceReadyTask(start_device_code,next_device_code,"0") > 1){
// JSONObject json = new JSONObject();
// json.put("task_code", task_code);
// json.put("ext_task_id", ext_task_id);
// json.put("message", "已存在相同的起点终点未执行的输送任务");
// errArr.add(json);
// continue;
// }
TaskDto taskDto = taskService.findByCodeFromCache(task_code);
if (taskDto != null) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", "不能存在相同的任务号");
errArr.add(json);
continue;
@@ -600,7 +533,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
if (vehicle_dto != null) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", "不能存在相同的托盘号");
errArr.add(json);
continue;
@@ -610,52 +542,35 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
if (StrUtil.isEmpty(start_point_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", request.getStart_device_code() + " 该设备号未找到对应点位");
json.put("message", req.getStart_device_code() + " 该设备号未找到对应点位");
errArr.add(json);
continue;
}
if (StrUtil.isEmpty(next_point_code)) {
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", request.getNext_device_code() + " 该设备号未找到对应点位");
json.put("message", req.getNext_device_code() + " 该设备号未找到对应点位");
errArr.add(json);
continue;
}
JSONObject jo = new JSONObject();
jo.put("task_code", task_code);
jo.put("task_id", ext_task_id);
jo.put("task_id", IdUtil.simpleUUID());
jo.put("start_point_code", start_point_code);
jo.put("next_point_code", next_point_code);
jo.put("start_point_code2", start_point_code2);
jo.put("next_point_code2", next_point_code2);
jo.put("put_point_code", put_point_code);
jo.put("start_parent_code", start_point_code);
jo.put("next_parent_code", next_point_code);
jo.put("start_device_code", start_device_code);
jo.put("next_device_code", next_device_code);
jo.put("start_device_code2", start_device_code2);
jo.put("next_device_code2", next_device_code2);
jo.put("put_device_code", put_device_code);
jo.put("priority", priority);
jo.put("vehicle_code", vehicle_code);
jo.put("vehicle_type", vehicle_type);
jo.put("storage_task_type", storage_task_type);
if (StrUtil.isEmpty(agv_system_type)) {
agv_system_type = "1";
}
jo.put("agv_system_type", agv_system_type);
jo.put("oven_time", (int) Math.ceil(oven_time));
jo.put("agv_system_type", "1");
jo.put("remark", remark);
jo.put("params", params);
jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
if (!StrUtil.isEmpty(ext_task_id)) {
jo.put("ext_task_id", ext_task_id);
}
TaskDto task_dto = jo.toJavaObject(TaskDto.class);
try {
taskService.create(task_dto);
@@ -663,7 +578,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
// e.printStackTrace();
JSONObject json = new JSONObject();
json.put("task_code", task_code);
json.put("ext_task_id", ext_task_id);
json.put("message", e.getMessage());
errArr.add(json);
continue;
@@ -682,7 +596,6 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
response.setErrArr(errArr);
}
log.info("createFromWms--------------:输出参数：" + JSON.toJSONString(response));
return response;
} finally {
MDC.remove(log_file_type);

8
acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -187,6 +187,14 @@ public interface TaskService {
*/
void cancel(String ids) throws Exception;
/**
* 取消任务
*
* @param ids
*/
void cancelNoSendWms(String ids) throws Exception;
/**
* 手动创建指令
*

71
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -974,6 +974,53 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
}
}
@Override
@Transactional(rollbackFor = Exception.class)
public void cancelNoSendWms(String id) throws Exception {
TaskDto entity = this.findById(id);
if (entity == null) {
throw new BadRequestException("被删除或无权限，操作失败!");
}
InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
InstructionDto instdto = instructionservice.findByTaskid(id, "instruction_status <2 ");
if (instdto != null) {
throw new BadRequestException("有指令未完成!");
}
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
entity.setUpdate_time(now);
entity.setUpdate_by(currentUsername);
entity.setTask_status("3");
WQLObject wo = WQLObject.getWQLObject("acs_task");
JSONObject json = (JSONObject) JSONObject.toJSON(entity);
wo.update(json);
// synchronized (TaskServiceImpl.class){
// Iterator<TaskDto> it = tasks.iterator();
// // 清理缓存
// while (it.hasNext()) {
// TaskDto taskDto = it.next();
// if (taskDto.getTask_id().equals(id)) {
// tasks.remove(taskDto);
// }
// }}
removeByCodeFromCache(entity.getTask_code());
List<RouteLineDto> shortPathsList =
routeLineService.getShortPathLines(
entity.getStart_device_code(),
entity.getNext_device_code(),
entity.getRoute_plan_code());
String type = shortPathsList.get(0).getType();
// != 0 为agv任务
if (!StrUtil.equals(type, "0")) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
agvService.markComplete(entity.getTask_code());
}
}
}
@Override
public Instruction createTemporaryInst(TaskDto acsTask) {
if (acsTask == null) {
@@ -1189,29 +1236,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
instdto.setNext_device_code2(next_point_code2);
instdto.setNext_point_code2(next_point_code2);
instdto.setAgv_system_type(agv_system_type);
// 判断agv系统
// 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(agv_system_type, "1")) {
// task_type
// 1、生箔； Itype=1:取空，取满，放空，放满；
// 2、分切 Itype=3取满、取空、放满、放空；
// 3、普通任务 Itype=2:取货、放货；
// 4、叉车任务
// 5、输送任务
// 6、行架
// 7、立库
if (StrUtil.equals(task_type, "1")) {
instdto.setAgv_inst_type("1");
} else if (StrUtil.equals(task_type, "3")) {
instdto.setAgv_inst_type("2");
} else if (StrUtil.equals(task_type, "2")) {
instdto.setAgv_inst_type("3");
}
} else {
instdto.setAgv_inst_type("4");
}
instdto.setAgv_inst_type("1");
instructionservice.create2(instdto);
// acsTask.setTask_status("1");

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

@@ -1,5 +1,5 @@
server:
port: 8011
port: 8010
tomcat:
accept-count: 1000
max-connections: 10000

2
acs/nladmin-ui/src/views/acs/task/index.vue
View File

@@ -491,7 +491,7 @@ export default {
to_x: null,
to_y: null,
to_z: null,
agv_system_type: ''
agv_system_type: '1'
},
rules: {
start_point_code: [