diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java index d1c9d24..71e46b9 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java @@ -40,4 +40,6 @@ public interface NDCAgvService { * @return */ public boolean createChargingTaskToNDC(String carno); + + public void charge(String carno); } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java index 8f0224c..0bfd0a7 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java @@ -16,6 +16,8 @@ import org.nl.acs.log.LokiLogType; import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; +import org.nl.system.service.dict.ISysDictService; +import org.nl.system.service.dict.dao.Dict; import org.nl.system.service.param.ISysParamService; import org.nl.common.utils.CodeUtil; import org.nl.config.SpringContextHolder; @@ -23,6 +25,7 @@ import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import java.util.HashMap; +import java.util.List; import java.util.Map; @Slf4j @@ -34,6 +37,7 @@ public class NDCAgvServiceImpl implements NDCAgvService { private final DeviceAppService deviceAppService; private final ISysParamService paramService; private final AcsToWmsService acsToWmsService; + private final ISysDictService dictService; private final DeviceExecuteLogService logServer; @@ -150,7 +154,7 @@ public class NDCAgvServiceImpl implements NDCAgvService { (byte) 0X00, (byte) 0X6D, (byte) 0X00, (byte) 0X08, (byte) indexhigh, (byte) indexlow, - (byte) 0X01, (byte) 0X19, + (byte) 0X01, (byte) 0X12, (byte) phasehigh, (byte) phaselow, (byte) nextPointHigh,(byte) nextPointLow }; @@ -190,6 +194,58 @@ public class NDCAgvServiceImpl implements NDCAgvService { System.out.println("反馈agv动作数据:" + Bytes2HexString(b)); return b; } + @Override + public void charge(String carno) { + //检查数据字典station为0的参数 + //分配车辆 + List dictList= dictService.getDictByName("station"); + int satation=0; + for(Dict dict : dictList){ + if ("0".equals(dict.getValue())){ + satation = Integer.parseInt(dict.getPara1()); + break; + } + } + if(satation!=0){ + String instcode =CodeUtil.getNewCode("INSTRUCT_NO"); + byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode)); + byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode)); + byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno)); + byte carlow = (byte) IntToHexLow(Integer.parseInt(carno)); + byte satationhigh = (byte) IntToHexHigh(satation); + byte satationlow = (byte) IntToHexLow(satation); + String str = "十进制下发："; + String str1 = "十六进制下发："; + str += "ikey:" + (Integer.parseInt(instcode)); + str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF); + str += "carno:" + (Integer.parseInt(carno)); + str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF); + str += "/satation:" + (satation); + str1 += "/satation:" + hexToString(satationhigh & 0xFF) + hexToString(satationlow & 0xFF); + + byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD, + (byte) 0X00, (byte) 0X08, + (byte) 0X00, (byte) 0X0E, + (byte) 0X00, (byte) 0X01, + (byte) 0X00, (byte) 0X71, + (byte) 0X00, (byte) 0X0A, + (byte) 0X64, (byte) 0X80, + (byte) 0X00, (byte) 0X01, + (byte) ikeyhigh, (byte) ikeylow, + (byte) satationhigh, (byte) satationlow, + (byte) carhigh, (byte) carlow + }; + log.info("下发AGV充电任务--{}", str1); + + try{ + OneNDCSocketConnectionAutoRun.write(b); + } catch (Exception e){ + log.error("下发充电任务失败{}{}",e,e.getMessage()); + } + }else{ + log.error("目前暂无可使用充电桩充电桩，暂不分配{}充电任务",carno); + } + } @Override public boolean createChargingTaskToNDC(String carno) { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java index d4763cc..e9aaa5a 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java @@ -14,6 +14,8 @@ import org.nl.acs.instruction.service.InstructionService; import org.nl.acs.instruction.service.impl.InstructionServiceImpl; import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.opc.DeviceAppService; +import org.nl.system.service.dict.ISysDictService; +import org.nl.system.service.dict.dao.Dict; import org.nl.system.service.lucene.LuceneExecuteLogService; import org.nl.system.service.param.ISysParamService; import org.nl.config.SpringContextHolder; @@ -58,6 +60,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { AutoRunService autoRunService; @Autowired LuceneExecuteLogService luceneExecuteLogService; + @Autowired + ISysDictService dictService; public OneNDCSocketConnectionAutoRun() { @@ -126,6 +130,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { int agvaddr = arr[18] * 256 + arr[19]; //车号 int carno = arr[20]; + //充电桩站点号 + int station=arr[25]; Instruction link_inst = null; Instruction inst = null; List insts = null; @@ -189,6 +195,42 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable { } data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); + //充电任务下发成功上报 + }else if (phase == 0x64){ + log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station); + List dictList= dictService.getDictByName("station"); + for(Dict dict : dictList){ + if (Integer.parseInt(dict.getPara1())==station){ + dict.setValue("1"); + dict.setPara2(String.valueOf(agvaddr)); + dictService.updateDetail(dict); + break; + } + } + //充电成功 + }else if (phase == 0x65){ + log.info("AGV车号{}反馈充电成功，释放充电桩{}",agvaddr,station); + List dictList= dictService.getDictByName("station"); + for(Dict dict : dictList){ + if (Integer.parseInt(dict.getPara1())==station){ + dict.setValue("0"); + dict.setPara2(""); + dictService.updateDetail(dict); + break; + } + } + //充电取消上报 + }else if (phase == 0x66){ + log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station); + List dictList= dictService.getDictByName("station"); + for(Dict dict : dictList){ + if (Integer.parseInt(dict.getPara1())==station){ + dict.setValue("0"); + dict.setPara2(""); + dictService.updateDetail(dict); + break; + } + } } else { //上报异常信息 //（不需要WCS反馈） diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java index 1b96bbc..a18e07b 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java @@ -76,6 +76,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic int last_status = 0; int last_error = 0; String transportOrder = ""; + boolean isCharge = false; @LokiLog(type = LokiLogType.ACS_TO_LMS) public synchronized void processSocket(int[] arr) throws Exception { @@ -322,6 +323,11 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic } else if (phase == 0x73) { //agv电量 electric_qty = ikey; + if (electric_qty < 40 && !isCharge) { + log.info("当前车辆{}电量为{}低于40，开始充电!", this.device_code, electric_qty); + NDCAgvService.charge(this.device_code); + isCharge =true; + } } else if (phase == 0x74) { //三色灯状态 status = ikey; @@ -334,15 +340,15 @@ 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 resp = acsToWmsService.requestTaskAgain(task.getNext_point_code(),task.getExt_task_id(),inst.getVehicle_code()); + 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); - int start_address = deviceService.queryAddressBydeviceCode(inst.getStart_point_code()); - int next_address = deviceService.queryAddressBydeviceCode(next_device_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); + task.setNext_point_code(next_device_code); + int start_address = deviceService.queryAddressBydeviceCode(inst.getStart_point_code()); + int next_address = deviceService.queryAddressBydeviceCode(next_device_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); } else { data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0); } diff --git a/lms/nladmin-ui/src/views/wms/sch/point/index.vue b/lms/nladmin-ui/src/views/wms/sch/point/index.vue index c21ec44..fb4e5bf 100644 --- a/lms/nladmin-ui/src/views/wms/sch/point/index.vue +++ b/lms/nladmin-ui/src/views/wms/sch/point/index.vue @@ -211,6 +211,9 @@ + + +