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add: 添加plc_to_agv驱动,下发agv任务

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This commit is contained in:
yanps
2024-08-01 17:33:56 +08:00
parent 5da425189c
commit 746ba466f9
22 changed files with 2095 additions and 1059 deletions
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12
acs/nladmin-system/nlsso-server/pom.xml
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@@ -401,11 +401,23 @@
<groupId>org.openscada.jinterop</groupId>
<artifactId>org.openscada.jinterop.core</artifactId>
<version>2.1.8</version>
<exclusions>
<exclusion>
<groupId>org.bouncycastle</groupId>
<artifactId>bcprov-jdk15on</artifactId>
</exclusion>
</exclusions>
</dependency>
<dependency>
<groupId>org.openscada.jinterop</groupId>
<artifactId>org.openscada.jinterop.deps</artifactId>
<version>1.5.0</version>
<exclusions>
<exclusion>
<groupId>org.bouncycastle</groupId>
<artifactId>bcprov-jdk15on</artifactId>
</exclusion>
</exclusions>
</dependency>
<dependency>
<groupId>org.openscada.utgard</groupId>

17
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -112,21 +112,24 @@ public class NDCAgvServiceImpl implements NDCAgvService {
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X12,
(byte) 0X00, (byte) 0X14,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0E,
(byte) 0X01, prioritylow,
(byte) 0X00, (byte) 0X10,
(byte) 0X01, (byte) 0X80,
(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) fhdhigh, (byte) fhdlow,
(byte) 0X00, (byte) 0X00,
};
log.info("下发AGV作业指令--{}", str1);
log.info("下发AGV作业指令--{}", str);
OneNDCSocketConnectionAutoRun.write(b);
System.out.println("下发agv指令数据:" + Bytes2HexString(b));
log.info("下发agv指令数据:" + Bytes2HexString(b));
}
}
@@ -138,14 +141,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
byte indexlow = (byte) IntToHexLow(index);
byte phasehigh = (byte) IntToHexHigh(phase);
byte phaselow = (byte) IntToHexLow(phase);
byte startPointHigh =(byte) IntToHexHigh(startPoint);
byte startPointLow =(byte) IntToHexLow(startPoint);
byte nextPointHigh =(byte) IntToHexHigh(nextPoint);
byte nextPointLow =(byte) IntToHexLow(nextPoint);
byte startHighHigh =(byte) IntToHexHigh(startHigh);
byte startHighLow =(byte) IntToHexLow(startHigh);
byte nextHighHigh =(byte) IntToHexHigh(nextHigh);
byte nextHighLow =(byte) IntToHexLow(nextHigh);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,

4
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -236,9 +236,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//上报异常信息
//（不需要WCS反馈）
if (phase == 0x70 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74) {
device = deviceAppService.findDeviceByCode("AGV0" +agvaddr);
device = deviceAppService.findDeviceByCode(Integer.toString(agvaddr));
} else {
device = deviceAppService.findDeviceByCode("AGV0" + Integer.toString(arr[20]));
device = deviceAppService.findDeviceByCode(Integer.toString(arr[20]));
}
if (ObjectUtil.isNotEmpty(device)) {
if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
View File

@@ -25,6 +25,8 @@ public enum DriverTypeEnum {
AGV_NDC_ONE(7, "agv_ndc_one", "NDCAGV", "agv"),
PLC_TO_AGV(15, "plc_to_agv", "PLCTOAGV站点", "conveyor"),
AGV_NDC_TWO(8, "agv_ndc_two", "NDC2楼AGV", "agv"),
XGAGV(9, "xg_agv", "xg_agv", "agv"),

9
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
View File

@@ -1018,7 +1018,14 @@ public class DeviceServiceImpl extends CommonServiceImpl<DeviceMapper, Device> 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 start_device =
deviceAppService
.findDeviceByCode(device_code)
.getDeviceDriverDefination()
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", start_device) && StrUtil.contains(device_code, "-") && StrUtil.count(device_code, "-") == 2) {
String[] point = device_code.split("-");
device_code = point[0];
}

144
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -15,7 +15,9 @@ import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
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.basedriver.plc_to_agv.PlcToAgvDeviceDriver;
import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_inspect_site.StandardInspectSiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
@@ -128,7 +130,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
TaskDto task = new TaskDto();
if(ObjectUtil.isNotEmpty(inst)){
if (ObjectUtil.isNotEmpty(inst)) {
task = taskService.findById(inst.getTask_id());
}
@@ -178,8 +180,39 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
data = getData(data, index, inst, task);
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
if (plcToAgvDeviceDriver.getAGVEnable() != 0) {
if (ObjectUtil.isNotEmpty(plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels"))) {
Object plc_to_agv = plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels");
if ("1".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetOutReqUpper", "1");
if (plcToAgvDeviceDriver.getAGVSetOutUpperAllowed() == 1) {
data = feedBackStatus(data, index, 1, inst, task);
plcToAgvDeviceDriver.writing("AGVInOP", "1");
}
} else if ("2".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetOutReqLower", "1");
if (plcToAgvDeviceDriver.getAGVSetOutLowerAllowed() == 1) {
data = feedBackStatus(data, index, 1, inst, task);
plcToAgvDeviceDriver.writing("AGVInOP", "1");
}
}
} else {
log.info("设备未设置上下层:{}", plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels"));
}
} else {
log.info("agv动作使能的信号不满足:{}", plcToAgvDeviceDriver.getAGVEnable());
}
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
data = feedBackStatus(data, index, 1, inst, task);
} catch (Exception e) {
log.info("到达取货点反馈AGV状态失败:{}", e.getMessage());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}
//到达取货等待点
//(需要WCS反馈)
} else if (phase == 0x04) {
@@ -220,7 +253,23 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
data = getData(data, index, inst, task);
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
try {
plcToAgvDeviceDriver.writing("AGVInOP", "0");
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
data = feedBackStatus(data, index, 2, inst, task);
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
data = feedBackStatus(data, index, 2, inst, task);
} catch (Exception e) {
log.info("取货完成反馈AGV状态失败:{}", e.getMessage());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}
//到达放货等待点
//(需要WCS反馈)
} else if (phase == 0x06) {
@@ -258,7 +307,39 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到关联编号{}对应的指令", ikey);
return;
}
data = getData(data, index, inst, task);
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
if (plcToAgvDeviceDriver.getAGVEnable() != 0) {
if (ObjectUtil.isNotEmpty(plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels"))) {
Object plc_to_agv = plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels");
if ("1".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetInReqUpper", "1");
if (plcToAgvDeviceDriver.getAGVSetInUpperAllowed() == 1) {
data = feedBackStatus(data, index, 3, inst, task);
plcToAgvDeviceDriver.writing("AGVInOP", "1");
}
} else if ("2".equals(plc_to_agv)) {
plcToAgvDeviceDriver.writing("AGVSetInReqLower", "1");
if (plcToAgvDeviceDriver.getAGVSetInLowerAllowed() == 1) {
data = feedBackStatus(data, index, 3, inst, task);
plcToAgvDeviceDriver.writing("AGVInOP", "1");
}
}
} else {
log.info("设备未设置上下层:{}", plcToAgvDeviceDriver.getExtraValue().get("upper_lower_levels"));
}
} else {
log.info("agv动作使能的信号不满足:{}", plcToAgvDeviceDriver.getAGVEnable());
}
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
data = feedBackStatus(data, index, 3, inst, task);
} catch (Exception e) {
log.info("到达放货点反馈AGV状态失败:{}", e.getMessage());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}
//放货完毕
//(需要WCS反馈)
@@ -299,8 +380,24 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return;
}
transportOrder = "";
if (device.getDeviceDriver() instanceof PlcToAgvDeviceDriver) {
PlcToAgvDeviceDriver plcToAgvDeviceDriver = (PlcToAgvDeviceDriver) device.getDeviceDriver();
try {
plcToAgvDeviceDriver.writing("AGVInOP", "0");
} catch (Exception e) {
log.info("下发AGVInOP信号:{}失败", "0");
}
data = feedBackStatus(data, index, 4, inst, task);
} else if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
try {
data = feedBackStatus(data, index, 4, inst, task);
} catch (Exception e) {
log.info("放货完成反馈AGV状态失败:{},", e.getMessage());
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}
}
//到达位置点
//(需要WCS反馈)
else if (phase == 0x64) {//param,agv货位id待定
@@ -328,10 +425,10 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//agv电量
electric_qty = ikey;
int electric = Integer.parseInt(paramService.findByCode(AcsConfig.ELECTRIC).getValue());
if (electric_qty>0&&electric_qty < electric) {
log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty,electric);
if (electric_qty > 0 && electric_qty < electric) {
log.info("当前车辆{}电量为{}低于{}，开始判断是否需要充电!", this.device_code, electric_qty, electric);
NDCAgvService.charge(String.valueOf(this.agvaddr));
isCharge =true;
isCharge = true;
}
} else if (phase == 0x74) {
//三色灯状态
@@ -344,13 +441,14 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
private byte[] getData(byte[] data, int index, Instruction inst, TaskDto task) {
if (!"2".equals(task.getTask_type())) {
String hasWms = paramService.findByCode("hasWms").getValue();
if ("3".equals(task.getTask_type()) && StrUtil.isNotEmpty(hasWms) && "1".equals(hasWms)) {
String resp = acsToWmsService.requestTaskAgain(task.getNext_point_code(), task.getExt_task_id(), inst.getVehicle_code());
JSONObject respjson = JSONObject.parseObject(resp);
String next_device_code = respjson.getString("next_point_code");
task.setNext_point_code(next_device_code);
String point_code = respjson.getString("point_code");
task.setStart_device_code2(point_code);
int start_address = deviceService.queryAddressBydeviceCode(inst.getStart_point_code());
int next_address = deviceService.queryAddressBydeviceCode(next_device_code);
int next_address = deviceService.queryAddressBydeviceCode(point_code);
taskService.update(task);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, start_address, next_address, 0, 0);
log.info("指令号:{},phase:{},acs请求wms申请成功", inst.getInstruction_code(), phase);
@@ -360,4 +458,26 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
return data;
}
private byte[] feedBackStatus(byte[] data, int index, int agvStatus, Instruction inst, TaskDto task) {
String hasWms = paramService.findByCode("hasWms").getValue();
if (StrUtil.isNotEmpty(hasWms) && "1".equals(hasWms)) {
JSONArray ja = new JSONArray();
JSONObject jo = new JSONObject();
jo.put("vehicle_code", inst.getVehicle_code());
jo.put("status", agvStatus);
jo.put("device_code", this.device_code);
jo.put("task_code", inst.getTask_code());
ja.add(jo);
HttpResponse httpResponse = acsToWmsService.feedAgvTaskStatus(ja);
if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
} else {
log.info("指令号:{},phase:{},acs反馈wms失败:{}", inst.getInstruction_code(), phase, httpResponse);
}
} else {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}
return data;
}
}

93
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/plc_to_agv/ItemProtocol.java Normal file
View File

@@ -0,0 +1,93 @@
package org.nl.acs.device_driver.basedriver.plc_to_agv;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import java.util.ArrayList;
import java.util.List;
@Slf4j
@Data
public class ItemProtocol {
public static String item_AGVSetInLowerAllowed = "AGVSetInLowerAllowed";
public static String item_AGVSetOutLowerAllowed = "AGVSetOutLowerAllowed";
public static String item_AGVSetInUpperAllowed = "AGVSetInUpperAllowed";
public static String item_AGVSetOutUpperAllowed = "AGVSetOutUpperAllowed";
public static String item_AGVEnable = "AGVEnable";
public static String item_AGVSetInReqLower = "AGVSetInReqLower";
public static String item_AGVSetOutReqLower = "AGVSetOutReqLower";
public static String item_AGVSetInReqUpper = "AGVSetInReqUpper";
public static String item_AGVSetOutReqUpper = "AGVSetOutReqUpper";
public static String item_AGVInOP = "AGVInOP";
private PlcToAgvDeviceDriver driver;
public ItemProtocol(PlcToAgvDeviceDriver driver) {
this.driver = driver;
}
public int getAGVSetInLowerAllowed() {
return this.getOpcIntegerValue(item_AGVSetInLowerAllowed);
}
public int getAGVSetOutLowerAllowed() {
return this.getOpcIntegerValue(item_AGVSetOutLowerAllowed);
}
public int getAGVSetInUpperAllowed() {
return this.getOpcIntegerValue(item_AGVSetInUpperAllowed);
}
public int getAGVSetOutUpperAllowed() {
return this.getOpcIntegerValue(item_AGVSetOutUpperAllowed);
}
public int getAGVEnable() {
return this.getOpcIntegerValue(item_AGVEnable);
}
//是否有货
public int hasGoods(int move) {
return move;
}
Boolean isonline;
public int getOpcIntegerValue(String protocol) {
Integer value = this.driver.getIntegeregerValue(protocol);
if (value == null) {
// log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
setIsonline(false);
} else {
setIsonline(true);
return value;
}
return 0;
}
public static List<ItemDto> getReadableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_AGVSetInLowerAllowed, "下层允许上料", "DB600.B0"));
list.add(new ItemDto(item_AGVSetOutLowerAllowed, "下层允许下料", "DB600.B2"));
list.add(new ItemDto(item_AGVSetInUpperAllowed, "上层允许上料", "DB600.B3"));
list.add(new ItemDto(item_AGVSetOutUpperAllowed, "上层允许下料", "DB600.B4"));
list.add(new ItemDto(item_AGVEnable, "agv动作使能", "DB600.D6"));
return list;
}
public static List<ItemDto> getWriteableItemDtos() {
ArrayList list = new ArrayList();
list.add(new ItemDto(item_AGVSetInReqLower, "下层上料请求", "DB600.B0"));
list.add(new ItemDto(item_AGVSetOutReqLower, "下层下料请求", "DB600.B2"));
list.add(new ItemDto(item_AGVSetInReqUpper, "上层上料请求", "DB600.B3"));
list.add(new ItemDto(item_AGVSetOutReqUpper, "上层下料请求", "DB600.B4"));
list.add(new ItemDto(item_AGVInOP, "在工位内", "DB600.D6"));
return list;
}
}

61
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/plc_to_agv/PlcToAgvDefination.java Normal file
View File

@@ -0,0 +1,61 @@
package org.nl.acs.device_driver.basedriver.plc_to_agv;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
import org.springframework.stereotype.Service;
import java.util.LinkedList;
import java.util.List;
/**
* PlcToAgv站点
*/
@Service
public class PlcToAgvDefination implements OpcDeviceDriverDefination {
@Override
public String getDriverCode() {
return "plc_to_agv";
}
@Override
public String getDriverName() {
return "PlcToAgv站点";
}
@Override
public String getDriverDescription() {
return "PlcToAgv站点";
}
@Override
public DeviceDriver getDriverInstance(Device device) {
return (new PlcToAgvDeviceDriver()).setDevice(device).setDriverDefination(this);
}
@Override
public Class<? extends DeviceDriver> getDeviceDriverType() {
return PlcToAgvDeviceDriver.class;
}
@Override
public List<DeviceType> getFitDeviceTypes() {
List<DeviceType> types = new LinkedList();
types.add(DeviceType.conveyor);
return types;
}
@Override
public List<ItemDto> getReadableItemDtos() {
return ItemProtocol.getReadableItemDtos();
}
@Override
public List<ItemDto> getWriteableItemDtos() {
return ItemProtocol.getWriteableItemDtos();
}
}

197
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/plc_to_agv/PlcToAgvDeviceDriver.java Normal file
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@@ -0,0 +1,197 @@
package org.nl.acs.device_driver.basedriver.plc_to_agv;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
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.device.domain.Device;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.RequestMethodEnum;
import org.nl.acs.device_driver.RouteableDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
import org.nl.acs.ext.wms.data.feedBackTaskStatus.FeedBackTaskStatusRequest;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.WcsConfig;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
import org.nl.acs.task.domain.Task;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.task.service.mapper.TaskMapper;
import org.nl.acs.utils.ConvertUtil;
import org.nl.common.utils.CodeUtil;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.lucene.LuceneExecuteLogService;
import org.nl.system.service.lucene.dto.LuceneLogDto;
import org.openscada.opc.lib.da.Server;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.*;
/**
* PlcToAgv站点
*/
@Slf4j
@Data
@RequiredArgsConstructor
public class PlcToAgvDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver , DeviceStageMonitor {
protected ItemProtocol itemProtocol = new ItemProtocol(this);
InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
TaskMapper taskMapper;
AcsToWmsService acsToWmsService=SpringContextHolder.getBean("acsToWmsServiceImpl");
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
int AGVSetInLowerAllowed =0;
int AGVSetOutLowerAllowed=0;
int AGVSetInUpperAllowed =0;
int AGVSetOutUpperAllowed=0;
int AGVEnable=0;
String device_code;
@Override
public Device getDevice() {
return this.device;
}
@Override
public void execute() {
String message = null;
try {
device_code = this.getDeviceCode();
AGVSetInLowerAllowed = this.itemProtocol.getAGVSetInLowerAllowed();
AGVSetOutLowerAllowed = this.itemProtocol.getAGVSetOutLowerAllowed();
AGVSetInUpperAllowed = this.itemProtocol.getAGVSetInUpperAllowed();
AGVSetOutUpperAllowed = this.itemProtocol.getAGVSetOutUpperAllowed();
AGVEnable = this.itemProtocol.getAGVEnable();
} catch (Exception var17) {
return;
}
}
/**
* 多个信号一起下发电气
*
* @param map
*/
public void writing(Map<String, Object> map) throws Exception {
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
Map<String, Object> itemMap = new LinkedHashMap<>();
map.forEach((key, value) -> {
if (ObjectUtil.isNotEmpty(value)) {
itemMap.put(getToParam() + key, value);
}
});
if (ObjectUtil.isNotEmpty(itemMap)) {
this.checkcontrol(itemMap);
logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("下发多个电气信号" + itemMap)
.build();
logDto.setLog_level(3);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
public void writing(String param, String value) {
String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + param;
Map<String, Object> itemMap = new HashMap<String, Object>();
itemMap.put(to_param, Integer.parseInt(value));
try {
this.checkcontrol(itemMap);
} catch (Exception e) {
e.printStackTrace();
}
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("下发多个电气信号" + itemMap)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
public String getToParam() {
return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
}
public void set_last_container(String barcode, String type_desc) {
this.set_last_container(barcode);
this.set_last_container_type_desc(type_desc);
}
public void set_last_container(String barcode) {
}
public void set_last_container_type_desc(String type) {
}
public boolean exe_business() {
return true;
}
public void executing(Server server, Map<String, Object> itemMap) {
this.control(itemMap);
}
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {
}
public List<String> getExtraDeviceCodes(String extraName) {
String extraValue = (String) this.getDevice().getExtraValue().get(extraName);
if (StrUtil.isEmpty(extraValue)) {
return new ArrayList<>();
}
String devicesString = extraValue.substring(1, extraValue.length() - 1);
List<String> devicesList = new ArrayList<>();
String[] devices = devicesString.split(",");
for (int i = 0; i < devices.length; i++) {
String s = devices[i].replace("\"", "").replace("\"", "");
devicesList.add(s);
}
return devicesList;
}
}

30
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/siemens_conveyor_labeling/SiemensConveyorLabelingDeviceDriver.java
View File

@@ -40,7 +40,9 @@ import org.springframework.beans.factory.annotation.Autowired;
import java.util.*;
/** 西门子-输送机驱动-贴标 */
/**
* 西门子-输送机驱动-贴标
*/
@Slf4j
@Data
@RequiredArgsConstructor
@@ -51,9 +53,12 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
@Autowired
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
@Autowired DeviceService deviceservice = SpringContextHolder.getBean(DeviceService.class);
@Autowired RouteLineService routelineserver = SpringContextHolder.getBean(RouteLineService.class);
@Autowired TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
@Autowired
DeviceService deviceservice = SpringContextHolder.getBean(DeviceService.class);
@Autowired
RouteLineService routelineserver = SpringContextHolder.getBean(RouteLineService.class);
@Autowired
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
@Autowired
DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
@@ -61,13 +66,16 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
@Autowired
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@Autowired ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
@Autowired AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
@Autowired
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
@Autowired
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
@Autowired
DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
@Autowired NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
@Autowired
NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
@Autowired
StorageCellMapper storageCellMapper;
@@ -496,7 +504,9 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
this.control(itemMap);
}
/** 请求指令 */
/**
* 请求指令
*/
public synchronized boolean instruction_require() {
Date date = new Date();
if (date.getTime() - this.instruction_require_time.getTime()
@@ -728,7 +738,7 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
// .query("storage_code ='" + this.device_code + "'")
// .uniqueResult(0);
StorageCell storageCell = new LambdaQueryChainWrapper<>(storageCellMapper).eq(StorageCell::getStorage_code,this.device_code).one();
StorageCell storageCell = new LambdaQueryChainWrapper<>(storageCellMapper).eq(StorageCell::getStorage_code, this.device_code).one();
String start_point_code = null;
if (!ObjectUtil.isEmpty(storageCell)) {
start_point_code =
@@ -789,7 +799,7 @@ public class SiemensConveyorLabelingDeviceDriver extends AbstractOpcDeviceDriver
// WQLObject.getWQLObject("acs_storage_cell")
// .query("storage_code ='" + this.device_code + "'")
// .uniqueResult(0);
StorageCell storageCell = new LambdaQueryChainWrapper<>(storageCellMapper).eq(StorageCell::getStorage_code,this.device_code).one();
StorageCell storageCell = new LambdaQueryChainWrapper<>(storageCellMapper).eq(StorageCell::getStorage_code, this.device_code).one();
String start_point_code = null;
if (!ObjectUtil.isEmpty(storageCell)) {
start_point_code =

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@@ -114,8 +114,6 @@ public interface AcsToWmsService {
HttpResponse feedAgvTaskStatus(JSONArray from);
/**
* ACS向WMS申请任务
*/

3
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -546,8 +546,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
log.info("feedAgvTaskStatus----返回参数{}", result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
//System.out.println(msg);
log.info("feedAgvTaskStatus----报错{}", msg);
}
return result;
}

3
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java
View File

@@ -37,9 +37,6 @@ public class InstructionController {
@ApiOperation("查询指令")
//@PreAuthorize("@el.check('instruction:list')")
public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
if(ObjectUtil.isEmpty(whereJson.get("status"))) {
whereJson.put("status", "1");
}
return new ResponseEntity<>(instructionService.queryAll(whereJson, page), HttpStatus.OK);
}

36
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -195,7 +195,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
wrapper.and(StringUtils.isNotBlank(code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getInstruction_code, code).or().like(InstructionMybatis::getTask_code, code));
wrapper.like(StringUtils.isNotBlank(vehicle_code), InstructionMybatis::getVehicle_code, vehicle_code);
wrapper.eq(StringUtils.isNotBlank(material_type), InstructionMybatis::getMaterial, material_type);
wrapper.eq(StringUtils.isNotBlank(status), InstructionMybatis::getInstruction_status, status);
wrapper.le(InstructionMybatis::getInstruction_status, "1");
wrapper.and(StringUtils.isNotBlank(point_code), instructionMybatis -> instructionMybatis.like(InstructionMybatis::getStart_point_code, point_code).or().like(InstructionMybatis::getNext_point_code, point_code));
wrapper.eq(StringUtils.isNotBlank(instruction_type), InstructionMybatis::getInstruction_type, instruction_type);
if (!StrUtil.isEmpty(is_over)) {
@@ -1027,12 +1027,12 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
} else {
flag = true;
}
if (StrUtil.equals(entity.getInstruction_type(), "4") ||
/*if (StrUtil.equals(entity.getInstruction_type(), "4") ||
StrUtil.equals(entity.getInstruction_type(), "3")) {
ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
zheDaAgvService.deleteZDAgvInst(entity.getInstruction_code());
flag = true;
}
}*/
if (flag) {
@@ -1294,13 +1294,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
} else {
next_device_code = next_point_code;
}
if (StrUtil.contains(start_point_code, "-") && StrUtil.count(start_point_code, "-") == 2) {
String[] start_point = start_point_code.split("-");
inst.setFrom_x(start_point[0]);
inst.setStart_device_code(start_point[0]);
inst.setFrom_y(start_point[1]);
inst.setFrom_z(start_point[2]);
} else {
String start_device =
deviceAppService
.findDeviceByCode(start_device_code)
@@ -1308,6 +1301,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", start_device) && StrUtil.contains(start_point_code, "-") && StrUtil.count(start_point_code, "-") == 2) {
String[] start_point = start_point_code.split("-");
inst.setFrom_x(start_point[0]);
inst.setStart_device_code(start_point[0]);
inst.setFrom_y(start_point[1]);
inst.setFrom_z(start_point[2]);
} else {
if (StrUtil.equals("storage", start_device)) {
String[] start_point = start_point_code.split("-");
inst.setFrom_x(start_point[0]);
@@ -1318,15 +1318,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
inst.setStart_device_code(start_device_code);
}
}
if (StrUtil.contains(next_point_code, "-") && StrUtil.count(next_point_code, "-") == 2) {
String[] next_point = next_point_code.split("-");
inst.setTo_x(next_point[0]);
inst.setNext_device_code(next_point[0]);
inst.setTo_y(next_point[1]);
inst.setTo_z(next_point[2]);
} else {
String next_device =
deviceAppService
.findDeviceByCode(next_device_code)
@@ -1334,6 +1325,13 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", next_device) && StrUtil.contains(next_point_code, "-") && StrUtil.count(next_point_code, "-") == 2) {
String[] next_point = next_point_code.split("-");
inst.setTo_x(next_point[0]);
inst.setNext_device_code(next_point[0]);
inst.setTo_y(next_point[1]);
inst.setTo_z(next_point[2]);
} else {
if (StrUtil.equals("storage", next_device)) {
String[] next_point = start_point_code.split("-");
inst.setTo_x(next_point[0]);

3
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/route/service/impl/RouteLineServiceImpl.java
View File

@@ -337,8 +337,9 @@ public class RouteLineServiceImpl extends CommonServiceImpl<RouteLineMapper, Rou
.eq(RouteLine::getNext_device_code,dto.getNext_device_code())
.list();
if (list.size() == 0) {
// wo.insert(json);
routeLineMapper.insert(entity);
List list1 = routeLines.get("normal");
list1.add(ConvertUtil.convert(dto, RouteLineDto.class));
} else {
throw new BadRequestException("已存在该路由路线！");
}

4
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java
View File

@@ -38,10 +38,6 @@ public class TaskController {
@ApiOperation("查询任务")
//@PreAuthorize("@el.check('task:list')")
public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
// return new ResponseEntity<>(taskService.queryAllByCache(whereJson, page), HttpStatus.OK);
if(ObjectUtil.isEmpty(whereJson.get("status"))) {
whereJson.put("status", "1");
}
return new ResponseEntity<>(taskService.queryAll(whereJson, page), HttpStatus.OK);
}

120
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -75,9 +75,9 @@ import java.util.regex.Pattern;
import java.util.stream.Collectors;
/**
* @author jiaolm
* @date 2023-05-09
*/
* @author jiaolm
* @date 2023-05-09
*/
@Service
@Slf4j
@Lazy
@@ -122,7 +122,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
}
@Override
public List<TaskDto> queryAll(TaskQueryParam query){
public List<TaskDto> queryAll(TaskQueryParam query) {
return ConvertUtil.convertList(taskMapper.selectList(QueryHelpMybatisPlus.getPredicate(query)), TaskDto.class);
}
@@ -146,7 +146,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
@Override
@Transactional(rollbackFor = Exception.class)
public int updateById(TaskDto resources){
public int updateById(TaskDto resources) {
Task entity = ConvertUtil.convert(resources, Task.class);
int ret = taskMapper.updateById(entity);
// delCaches(resources.id);
@@ -155,14 +155,14 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
@Override
@Transactional(rollbackFor = Exception.class)
public int removeByIds(Set<String> ids){
public int removeByIds(Set<String> ids) {
// delCaches(ids);
return taskMapper.deleteBatchIds(ids);
}
@Override
@Transactional(rollbackFor = Exception.class)
public int removeById(String id){
public int removeById(String id) {
Set<String> set = new HashSet<>(1);
set.add(id);
return this.removeByIds(set);
@@ -252,6 +252,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
/**
* 获取未完成任务
*
* @throws Exception
*/
@Override
@@ -270,12 +271,12 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
@Override
public List queryAll(String whereJson) {
List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
.lt(Task::getTask_status, "2")
.eq(Task::getIs_delete,"0")
.eq(Task::getIs_delete, "0")
.orderByDesc(Task::getCreate_time)
.list();
return ConvertUtil.convertList(taskList,TaskDto.class);
return ConvertUtil.convertList(taskList, TaskDto.class);
}
@Override
@@ -284,35 +285,32 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
String task_code = (String) whereJson.get("task_code");
String vehicle_code = (String) whereJson.get("vehicle_code");
String material_type = (String) whereJson.get("material_type");
String status = (String) whereJson.get("status");
String point_code = (String) whereJson.get("point_code");
String is_over = (String) whereJson.get("is_over");
IPage<Task> queryPage = PageUtil.toMybatisPage(page);
LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<>();
if (!StrUtil.isEmpty(task_code)) {
wrapper.eq(Task::getTask_code,task_code);
wrapper.eq(Task::getTask_code, task_code);
}
if (!StrUtil.isEmpty(vehicle_code)) {
wrapper.eq(Task::getVehicle_code,vehicle_code);
wrapper.eq(Task::getVehicle_code, vehicle_code);
}
if (!StrUtil.isEmpty(material_type)) {
wrapper.eq(Task::getMaterial,material_type);
}
if (!StrUtil.isEmpty(status)) {
wrapper.eq(Task::getTask_status,status);
wrapper.eq(Task::getMaterial, material_type);
}
wrapper.le(Task::getTask_status, "1");
if (!StrUtil.isEmpty(point_code)) {
wrapper.and(task -> task.like(Task::getStart_point_code,point_code).or().like(Task::getNext_point_code,point_code));
wrapper.and(task -> task.like(Task::getStart_point_code, point_code).or().like(Task::getNext_point_code, point_code));
}
if (!StrUtil.isEmpty(is_over)) {
if (StrUtil.equals(is_over,"1")){
wrapper.ge(Task::getTask_status,2);
}else{
wrapper.lt(Task::getTask_status,2);
if (StrUtil.equals(is_over, "1")) {
wrapper.ge(Task::getTask_status, 2);
} else {
wrapper.lt(Task::getTask_status, 2);
}
}
IPage<Task> taskPage = taskMapper.selectPage(queryPage,wrapper);
IPage<Task> taskPage = taskMapper.selectPage(queryPage, wrapper);
final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(taskPage, TaskDto.class));
return json;
}
@@ -402,24 +400,24 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
LambdaQueryWrapper<Task> wrapper = new LambdaQueryWrapper<>();
// wrapper.eq(InstructionMybatis::getIs_delete,"0");
if (!StrUtil.isEmpty(task_code)) {
wrapper.eq(Task::getTask_code,task_code);
wrapper.eq(Task::getTask_code, task_code);
}
if (!StrUtil.isEmpty(vehicle_code)) {
wrapper.like(Task::getVehicle_code,vehicle_code);
wrapper.like(Task::getVehicle_code, vehicle_code);
}
if (!StrUtil.isEmpty(material_type)) {
wrapper.eq(Task::getMaterial,material_type);
wrapper.eq(Task::getMaterial, material_type);
}
if (!StrUtil.isEmpty(status)) {
wrapper.eq(Task::getTask_status,status);
wrapper.eq(Task::getTask_status, status);
}
if (!StrUtil.isEmpty(point_code)) {
wrapper.and(task -> task.like(Task::getStart_point_code,point_code).or().like(Task::getNext_point_code,point_code));
wrapper.and(task -> task.like(Task::getStart_point_code, point_code).or().like(Task::getNext_point_code, point_code));
}
if (!StrUtil.isEmpty(create_time) && !StrUtil.isEmpty(end_time)) {
wrapper.between(Task::getCreate_time,create_time,end_time);
wrapper.between(Task::getCreate_time, create_time, end_time);
}
IPage<Task> taskPage = taskMapper.selectPage(queryPage,wrapper);
IPage<Task> taskPage = taskMapper.selectPage(queryPage, wrapper);
final JSONObject json = (JSONObject) JSON.toJSON(ConvertUtil.convertPage(taskPage, TaskDto.class));
JSONArray array = json.getJSONArray("content");
int totalElements = (int) json.getLongValue("totalElements");
@@ -438,9 +436,9 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
@Override
public List<TaskDto> queryAll(Map whereJson) {
List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
.list();
return ConvertUtil.convertList(taskList,TaskDto.class);
return ConvertUtil.convertList(taskList, TaskDto.class);
}
// @Override
@@ -457,10 +455,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
// JSONArray arr = wo.query("task_status < 2 ").getResultJSONArray(0);
// List<TaskDto> list = arr.toJavaList(TaskDto.class);
// return list;
List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
.lt(Task::getTask_status,"2")
List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
.lt(Task::getTask_status, "2")
.list();
return ConvertUtil.convertList(taskList,TaskDto.class);
return ConvertUtil.convertList(taskList, TaskDto.class);
}
@Override
@@ -469,10 +467,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
// JSONObject json = wo.query("task_code ='" + code + "'").uniqueResult(0);
// final TaskDto obj = json.toJavaObject(TaskDto.class);
// return obj;
Task task= new LambdaQueryChainWrapper<>(taskMapper)
.eq(Task::getTask_code,code)
Task task = new LambdaQueryChainWrapper<>(taskMapper)
.eq(Task::getTask_code, code)
.one();
return ConvertUtil.convert(task,TaskDto.class);
return ConvertUtil.convert(task, TaskDto.class);
}
@Override
@@ -591,10 +589,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
// JSONArray arr = wo.query("task_status = '" + status + "'").getResultJSONArray(0);
// List<TaskDto> list = arr.toJavaList(TaskDto.class);
// return list;
List<Task> taskList= new LambdaQueryChainWrapper<>(taskMapper)
.eq(Task::getTask_status,status)
List<Task> taskList = new LambdaQueryChainWrapper<>(taskMapper)
.eq(Task::getTask_status, status)
.list();
return ConvertUtil.convertList(taskList,TaskDto.class);
return ConvertUtil.convertList(taskList, TaskDto.class);
}
@Override
@@ -1457,6 +1455,14 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
String from_z = null;
String to_y = null;
String to_z = null;
String start_device =
deviceAppService
.findDeviceByCode(start_point_code)
.getDeviceDriverDefination()
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", start_device)) {
if (StrUtil.contains(start_point_code, "-") && StrUtil.count(start_point_code, "-") == 2) {
String[] start_point = start_point_code.split("-");
task.setFrom_x(start_point[0]);
@@ -1479,15 +1485,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
}
task.setStart_point_code(task.getStart_device_code() + "-" + from_y + "-" + from_z);
task.setStart_device_code(task.getStart_device_code());
} else {
String start_device =
deviceAppService
.findDeviceByCode(start_point_code)
.getDeviceDriverDefination()
.getFitDeviceTypes()
.get(0)
.name();
// 如果point_device为货架，则不包含列层信息，需要重新拼接
if (StrUtil.equals("storage", start_device)) {
if (StrUtil.isEmpty(task.getFrom_x())) {
@@ -1519,7 +1517,19 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
task.setStart_device_code(start_point_code);
}
}
} else {
task.setStart_device_code(start_point_code);
task.setStart_device_code(start_point_code);
}
String next_device =
deviceAppService
.findDeviceByCode(next_point_code)
.getDeviceDriverDefination()
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", next_device)) {
if (StrUtil.contains(next_point_code, "-") && StrUtil.count(next_point_code, "-") == 2) {
String[] next_point = next_point_code.split("-");
task.setNext_device_code(next_point[0]);
@@ -1545,13 +1555,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
task.setNext_device_code(task.getNext_device_code());
} else {
String next_device =
deviceAppService
.findDeviceByCode(next_point_code)
.getDeviceDriverDefination()
.getFitDeviceTypes()
.get(0)
.name();
if (StrUtil.equals("storage", next_device)) {
if (StrUtil.isEmpty(task.getTo_x())) {
throw new BadRequestException("货位信息终点需要包含列信息");
@@ -1583,6 +1587,10 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
task.setNext_device_code(next_point_code);
}
}
} else {
task.setNext_device_code(next_point_code);
task.setNext_device_code(next_point_code);
}
return task;
}

5
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java
View File

@@ -5,6 +5,7 @@ import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import lombok.extern.slf4j.Slf4j;
@@ -12,6 +13,7 @@ import org.nl.common.domain.query.PageQuery;
import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.SecurityUtils;
import org.nl.config.MapOf;
import org.nl.system.service.coderule.dao.SysCodeRuleDetail;
import org.nl.system.service.param.ISysParamService;
import org.nl.system.service.param.dao.Param;
import org.nl.system.service.param.dao.mapper.SysParamMapper;
@@ -41,7 +43,8 @@ public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> impl
public Page<Param> queryPage(Map whereJson, PageQuery page) {
QueryWrapper<Param> queryWrapper = new QueryWrapper<>();
queryWrapper.orderBy(true, true, "create_time");
Page<Param> paramPage = paramMapper.selectPage(page.build(), queryWrapper);
Page<Param> pages = new Page<>(page.getPage() + 1, page.getSize());
Page<Param> paramPage = paramMapper.selectPage(pages, queryWrapper);
return paramPage;
}

16
acs/nladmin-system/nlsso-server/src/main/resources/log/AgvNdcOneDeviceDriver.xml
View File

@@ -3,7 +3,7 @@
<springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
<property name="LOG_HOME" value="${logPath}"/>
<!-- 按照每天生成日志文件 -->
<appender name="AgvNdcOneDeviceDriver" class="ch.qos.logback.core.rolling.RollingFileAppender">
<appender name="FILE11" class="ch.qos.logback.core.rolling.RollingFileAppender">
<rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
<!--日志文件输出的文件名-->
<FileNamePattern>${LOG_HOME}/AGV驱动与NDC交互/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
@@ -19,14 +19,18 @@
<pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
<charset>${log.charset}</charset>
</encoder>
</appender>
</appender>
<appender name="asyncFileAppender" class="ch.qos.logback.classic.AsyncAppender">
<appender-ref ref="AgvNdcOneDeviceDriver" />
<!-- 设置队列大小，根据您的需求调整 -->
<queueSize>512</queueSize>
<discardingThreshold>0</discardingThreshold>
<queueSize>500</queueSize>
<appender-ref ref="FILE11"/>
</appender>
<logger name="org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDrive" level="info" additivity="true">
<logger name="org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver" level="info" additivity="true">
<appender-ref ref="asyncFileAppender"/>
</logger>
</included>

4
acs/nladmin-ui/package.json
View File

@@ -33,8 +33,8 @@
"url": "https://github.com/elunez/eladmin/issues"
},
"dependencies": {
"@logicflow/core": "^1.1.22",
"@logicflow/extension": "^1.1.22",
"@logicflow/core": "1.1.22",
"@logicflow/extension": "1.1.22",
"@riophae/vue-treeselect": "0.4.0",
"af-table-column": "^1.0.3",
"ansi_up": "^5.1.0",

2
acs/nladmin-ui/src/views/acs/device/config.vue
View File

@@ -75,6 +75,7 @@ import { get, selectDriverCodeList } from '@/api/acs/device/driverConfig'
import { getDicts } from '@/views/system/dict/dict'
import standard_autodoor from '@/views/acs/device/driver/standard_autodoor'
import standard_inspect_site from './driver/standard_inspect_site'
import plc_to_agv from './driver/plc_to_agv'
import standard_ordinary_site from './driver/standard_ordinary_site'
import standard_storage from '@/views/acs/device/driver/standard_storage'
import standard_scanner from '@/views/acs/device/driver/standard_scanner'
@@ -102,6 +103,7 @@ export default {
tubanxian_site,
standard_ordinary_site,
standard_inspect_site,
plc_to_agv,
standard_storage,
standard_scanner,
standard_conveyor_control_with_scanner,

531
acs/nladmin-ui/src/views/acs/device/driver/plc_to_agv.vue Normal file
View File

@@ -0,0 +1,531 @@
<template>
<!--检测站点-->
<div>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">设备协议：</span>
</div>
<el-row>
<el-col :span="12">
OpcServer:
<el-select
v-model="opc_id"
placeholder="无"
clearable
filterable
@change="changeOpc"
>
<el-option
v-for="item in dataOpcservers"
:key="item.opc_id"
:label="item.opc_name"
:value="item.opc_id"
/>
</el-select>
</el-col>
<el-col :span="12">
PLC:
<el-select
v-model="plc_id"
placeholder="无"
clearable
@change="changePlc"
>
<el-option
v-for="item in dataOpcPlcs"
:key="item.plc_id"
:label="item.plc_name"
:value="item.plc_id"
/>
</el-select>
</el-col>
</el-row>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">输送系统：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-row>
<el-col :span="8">
<el-form-item label="电气调度号" label-width="150px">
<el-input v-model="form.address" />
</el-form-item>
</el-col>
</el-row>
</el-form>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">指令相关：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-row>
<el-col :span="8">
<el-form-item label="检验有货">
<el-switch v-model="form.inspect_in_stocck" />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="忽视取货校验" label-width="150px">
<el-switch v-model="form.ignore_pickup_check" />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="忽视放货校验" label-width="150px">
<el-switch v-model="form.ignore_release_check" />
</el-form-item>
</el-col>
</el-row>
<el-row>
<el-col :span="8">
<el-form-item label="呼叫">
<el-switch v-model="form.apply_task" />
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="响应" label-width="150px">
<el-switch v-model="form.manual_create_task" />
</el-form-item>
</el-col>
</el-row>
<el-row>
<el-col :span="8">
<el-form-item label="关联设备" prop="device_code">
<el-select
v-model="form.link_device_code"
filterable
multiple
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_name"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="关联三色灯" prop="device_code" label-width="100px">
<el-select
v-model="form.link_three_lamp"
filterable
clearable
placeholder="请选择"
>
<el-option
v-for="item in deviceList"
:key="item.device_code"
:label="item.device_name"
:value="item.device_code"
/>
</el-select>
</el-form-item>
</el-col>
<el-col :span="8">
<el-form-item label="是否输入物料" label-width="150px">
<el-switch v-model="form.input_material" />
</el-form-item>
</el-col>
</el-row>
</el-form>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">AGV相关：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-row>
<el-col :span="8">
<el-form-item label="取货">
<el-switch v-model="form.is_pickup" />
</el-form-item>
</el-col>
<el-col :span="16">
<el-form-item label="放货">
<el-switch v-model="form.is_release" />
</el-form-item>
<el-form-item label="上下层" prop="upper_lower_levels" label-width="100px">
<el-select
v-model="form.upper_lower_levels"
filterable
clearable
placeholder="请选择"
>
<el-option
v-for="item in levels"
:key="item.name"
:label="item.name"
:value="item.value"
/>
</el-select>
</el-form-item>
</el-col>
<!-- <el-col>
<el-form-item label="上下层" prop="upper_lower_levels" label-width="100px">
<el-select
v-model="form.upper_lower_levels"
filterable
clearable
placeholder="请选择"
>
<el-option
v-for="item in levels"
:key="item.name"
:label="item.name"
:value="item.value"
/>
</el-select>
</el-form-item>
</el-col> -->
</el-row>
</el-form>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">PLC读取字段：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-table
v-loading="false"
:data="data1"
:max-height="550"
size="small"
style="width: 100%;margin-bottom: 15px"
>
<el-table-column prop="name" label="用途" />
<el-table-column prop="code" label="别名要求" />
<el-table-column prop="db" label="DB块">
<template slot-scope="scope">
<el-input
v-model="data1[scope.$index].db"
size="mini"
class="edit-input"
@input="finishReadEdit(data1[scope.$index])"
/>
</template>
</el-table-column>
<el-table-column prop="dbr_value">
<template slot="header">
<el-link type="primary" :underline="false" @click.native="test_read1()">测试读</el-link>
</template>
<template slot-scope="scope">
<el-input v-model="data1[scope.$index].dbr_value" size="mini" class="edit-input" />
</template>
</el-table-column>
</el-table>
</el-form>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span">PLC写入字段：</span>
</div>
<el-form ref="form" :inline="true" :model="form" :rules="rules" size="small" label-width="78px">
<el-table
v-loading="false"
:data="data2"
:max-height="550"
size="small"
style="width: 100%;margin-bottom: 15px"
>
<el-table-column prop="name" label="用途" />
<el-table-column prop="code" label="别名要求" />
<el-table-column prop="db" label="DB块">
<template slot-scope="scope">
<el-input
v-model="data2[scope.$index].db"
size="mini"
class="edit-input"
@input="finishWriteEdit(data2[scope.$index])"
/>
</template>
</el-table-column>
<el-table-column prop="dbw_value">
<template slot="header">
<el-link type="primary" :underline="false" @click.native="test_write1()">测试写</el-link>
</template>
<template slot-scope="scope">
<el-input v-model="data2[scope.$index].dbw_value" size="mini" class="edit-input" />
</template>
</el-table-column>
</el-table>
</el-form>
</el-card>
<el-card class="box-card" shadow="never">
<div slot="header" class="clearfix">
<span class="role-span" />
<el-button
:loading="false"
icon="el-icon-check"
size="mini"
style="float: right; padding: 6px 9px"
type="primary"
@click="doSubmit"
>保存
</el-button>
</div>
</el-card>
</div>
</template>
<script>
import {
queryDriverConfig,
updateConfig,
testRead,
testwrite
} from '@/api/acs/device/driverConfig'
import { selectOpcList } from '@/api/acs/device/opc'
import { selectPlcList } from '@/api/acs/device/opcPlc'
import { selectListByOpcID } from '@/api/acs/device/opcPlc'
import crud from '@/mixins/crud'
import deviceCrud from '@/api/acs/device/device'
export default {
name: 'StandardInspectSite',
mixins: [crud],
props: {
parentForm: {
type: Object,
require: true
}
},
data() {
return {
device_code: '',
device_id: '',
plc_id: '',
plc_code: '',
opc_id: '',
opc_code: '',
configLoading: false,
dataOpcservers: [],
dataOpcPlcs: [],
deviceList: [],
data1: [],
data2: [],
form: {
inspect_in_stocck: true,
ignore_pickup_check: true,
ignore_release_check: true,
apply_task: true,
link_three_lamp: '',
manual_create_task: true,
is_pickup: true,
is_release: true,
link_device_code: [],
address: ''
},
rules: {},
levels: [
{
name: '上层',
value: '1'
},
{
name: '下层',
value: '2'
}
]
}
},
created() {
this.$nextTick(() => {
// 从父表单获取设备编码
this.device_id = this.$props.parentForm.device_id
this.device_code = this.$props.parentForm.device_code
queryDriverConfig(this.device_id, this.$props.parentForm.driver_code).then(data => {
// 给表单赋值，并且属性不能为空
if (data.form) {
const arr = Object.keys(data.form)
// 不为空
if (arr.length > 0) {
this.form = data.form
}
}
// 给表单赋值，并且属性不能为空
if (data.parentForm) {
const arr = Object.keys(data.parentForm)
// 不为空
if (arr.length > 0) {
this.opc_code = data.parentForm.opc_code
this.plc_code = data.parentForm.plc_code
}
}
this.data1 = data.rs
this.data2 = data.ws
this.sliceItem()
})
selectPlcList().then(data => {
this.dataOpcPlcs = data
this.plc_id = this.$props.parentForm.opc_plc_id
})
selectOpcList().then(data => {
this.dataOpcservers = data
this.opc_id = this.$props.parentForm.opc_server_id
})
deviceCrud.selectDeviceList().then(data => {
this.deviceList = data
})
})
},
methods: {
finishReadEdit(data) {
// 编辑的是code列,并且值包含mode
if (data.code.indexOf('mode') !== -1) {
debugger
const dbValue = data.db
// .之前的字符串
const beforeStr = dbValue.match(/(\S*)\./)[1]
// .之后的字符串
const afterStr = dbValue.match(/\.(\S*)/)[1]
// 取最后数字
const endNumber = afterStr.substring(1)
// 最后为非数字
if (isNaN(parseInt(endNumber))) {
return
}
for (const val in this.data1) {
if (this.data1[val].code.indexOf('move') !== -1) {
this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 1)
}
if (this.data1[val].code.indexOf('error') !== -1) {
this.data1[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 5)
}
if (this.data1[val].code.indexOf('task') !== -1) {
this.data1[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 7)
}
}
}
},
finishWriteEdit(data) {
// 编辑的是code列,并且值包含mode
if (data.code.indexOf('to_command') !== -1) {
const dbValue = data.db
// .之前的字符串
const beforeStr = dbValue.match(/(\S*)\./)[1]
// .之后的字符串
const afterStr = dbValue.match(/\.(\S*)/)[1]
// 取最后数字
const endNumber = afterStr.substring(1)
// 最后为非数字
if (isNaN(parseInt(endNumber))) {
return
}
for (const val in this.data2) {
if (this.data2[val].code.indexOf('to_target') !== -1) {
this.data2[val].db = beforeStr + '.' + afterStr.substring(0, 1) + (parseInt(endNumber) + 2)
}
if (this.data2[val].code.indexOf('to_task') !== -1) {
this.data2[val].db = beforeStr + '.' + 'D' + (parseInt(endNumber) + 6)
}
}
}
},
changeOpc(val) {
this.dataOpcservers.forEach(item => {
if (item.opc_id === val) {
this.opc_code = item.opc_code
}
})
selectListByOpcID(val).then(data => {
this.dataOpcPlcs = data
this.plc_id = ''
this.plc_code = ''
if (this.dataOpcPlcs && this.dataOpcPlcs.length > 0) {
this.plc_id = this.dataOpcPlcs[0].plc_id
this.plc_code = this.dataOpcPlcs[0].plc_code
}
this.sliceItem()
})
},
changePlc(val) {
this.dataOpcPlcs.forEach(item => {
if (item.plc_id === val) {
this.plc_code = item.plc_code
this.sliceItem()
return
}
})
},
test_read1() {
testRead(this.data1, this.opc_id).then(data => {
this.data1 = data
this.notify('操作成功!', 'success')
}).catch(err => {
console.log(err.response.data.message)
})
},
test_write1() {
testwrite(this.data2, this.opc_id).then(data => {
this.notify('操作成功!', 'success')
}).catch(err => {
console.log(err.response.data.message)
})
},
doSubmit() {
this.$refs['form'].validate((valid) => {
if (valid) {
this.configLoading = true
// 根据驱动类型判断是否为路由设备
const parentForm = this.parentForm
parentForm.is_route = true
parentForm.plc_id = this.plc_id
parentForm.opc_id = this.opc_id
updateConfig(parentForm, this.form, this.data1, this.data2).then(res => {
this.notify('保存成功', 'success')
this.configLoading = false
}).catch(err => {
this.configLoading = false
console.log(err.response.data.message)
})
}
})
},
sliceItem() { // 拼接DB的Item值
this.data1.forEach(item => {
const str = item.code
// 是否包含.
if (str.search('.') !== -1) {
// 截取最后一位
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
} else {
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
}
})
this.data2.forEach(item => {
const str = item.code
// 是否包含.
if (str.search('.') !== -1) {
// 截取最后一位
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + str.slice(str.lastIndexOf('.') + 1)
} else {
item.code = this.opc_code + '.' + this.plc_code + '.' + this.device_code + '.' + item.code
}
})
}
}
}
</script>
<style scoped>
</style>