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opt:自动下发分配充电任务开发

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This commit is contained in:
zds
2025-03-06 10:16:42 +08:00
parent 0381d8fbcd
commit 7340bfc26d
5 changed files with 136 additions and 2 deletions
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4
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java
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@@ -58,4 +58,8 @@ public interface AcsConfig {
String MAXSENDTASKTIME = "maxSendTaskTime";
//指令下发立库
String INSTSENDLK = "instSendLk";
String ELECTRIC ="electric";
String IS_ATUO_ELECTRIC ="is_atuo_electric";
}

3
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
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@@ -40,4 +40,7 @@ public interface NDCAgvService {
* @return
*/
public boolean createChargingTaskToNDC(String carno);
public void charge(String carno);
}

72
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -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
@@ -34,7 +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;
Map<String, AgvDto> AGVDeviceStatus = new HashMap();
@@ -193,6 +196,73 @@ public class NDCAgvServiceImpl implements NDCAgvService {
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<Dict> dictList= dictService.getDictByName("station");
int satation=0;
Dict temp=new Dict();
for(Dict dict : dictList){
if ("1".equals(dict.getValue())&&carno.equals(dict.getPara2())){
log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict.getPara1());
return;
}
}
for(Dict dict : dictList){
if ("0".equals(dict.getValue())){
satation = Integer.parseInt(dict.getPara1());
temp=dict;
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) carhigh, (byte) carlow,
(byte) satationhigh, (byte) satationlow
};
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());
}
temp.setValue("1");
temp.setPara2(String.valueOf(carno));
dictService.updateDetail(temp);
}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) {
byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));

37
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
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@@ -17,6 +17,8 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.task.service.TaskService;
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;
@@ -59,6 +61,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
AutoRunService autoRunService;
@Autowired
LuceneExecuteLogService luceneExecuteLogService;
@Autowired
ISysDictService dictService;
public OneNDCSocketConnectionAutoRun() {
@@ -127,6 +131,9 @@ 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<Instruction> insts = null;
@@ -245,8 +252,36 @@ 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<Dict> 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{}反馈充电中，充电桩{}",agvaddr,station);
//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<Dict> dictList= dictService.getDictByName("station");
for(Dict dict : dictList){
if (Integer.parseInt(dict.getPara1())==station){
dict.setValue("0");
dict.setPara2("");
dictService.updateDetail(dict);
break;
}
}
}
} else {
else {
//上报异常信息
//（不需要WCS反馈）
if (phase == 0x67) {

22
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
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@@ -9,6 +9,7 @@ import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.device.domain.Device;
@@ -75,6 +76,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int last_electric_qty = 0;
int last_status = 0;
int last_error = 0;
boolean isCharge = false;
@LokiLog(type = LokiLogType.ACS_TO_LMS)
public synchronized void processSocket(int[] arr) throws Exception {
@@ -322,7 +324,27 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
}else if (phase == 0x73) {
//agv电量
electric_qty = ikey;
//是否开启自动充电
String is_atuo_electric = paramService.findByCode(AcsConfig.IS_ATUO_ELECTRIC).getValue();
if("1".equals(is_atuo_electric)){
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);
NDCAgvService.charge(String.valueOf(this.agvaddr));
isCharge =true;
}
}
} else if (phase == 0x74) {
//三色灯状态
status = ikey;
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
OneNDCSocketConnectionAutoRun.write(data);