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opt:二楼agv看板

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郑旭明\73939
2026-04-24 15:18:06 +08:00
parent 3d01a08969
commit 691969f00d
7 changed files with 921 additions and 2 deletions
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38
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/controller/TwoFloorAgvController.java Normal file
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@@ -0,0 +1,38 @@
package org.nl.acs.agv.controller;
import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
/**
* 二楼AGV状态控制器
* 提供HTTP接口获取AGV状态信息
*/
@RestController
@RequestMapping("/api/agv/two-floor")
public class TwoFloorAgvController {
@Autowired
private TwoFloorAgvStatusService agvStatusService;
/**
* 获取所有二楼AGV状态
* @return 所有AGV状态列表
*/
@GetMapping("/status")
public Object getAllAgvStatus() {
return agvStatusService.getAllAgvStatus();
}
/**
* 获取单个AGV状态
* @param vehicleCode AGV车辆代码
* @return AGV状态信息
*/
@GetMapping("/status/{vehicleCode}")
public Object getAgvStatus(String vehicleCode) {
return agvStatusService.getAgvStatus(vehicleCode);
}
}

131
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/domain/TwoFloorAgvStatus.java Normal file
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@@ -0,0 +1,131 @@
package org.nl.acs.agv.domain;
import lombok.Data;
/**
* 二楼AGV状态数据模型
* 用于存储和传输AGV的实时状态信息
*/
@Data
public class TwoFloorAgvStatus {
/**
* AGV车辆代码
*/
private String vehicle_code;
/**
* AGV状态
*/
private String status;
/**
* AGV状态文本描述
*/
private String status_text;
/**
* 当前任务代码
*/
private String task_code;
/**
* 当前指令代码
*/
private String inst_code;
/**
* 当前阶段值
*/
private Integer phase;
/**
* 当前阶段名称
*/
private String phase_name;
/**
* 当前位置
*/
private String address;
/**
* 物料类型
*/
private String material_type;
/**
* 物料数量
*/
private Integer quantity;
/**
* 开始设备代码
*/
private String start_device_code;
/**
* 下一个设备代码
*/
private String next_device_code;
/**
* 是否有错误
*/
private Boolean is_error;
/**
* 错误代码
*/
private String error_code;
/**
* 错误信息
*/
private String error_message;
/**
* 卡住的Action
*/
private String error_action;
/**
* 卡住的Mode
*/
private String error_mode;
/**
* 电量
*/
private Integer electric_qty;
/**
* X坐标
*/
private Integer x;
/**
* Y坐标
*/
private Integer y;
/**
* 角度
*/
private Integer angle;
/**
* 区域
*/
private Integer region;
/**
* 是否在线
*/
private Boolean is_online;
/**
* 三色灯状态
*/
private Integer status_light;
}

178
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/impl/TwoFloorAgvStatusService.java Normal file
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@@ -0,0 +1,178 @@
package org.nl.acs.agv.service.impl;
import org.nl.acs.agv.domain.TwoFloorAgvStatus;
import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
/**
* 二楼AGV状态管理服务
* 负责管理和更新AGV状态，通过HTTP接口提供状态查询
*/
@Service
public class TwoFloorAgvStatusService {
@Autowired
private TwoAgvPhase twoAgvPhase;
/**
* 存储AGV状态信息，key为AGV车辆代码
*/
private Map<String, TwoFloorAgvStatus> agvStatusMap = new HashMap<>();
/**
* 初始化AGV状态
*/
public TwoFloorAgvStatusService() {
// 初始化二楼的4台AGV
for (int i = 1; i <= 4; i++) {
TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
String vehicleCode = String.format("AGV%02d", i);
agvStatus.setVehicle_code(vehicleCode);
agvStatus.setStatus("idle");
agvStatus.setStatus_text("空闲");
agvStatus.setIs_error(false);
agvStatus.setIs_online(true);
agvStatusMap.put(vehicleCode, agvStatus);
}
}
/**
* 更新AGV状态
* @param agvStatus AGV状态信息
*/
public void updateAgvStatus(TwoFloorAgvStatus agvStatus) {
if (agvStatus == null || agvStatus.getVehicle_code() == null) {
return;
}
// 处理阶段名称
if (agvStatus.getPhase() != null) {
String phaseName = twoAgvPhase.getPhaseName(agvStatus.getPhase());
agvStatus.setPhase_name(phaseName);
}
// 处理状态文本
this.handleStatusText(agvStatus);
// 更新状态
agvStatusMap.put(agvStatus.getVehicle_code(), agvStatus);
// 推送状态更新
this.pushAgvStatusUpdate();
}
/**
* 处理AGV状态文本
*/
private void handleStatusText(TwoFloorAgvStatus agvStatus) {
switch (agvStatus.getStatus()) {
case "running":
agvStatus.setStatus_text("运行中");
break;
case "idle":
agvStatus.setStatus_text("空闲");
break;
case "error":
agvStatus.setStatus_text("异常");
agvStatus.setIs_error(true);
break;
case "charging":
agvStatus.setStatus_text("充电中");
break;
default:
agvStatus.setStatus_text("未知");
break;
}
}
/**
* 获取单个AGV状态
* @param vehicleCode AGV车辆代码
* @return AGV状态信息
*/
public TwoFloorAgvStatus getAgvStatus(String vehicleCode) {
return agvStatusMap.get(vehicleCode);
}
/**
* 获取所有AGV状态
* @return 所有AGV状态列表
*/
public List<TwoFloorAgvStatus> getAllAgvStatus() {
return new ArrayList<>(agvStatusMap.values());
}
/**
* 更新AGV状态后不需要推送，由前端通过HTTP接口主动查询
*/
public void pushAgvStatusUpdate() {
// 改为HTTP接口后，不再需要主动推送
// 前端会通过定时请求获取最新状态
}
/**
* 更新AGV任务信息
*/
public void updateAgvTaskInfo(String vehicleCode, String taskCode, String instCode) {
TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
if (agvStatus != null) {
agvStatus.setTask_code(taskCode);
agvStatus.setInst_code(instCode);
this.pushAgvStatusUpdate();
}
}
/**
* 更新AGV阶段信息
*/
public void updateAgvPhase(String vehicleCode, Integer phase) {
TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
if (agvStatus != null) {
agvStatus.setPhase(phase);
agvStatus.setPhase_name(twoAgvPhase.getPhaseName(phase));
this.pushAgvStatusUpdate();
}
}
/**
* 更新AGV错误信息
*/
public void updateAgvError(String vehicleCode, String errorCode, String errorMessage, String errorAction, String errorMode) {
TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
if (agvStatus != null) {
agvStatus.setIs_error(true);
agvStatus.setError_code(errorCode);
agvStatus.setError_message(errorMessage);
agvStatus.setError_action(errorAction);
agvStatus.setError_mode(errorMode);
agvStatus.setStatus("error");
agvStatus.setStatus_text("异常");
this.pushAgvStatusUpdate();
}
}
/**
* 清除AGV错误信息
*/
public void clearAgvError(String vehicleCode) {
TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
if (agvStatus != null) {
agvStatus.setIs_error(false);
agvStatus.setError_code(null);
agvStatus.setError_message(null);
agvStatus.setError_action(null);
agvStatus.setError_mode(null);
if ("error".equals(agvStatus.getStatus())) {
agvStatus.setStatus("idle");
agvStatus.setStatus_text("空闲");
}
this.pushAgvStatusUpdate();
}
}
}

9
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
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@@ -23,6 +23,7 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.system.service.param.ISysParamService;
import org.nl.system.service.param.impl.SysParamServiceImpl;
import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -68,6 +69,11 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
AutoRunService autoRunService;
@Autowired
LuceneExecuteLogService luceneExecuteLogService;
/**
* 二楼AGV状态管理服务
*/
private TwoFloorAgvStatusService agvStatusService;
public TwoNDCSocketConnectionAutoRun() {
@@ -93,6 +99,9 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
// 初始化AGV状态管理服务
agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
try {
log.info("2楼1区域AGV系统链接开始");

176
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
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@@ -44,6 +44,8 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.config.thread.ThreadPoolExecutorUtil;
import org.nl.system.service.param.ISysParamService;
import org.nl.config.SpringContextHolder;
import org.nl.acs.agv.domain.TwoFloorAgvStatus;
import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
import java.util.HashMap;
import java.util.LinkedHashMap;
@@ -71,6 +73,11 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
TwoAgvPhase twoAgvPhase = new TwoAgvPhase();
/**
* 二楼AGV状态管理服务
*/
private TwoFloorAgvStatusService agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
String error_code = "0";
int agvaddr = 0;
int agvaddr_copy = 0;
@@ -100,6 +107,163 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
this.error_message = error_message;
}
/**
* 更新AGV状态信息到TwoFloorAgvStatusService
* @param arr socket数据数组
* @param carno 车号
* @param phase 当前阶段
* @param ikey 任务号
* @param agvaddr 站点号
* @param inst 指令信息
* @param task 任务信息
*/
private void updateAgvStatusToService(int[] arr, int carno, int phase, int ikey, int agvaddr, Instruction inst, TaskDto task) {
if (carno == 0) {
return;
}
try {
// 创建AGV状态对象
TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
// 设置AGV车辆代码
String vehicleCode = String.format("AGV%02d", carno);
agvStatus.setVehicle_code(vehicleCode);
// 设置状态
String status = "running";
if (iserror) {
status = "error";
} else if (phase == 0x67 || phase == 0x71 || phase == 0x72 || phase == 0x73 || phase == 0x74 || phase == 0x75) {
status = "idle";
}
agvStatus.setStatus(status);
// 设置任务信息
if (inst != null) {
agvStatus.setTask_code(inst.getTask_code());
agvStatus.setInst_code(String.valueOf(ikey));
}
// 设置阶段信息
agvStatus.setPhase(phase);
agvStatus.setPhase_name(twoAgvPhase.getPhaseName(phase));
// 设置位置信息
String address = deviceService.queryDeviceCodeByAddress(agvaddr);
agvStatus.setAddress(address);
// 设置错误信息
agvStatus.setIs_error(iserror);
agvStatus.setError_code(error_code);
agvStatus.setError_message(error_message);
// 设置电量
agvStatus.setElectric_qty(electric_qty);
// 设置坐标和角度
agvStatus.setX(x);
agvStatus.setY(y);
agvStatus.setAngle(angle);
// 设置区域
agvStatus.setRegion(region);
// 设置在线状态
agvStatus.setIs_online(isonline);
// 更新到服务
agvStatusService.updateAgvStatus(agvStatus);
} catch (Exception e) {
log.error("更新AGV状态到服务失败: {}", e.getMessage());
}
}
/**
* 记录任务卡住原因
* @param carno 车号
* @param device_code 设备号
* @param deviceDriver 设备驱动
* @param message 错误信息
*/
private void recordTaskStuckReason(int carno, String device_code, Object deviceDriver, String message) {
try {
// 解析错误信息，提取action和mode不满足的原因
String error_action = null;
String error_mode = null;
// 根据不同设备驱动类型，提取action和mode信息
if (deviceDriver instanceof WasteFoilWeighingStationDriver) {
WasteFoilWeighingStationDriver driver = (WasteFoilWeighingStationDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
} else if (deviceDriver instanceof StandardOrdinarySiteDeviceDriver) {
StandardOrdinarySiteDeviceDriver driver = (StandardOrdinarySiteDeviceDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
} else if (deviceDriver instanceof HongXiangStationDeviceDriver) {
HongXiangStationDeviceDriver driver = (HongXiangStationDeviceDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
} else if (deviceDriver instanceof ManipulatorAgvStationDeviceDriver) {
ManipulatorAgvStationDeviceDriver driver = (ManipulatorAgvStationDeviceDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
} else if (deviceDriver instanceof RangingStationsDeviceDriver) {
RangingStationsDeviceDriver driver = (RangingStationsDeviceDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
} else if (deviceDriver instanceof StandardInspectSiteDeviceDriver) {
StandardInspectSiteDeviceDriver driver = (StandardInspectSiteDeviceDriver) deviceDriver;
if (driver.getAction() != 1) {
error_action = "动作信号:" + driver.getAction() + "不满足条件";
}
if (driver.getMode() != 2) {
error_mode = "模式:" + driver.getMode() + "不满足条件";
}
}
// 创建AGV状态对象
TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
// 设置AGV车辆代码
String vehicleCode = String.format("AGV%02d", carno);
agvStatus.setVehicle_code(vehicleCode);
// 设置错误信息
agvStatus.setIs_error(true);
agvStatus.setStatus("error");
agvStatus.setError_message(message);
agvStatus.setError_action(error_action);
agvStatus.setError_mode(error_mode);
// 更新到服务
agvStatusService.updateAgvStatus(agvStatus);
} catch (Exception e) {
log.error("记录任务卡住原因失败: {}", e.getMessage());
}
}
public synchronized void processSocket(int[] arr) throws Exception {
device_code = this.getDeviceCode();
byte[] data = null;
@@ -180,6 +344,9 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
//废箔称重位
WasteFoilWeighingStationDriver wasteFoilWeighingStationDriver;
// 更新AGV状态信息到TwoFloorAgvStatusService
updateAgvStatusToService(arr, carno, phase, ikey, agvaddr, inst, task);
if (phase == 0x02) {
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
@@ -301,6 +468,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
// 记录任务卡住原因
recordTaskStuckReason(carno, device_code, standardInspectSiteDeviceDriver, message);
}
} else if (device.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) device.getDeviceDriver();
@@ -319,12 +488,15 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
log.info("设备{}，动作信号{} ,不满足取货条件,指令号{}", manipulatorAgvStationDeviceDriver.getDeviceCode(), manipulatorAgvStationDeviceDriver.getAction(), ikey);
message = "设备号:" + device_code + "动作信号:" + manipulatorAgvStationDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(manipulatorAgvStationDeviceDriver.getDeviceCode())
.content("未给agv进入信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为1")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
// 记录任务卡住原因
recordTaskStuckReason(carno, device_code, manipulatorAgvStationDeviceDriver, message);
}
} else if (device.getDeviceDriver() instanceof HongXiangStationDeviceDriver) {
hongXiangStationDeviceDriver = (HongXiangStationDeviceDriver) device.getDeviceDriver();
@@ -458,6 +630,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
// 记录任务卡住原因
recordTaskStuckReason(carno, device_code, wasteFoilWeighingStationDriver, message);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
@@ -863,6 +1037,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
// 记录任务卡住原因
recordTaskStuckReason(carno, device_code, hongXiangStationDeviceDriver, message);
}
} else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();