root/yiBinGaoCe
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

opt:优化充电

Browse Source
This commit is contained in:
zds
2025-03-13 12:56:58 +08:00
parent a4399880ff
commit f0cb33e529
6 changed files with 98 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
View File

@@ -1,5 +1,6 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -23,6 +24,7 @@ import org.nl.common.utils.CodeUtil;
import org.nl.config.SpringContextHolder;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import java.util.HashMap;
import java.util.List;
@@ -197,24 +199,19 @@ public class NDCAgvServiceImpl implements NDCAgvService {
}
@Override
@Transactional(rollbackFor = Exception.class)
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");
Dict dict = dictService.getDictByName3("station",carno,null);
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;
}
if(ObjectUtil.isNotEmpty(dict)){
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;
}
Dict temp = dictService.getDictByName2("station");
if(ObjectUtil.isNotEmpty(temp)){
satation = Integer.parseInt(temp.getPara1());
}
if(satation!=0){
String instcode =CodeUtil.getNewCode("INSTRUCT_NO");
@@ -238,7 +235,7 @@ public class NDCAgvServiceImpl implements NDCAgvService {
(byte) 0X00, (byte) 0X0E,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0A,
(byte) 0X00, (byte) 0X08,
(byte) 0X64, (byte) 0X80,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
@@ -255,7 +252,8 @@ public class NDCAgvServiceImpl implements NDCAgvService {
}
temp.setValue("1");
temp.setPara2(String.valueOf(carno));
temp.setPara2(carno);
temp.setPara3("下发充电");
dictService.updateDetail(temp);
}else{

51
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -9,8 +9,6 @@ import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_autodoor.StandardAutodoorDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
@@ -31,7 +29,6 @@ import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.Date;
import java.util.List;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@@ -81,7 +78,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
System.out.println("NDCAgv链接开始");
ISysParamService ISysParamService = SpringContextHolder.getBean(SysParamServiceImpl.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
@@ -131,16 +127,10 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//车号
int carno = arr[20];
//充电桩站点号
int station = arr[25];
int station=arr[25];
Instruction link_inst = null;
Instruction inst = null;
List<Instruction> insts = null;
boolean link_flag = false;
Device agv_device = null;
if (carno != 0) {
agv_device = deviceAppService.findDeviceByCode(String.valueOf(carno));
}
if (ikey != 0) {
inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
if (ObjectUtil.isEmpty(inst)) {
@@ -151,7 +141,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
link_flag = true;
}
log.info("接收agv上报信息：" + bs);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " carno--" + carno+" station--"+station);
log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " carno--" + carno);
Device device = null;
String device_code = null;
String old_device_code = null;
@@ -244,24 +234,20 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//(需要WCS反馈)
}else if (phase == 0xFF) {
if (!ObjectUtil.isEmpty(inst)) {
if (!ObjectUtil.isEmpty(inst)) {
instructionService.cancelNOSendAgv(inst.getInstruction_id());
taskService.cancel(inst.getTask_id());
}
if (ObjectUtil.isNotEmpty(inst)) {
instructionService.cancelNOSendAgv(inst.getInstruction_id());
taskService.cancel(inst.getTask_id());
}
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;
}
Dict dict = dictService.getDictByName3("station",null,String.valueOf(station));
if (ObjectUtil.isNotEmpty(dict)){
dict.setValue("1");
dict.setPara2(String.valueOf(agvaddr));
dict.setPara3("下发成功");
dictService.updateDetail(dict);
}
//充电成功
}else if (phase == 0x65){
@@ -269,14 +255,12 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
//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;
}
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),String.valueOf(station));
if (ObjectUtil.isNotEmpty(dict)){
dict.setValue("0");
dict.setPara2("");
dict.setPara3("");
dictService.updateDetail(dict);
}
}
@@ -314,7 +298,6 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
} catch (Exception e) {
System.out.println("OneAgv链接异常");
log.info("OneAgv链接异常");
log.error("agv连接出现异常:{}", e);
logServer.deviceExecuteLog("1", "", "", "agv异常" + e.getMessage());

24
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -35,9 +35,12 @@ 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.impl.TaskServiceImpl;
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.config.SpringContextHolder;
import org.nl.system.service.param.impl.SysParamServiceImpl;
import org.springframework.beans.factory.annotation.Autowired;
import java.util.List;
@@ -57,6 +60,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
ISysDictService dictService = SpringContextHolder.getBean(ISysDictService.class);
int agvaddr = 0;
int agvaddr_copy = 0;
int weight = 0;
@@ -334,10 +338,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("接收agv上报信息,is_atuo_electric：" + is_atuo_electric);
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;
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.agvaddr, electric_qty,electric);
//判断是否已下发充电任务
Dict dict1 = dictService.getDictByName3("station",String.valueOf(this.agvaddr),null);
if(ObjectUtil.isNotEmpty(dict1)){
log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict1.getPara1());
}else{
//未下发，判断是否有空闲充电桩
Dict dict = dictService.getDictByName2("station");
if(ObjectUtil.isNotEmpty(dict)){
NDCAgvService.charge(String.valueOf(this.agvaddr));
isCharge =true;
}else{
log.info("当前车辆{}电量为{}低于{}，但无空闲充电桩!", this.agvaddr, electric_qty,electric);
}
}
}
}
} else if (phase == 0x74) {

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -960,7 +960,7 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
} else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
// NDC agv指令不当场取消指令,需要等agv上报
if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
if (StrUtil.isNotEmpty(entity.getAgv_jobno())) {
ndcAgvService.deleteAgvInstToNDC(new Instruction(entity));
}
flag = true;

14
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/ISysDictService.java
View File

@@ -62,6 +62,20 @@ public interface ISysDictService extends IService<Dict> {
*/
List<Dict> getDictByName(String name);
/**
* 获取字典明细
* @param name
* @return
*/
Dict getDictByName2(String name);
/**
* 获取字典明细
* @param name
* @return
*/
Dict getDictByName3(String name,String carno,String station);
/**
* 添加字典明细
* @param resources

33
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/impl/SysDictServiceImpl.java
View File

@@ -124,6 +124,39 @@ public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> impleme
return dictList;
}
@Override
public Dict getDictByName2(String name) {
Dict dict = null;
List<Dict> dictList = sysDictMapper.selectList(
new LambdaQueryWrapper<Dict>()
.eq(Dict::getCode, name)
.eq(Dict::getValue, "0")
.and(slam -> slam.isNull(Dict::getPara2)
.or()
.eq(Dict::getPara2, ""))
);
if (ObjectUtil.isNotEmpty(dictList) && dictList.size()>0){
dict = dictList.get(0);
}
return dict;
}
@Override
public Dict getDictByName3(String name,String carno,String station) {
Dict dict = null;
List<Dict> dictList = sysDictMapper.selectList(
new LambdaQueryWrapper<Dict>()
.eq(Dict::getCode, name)
.eq(ObjectUtil.isNotEmpty(carno),Dict::getPara2, carno)
.eq(ObjectUtil.isNotEmpty(station),Dict::getPara1, station)
.eq(Dict::getValue,"1")
);
if (ObjectUtil.isNotEmpty(dictList) && dictList.size()>0){
dict = dictList.get(0);
}
return dict;
}
@Override
@Transactional(rollbackFor = Exception.class)
public void createDetail(Dict dict) {