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This commit is contained in:
zhangjiangwei
2023-03-10 17:22:06 +08:00
parent b183a782f3
commit 1ce194a5a6
10 changed files with 287 additions and 90 deletions
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5
acs/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
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@@ -461,7 +461,9 @@ public class MagicAgvServiceImpl implements MagicAgvService {
//请求放货
} else if ("Unload".equals(action)) {
inst.setExecute_status("3");
is_feedback = true;
if (!instructionService.hasInstInOneRow(inst)) {
is_feedback = true;
}
}
}
@@ -606,7 +608,6 @@ public class MagicAgvServiceImpl implements MagicAgvService {
}
if (addressdevice.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) addressdevice.getDeviceDriver();
flag = true;

36
acs/hd/nladmin-system/src/main/java/org/nl/acs/device_driver/driver/ItemValue.java Normal file
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@@ -0,0 +1,36 @@
package org.nl.acs.device_driver.driver;
/**
* @author ldjun
* @version 1.0
* @date 2023年02月01日 11:21
* @desc desc
*/
public class ItemValue {
private String item_code;
private Object item_value;
public ItemValue() {
}
public ItemValue(String item_code, Object item_value) {
this.item_code = item_code;
this.item_value = item_value;
}
public String getItem_code() {
return this.item_code;
}
public void setItem_code(String item_code) {
this.item_code = item_code;
}
public Object getItem_value() {
return this.item_value;
}
public void setItem_value(Object item_value) {
this.item_value = item_value;
}
}

2
acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java
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@@ -244,4 +244,6 @@ public interface InstructionService {
boolean removeByCodeFromCache(String code);
boolean hasInstInOneRow(Instruction inst);
}

18
acs/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -50,6 +50,7 @@ import javax.servlet.http.HttpServletResponse;
import java.io.IOException;
import java.util.*;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
/**
* @author ldjun
@@ -217,7 +218,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
@Override
public Instruction findByTaskcodeToWms(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_instruction");
JSONObject json = wo.query("task_code ='" + code + "'","create_time desc").uniqueResult(0);
JSONObject json = wo.query("task_code ='" + code + "'", "create_time desc").uniqueResult(0);
if (ObjectUtil.isNotEmpty(json))
return json.toJavaObject(Instruction.class);
return null;
@@ -1078,4 +1079,19 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
Pattern pattern = Pattern.compile("^[-\\+]?[\\d]*$");
return pattern.matcher(str).matches();
}
/**
* 判断库位同一排里是否有库位在他之前的指令
*
* @param inst 指令实体对象
* @return 有 true 没有 false
*/
@Override
public boolean hasInstInOneRow(Instruction inst) {
return instructions
.stream()
.anyMatch(i -> !i.getInstruction_id().equals(inst.getInstruction_id())
&& i.getTo_x().equals(inst.getTo_x())
&& Integer.parseInt(i.getTo_y()) < Integer.parseInt(inst.getTo_y()));
}
}

138
acs/hd/nladmin-system/src/main/java/org/nl/acs/opc/OpcUtl.java
View File

@@ -4,19 +4,28 @@ import cn.hutool.core.util.NumberUtil;
import lombok.extern.slf4j.Slf4j;
import org.jinterop.dcom.common.JIException;
import org.jinterop.dcom.core.*;
import org.nl.acs.device_driver.driver.ItemValue;
import org.nl.exception.BadRequestException;
import org.nl.exception.WDKException;
import org.openscada.opc.lib.common.ConnectionInformation;
import org.openscada.opc.lib.da.*;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.concurrent.Executors;
@Slf4j
public class OpcUtl {
private static int timeout = 180000;
private static int timeout = 1*60*1000;
private static String key = "rpc.socketTimeout";
public static int successNum=0;
public static int errNum=0;
static {
checkTimeout();
}
public static void checkTimeout() {
if (Integer.getInteger(key, 0).intValue() != timeout) {
@@ -26,9 +35,20 @@ public class OpcUtl {
}
public static void writeValue(Group group, WriteRequest... requests) {
public static void writeValue(Group group, WriteRequest... requests) throws WDKException {
try {
Map e = group.write(requests);
Map<Item, Integer> e=null;
try{
e=group.write(requests);
group.write(requests);
}catch (Exception e1){
try{
e= group.write(requests);
}catch (Exception e2){
e= group.write(requests);
}
}
boolean is_success = true;
StringBuilder message = new StringBuilder();
Iterator arg4 = e.keySet().iterator();
@@ -50,9 +70,60 @@ public class OpcUtl {
if (!is_success) {
// throw new BusinessException(message.toString());
System.out.println("下发信号失败："+message.toString());
System.out.println("下发信号失败原因："+message.toString());
log.info("下发信号失败："+message.toString());
throw new WDKException(message.toString());
}
} catch (JIException arg7) {
// throw new BusinessException(arg7);
log.info("下发信号失败："+arg7.getMessage());
System.out.println("下发信号失败原因："+arg7.getMessage());
throw new WDKException(arg7);
}
}
public static void writeValue(Group group, ItemValue... values) throws WDKException {
try {
if (values != null && values.length > 0) {
List<WriteRequest> ws = new ArrayList();
ItemValue[] var3 = values;
int var4 = values.length;
for(int var5 = 0; var5 < var4; ++var5) {
ItemValue value = var3[var5];
Item item = group.addItem(value.getItem_code());
ws.add(new WriteRequest(item, getVariant(value.getItem_value())));
}
writeValue(group, (WriteRequest[])ws.toArray(new WriteRequest[0]));
}
} catch (AddFailedException | JIException var8) {
throw new WDKException(var8);
}
}
public static JIVariant getVariant(Object object) {
if (object instanceof Integer) {
return getIntegerVariant((Integer)object);
} else if (object instanceof String) {
return getStringVariant((String)object);
} else if (object instanceof byte[]) {
return getByteArrayVariant((byte[])((byte[])object));
} else if (object instanceof Byte[]) {
return getByteArrayVariant((Byte[])((Byte[])object));
} else if (object instanceof Boolean) {
return new JIVariant((Boolean)object);
} else if (object instanceof int[]) {
return getByteArrayVariantxx((int[])((int[])object));
} else if (object instanceof Integer[]) {
JIArray array = new JIArray((Integer)object, false);
JIVariant value = new JIVariant(array);
return value;
} else if (object instanceof JIVariant) {
return (JIVariant)object;
} else {
throw new WDKException("未实现目前支持是int,string,byte[]");
}
}
@@ -60,6 +131,7 @@ public class OpcUtl {
if (NumberUtil.compare(itemState.getQuality(), Short.valueOf(QualityTypeValue.OPC_QUALITY_GOOD)) != 0) {
if (item != null) {
log.debug("value is not good {} : {}", item.getId(), itemState.getQuality());
// throw new WDKException("值不健康进行重连!");
} else {
log.debug("value is not good {}", itemState.getQuality());
}
@@ -150,12 +222,28 @@ public class OpcUtl {
server = new Server(getConnection(host, clsid, user, password, domain),
Executors.newSingleThreadScheduledExecutor());
server.connect();
successNum++;
return server;
} catch (Exception e) {
throw new WDKException(e);
errNum++;
// e.printStackTrace();
System.out.println("server error:"+e.getMessage());
throw new WDKException(e.getMessage());
}finally{
System.out.println("successNum:"+successNum);
System.out.println("errNum:"+errNum);
}
}
public static Server getAutoServer(String host, String clsid, String user, String password, String domain) throws WDKException {
checkTimeout();
Server server = null;
server = new Server(getConnection(host, clsid, user, password, domain), Executors.newSingleThreadScheduledExecutor());
AutoReconnectController autoReconnectController = new AutoReconnectController(server);
autoReconnectController.connect();
return server;
}
public static ConnectionInformation getConnection(String host, String clsid, String user, String password,
String domain) {
ConnectionInformation connection = new ConnectionInformation();
@@ -167,6 +255,44 @@ public class OpcUtl {
return connection;
}
public static JIVariant getByteArrayVariantxx(int[] bytes) {
Integer[] byte_Data = new Integer[bytes.length];
for(int i = 0; i < bytes.length; ++i) {
byte_Data[i] = bytes[i];
}
JIArray array = new JIArray(byte_Data, false);
JIVariant value = new JIVariant(array);
return value;
}
public static JIVariant getIntegerVariant(Integer integer) {
return new JIVariant(integer);
}
public static JIVariant getStringVariant(String string) {
return new JIVariant(string);
}
public static JIVariant getByteArrayVariant(byte[] bytes) {
Byte[] byte_Data = new Byte[bytes.length];
for(int i = 0; i < bytes.length; ++i) {
byte_Data[i] = bytes[i];
}
JIArray array = new JIArray(byte_Data, false);
JIVariant value = new JIVariant(array);
return value;
}
public static JIVariant getByteArrayVariant(Byte[] bytes) {
JIArray array = new JIArray(bytes, false);
JIVariant value = new JIVariant(array);
return value;
}
public static String read(String item) throws Exception {
System.out.println(item);
Server server = getServer("192.168.81.251", "7bc0cc8e-482c-47ca-abdc-0fe7f9c6e729", "administrator", "Huawei@123", "");
@@ -193,5 +319,7 @@ public class OpcUtl {
System.out.println(itemState.getQuality());
System.out.println(getValue(byteItem, itemState));
}
}

13
acs/hd/nladmin-system/src/main/java/org/nl/hand/service/impl/PadServiceImpl.java
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@@ -11,6 +11,7 @@ import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.MagicAgvService;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
@@ -82,7 +83,7 @@ public class PadServiceImpl implements PadService {
throw new BadRequestException("未找到该指令！");
}
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
MagicAgvService agvService = SpringContextHolder.getBean(MagicAgvService.class);
AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
String task_id = instwo.getString("task_id");
@@ -91,9 +92,8 @@ public class PadServiceImpl implements PadService {
3 强制完成*/
if (type.equals("1")) {
//调用agv删除任务的接口
agvService = SpringContextHolder.getBean("agvServiceImpl");
try {
agvService.deleteAgvInstToNDC(instwo.toJavaObject(Instruction.class));
agvService.deleteAgvInst(instwo.getString("instruction_code"));
instructionService.cancel(inst_uuid);
} catch (Exception e) {
@@ -105,14 +105,13 @@ public class PadServiceImpl implements PadService {
}
if (type.equals("2")) {
Instruction instdto = (Instruction) JSONObject.toJavaObject(instwo, Instruction.class);
AgvService agvserver = SpringContextHolder.getBean("agvServiceImpl");
try {
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")) {
agvService.sendAgvInstToNDC(instdto);
agvService.sendAgvInstToMagic(instdto);
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "2")) {
agvService.sendAgvInstToNDC(instdto);
agvService.sendAgvInstToMagic(instdto);
}
}
} catch (Exception e) {
@@ -145,7 +144,7 @@ public class PadServiceImpl implements PadService {
@Override
public Map<String, Object> Taskoperation(Map<String, String> jsonObject) {
JSONObject jo = new JSONObject();
String task_uuid = jsonObject.get("inst_uuid");
String task_uuid = jsonObject.get("task_uuid");
String type = jsonObject.get("type");
JSONObject taskjo = WQLObject.getWQLObject("acs_task").query("task_id='" + task_uuid + "'").uniqueResult(0);
if (StrUtil.isEmpty(task_uuid)) {

155
acs/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryMagicAgvTaskStatus.java
View File

@@ -10,6 +10,8 @@ import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.MagicAgvService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.slf4j.MDC;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
@@ -18,91 +20,104 @@ import java.util.List;
* 查询AGV任务状态
*/
@Slf4j
@Component
@Component("queryMagicAgvTaskStatus")
@RequiredArgsConstructor
public class QueryMagicAgvTaskStatus {
private final InstructionService instructionService;
private final InstructionService instructionService;
@Autowired
MagicAgvService magicAgvService;
private String log_file_type = "log_file_type";
private String log_type = "agv接口日志";
public void run() throws Exception {
List<Instruction> instList = instructionService.findAllInstFromCache();
if (instList.size() > 0) {
for (int i = 0; i < instList.size(); i++) {
Instruction inst = instList.get(i);
String instcode = inst.getInstruction_code();
HttpResponse response = magicAgvService.queryAgvInstStatus(instcode);
JSONObject jo = JSONObject.parseObject(response.body());
if (MapUtil.isEmpty(jo)) continue;
//反馈结果状态
log.info("instcode：" + instcode + "," + jo.toString());
//指令执行状态
String state = jo.getString("state");
String processingVehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(jo.getString("processingVehicle"))) {
processingVehicle = jo.getString("processingVehicle");
inst.setCarno(processingVehicle);
}
// RAW：初始状态
// ACTIVE：业务订单已激活
// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
// BEING_PROCESSED：业务订单正在被执行
// WITHDRAWN：业务订单已被撤销
// FINISHED：业务订单已完成
// FAILED：业务订单已失败
// UNROUTABLE：无法规划该业务订单的执行路线
MDC.put(log_file_type, log_type);
try {
if (instList.size() > 0) {
for (int i = 0; i < instList.size(); i++) {
Instruction inst = instList.get(i);
String instcode = inst.getInstruction_code();
HttpResponse response = magicAgvService.queryAgvInstStatus(instcode);
if (response.getStatus() != 200) {
continue;
}
JSONObject jo = JSONObject.parseObject(response.body());
if (MapUtil.isEmpty(jo)) continue;
//反馈结果状态
log.info("instcode：" + instcode + "," + jo.toString());
//指令执行状态
String state = jo.getString("state");
String processingVehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(jo.getString("processingVehicle"))) {
processingVehicle = jo.getString("processingVehicle");
inst.setCarno(processingVehicle);
}
// RAW：初始状态
// ACTIVE：业务订单已激活
// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
// BEING_PROCESSED：业务订单正在被执行
// WITHDRAWN：业务订单已被撤销
// FINISHED：业务订单已完成
// FAILED：业务订单已失败
// UNROUTABLE：无法规划该业务订单的执行路线
//执行中
if ("BEING_PROCESSED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(instcode);
}
} else {
//执行中
if ("BEING_PROCESSED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(state)) {
log.info("agv指令状态：{}",state);
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(instcode);
}
} else {
}
JSONArray ja = jo.getJSONArray("properties");
for (int j = 0; j < ja.size(); j++) {
JSONObject item = ja.getJSONObject(j);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
String[] strs = param.split("-");
//onEntry请求进入 onStation请求离开
//onStation-库位名-动作名"
String type = null;
String device = null;
String action = null;
// =5表示为货位
if (strs.length == 5) {
type = strs[0];
device = strs[1] + "-" + strs[2] + "-" + strs[3];
action = strs[4];
} else {
type = strs[0];
device = strs[1];
action = strs[2];
}
JSONArray ja = jo.getJSONArray("properties");
for (int j = 0; j < ja.size(); j++) {
JSONObject item = ja.getJSONObject(j);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
String[] strs = param.split("-");
//onEntry请求进入 onStation请求离开
//onStation-库位名-动作名"
String type = null;
String device = null;
String action = null;
// =5表示为货位
if (strs.length == 5) {
type = strs[0];
device = strs[1] + "-" + strs[2] + "-" + strs[3];
action = strs[4];
} else {
type = strs[0];
device = strs[1];
action = strs[2];
}
String mes = "";
magicAgvService.process(instcode, type, device, action, processingVehicle);
}
String mes = "";
magicAgvService.process(instcode, type, device, action, processingVehicle);
}
}
}
} finally {
MDC.remove(log_file_type);
}
}