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gengby
2022-11-23 09:01:10 +08:00
parent bbd7197f9b
commit 1b378064af
8 changed files with 178 additions and 119 deletions
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8
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/ZheDaAgvService.java
View File

@@ -30,4 +30,12 @@ public interface ZheDaAgvService {
public HttpResponse markComplete(String code);
/**
* 删除先知任务
*
* @param instCode
* @return
*/
public HttpResponse deleteZDAgvInst(String instCode);
}

48
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
View File

@@ -35,6 +35,8 @@ import org.springframework.stereotype.Service;
@RequiredArgsConstructor
public class ZheDaAgvServiceImpl implements ZheDaAgvService {
private final ParamService paramService;
private final TaskService taskService;
private final InstructionService instructionService;
@LokiLog(type = LokiLogType.AGV)
@Override
public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception {
@@ -262,7 +264,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
//2楼AGV起点追加任务
String start_device_code = respjson.getString("device_code");
String next_device_code = inst.getNext_device_code();
destinations.add(destination(start_device_code, "load", "1", "1"));
destinations.add(destination(start_device_code, "Load", "1", "1"));
destinations.add(destination(next_device_code, "Unload", "1", "1"));
} else if(StrUtil.equals(inst.getInstruction_type(),"4")){
@@ -273,11 +275,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
jo.put("destinations", destinations);
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
String url = agvurl + ":" + agvport + "/rmds/addDestinations";
log.info("下发agv任务请求:{}", url);
String url = agvurl + ":" + agvport + "/rmds/v1/addDestinations";
log.info("下发追加agv任务请求:{}", jo);
HttpResponse result = HttpRequest.post(url)
.body(String.valueOf(jo))//表单内容
@@ -289,14 +291,14 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
JSONObject complete = new JSONObject();
complete.put("task_code", inst.getInstruction_code());
String url2 = agvurl + ":" + agvport + "markComplete";
String url2 = agvurl + ":" + agvport + "/rmds/v1/markComplete";
log.info("下发agv任务请求:{}", url2);
HttpResponse result2 = HttpRequest.post(url2)
.body(String.valueOf(complete))//表单内容
.timeout(20000)//超时，毫秒
.execute();
log.info("下发agv任务请求反馈:{}", result2);
log.info("下发agv任务封口请求反馈:{}", result2);
}
}
//放货的进入前等待和离开等待
@@ -402,13 +404,13 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
log.info("反馈AGV请求数据:{}", requestjo);
System.out.println("back agv:" + requestjo);
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
if (inst.getInstruction_type().equals("4")) {
agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
if (inst.getInstruction_type().equals("1")) {
agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
}
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact";
agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + jobno + "/interact";
HttpResponse result = HttpRequest.post(agvurl)
.body(String.valueOf(requestjo))
@@ -555,5 +557,27 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
return destinationOrder;
}
@LokiLog(type = LokiLogType.AGV)
@Override
public HttpResponse deleteZDAgvInst(String instCode) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
String agvurl = paramService.findByCode(AcsConfig.AGVURL2).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
Instruction instruction = instructionService.findByCode(instCode);
if (instruction.getInstruction_type().equals("1")){
agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
}
agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + instCode + "/withdrawal";
log.info("删除agv指令请求agvurl:{}", agvurl);
HttpResponse result = HttpRequest.post(agvurl)
.body("{}")
.timeout(20000)//超时，毫秒
.execute();
log.info("删除agv指令请求反馈:{}", result);
return result;
} else {
return null;
}
}
}

17
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -383,12 +383,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (startdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) startdevice.getDeviceDriver();
//已经生成指令得取空托盘数量
Integer emptyNum = taskService.queryStartNum(dto.getStart_device_code());
Integer emptyNum = taskService.queryStartNum(dto.getStart_device_code(), dto.getNext_device_code());
//当前任务取得空托盘数量
Integer now_need_emptypallet_num = Integer.parseInt(taskService.findByCode(dto.getTask_code()).getEmptypallet_num());
//当前叠盘架有空托盘数量
int now_number = emptyVehicleStackingPositionDeviceDriver.getNumber();
//判断从第几层取
int i = now_number - now_need_emptypallet_num - emptyNum + 1;
if (i <= 0) {
throw new BadRequestException("当前叠盘架：" + dto.getStart_device_code() + "叠盘数为0！");
}
dto.setStart_device_code(start_device_code + "." + i);
dto.setStart_parent_code(start_device_code + "." + i);
dto.setStart_point_code(start_device_code + "." + i);
@@ -396,12 +400,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (nextdevice.getDeviceDriver() instanceof EmptyVehicleStackingPositionDeviceDriver) {
emptyVehicleStackingPositionDeviceDriver = (EmptyVehicleStackingPositionDeviceDriver) startdevice.getDeviceDriver();
//已经生成指令得放空托盘数量
Integer emptyNum = taskService.queryEndNum(dto.getStart_device_code());
Integer emptyNum = taskService.queryEndNum(dto.getStart_device_code(), dto.getNext_device_code());
//当前任务放空托盘数量
Integer now_need_emptypallet_num = Integer.parseInt(taskService.findByCode(dto.getTask_code()).getEmptypallet_num());
//当前叠盘架有空托盘数量
int now_number = emptyVehicleStackingPositionDeviceDriver.getNumber();
int i = now_number + emptyNum + 1;
//判断当前放叠盘架位置叠盘数量+已经生成指令的需要搬运的叠盘数量是否大于最大叠盘数量
if (i - 1 + now_need_emptypallet_num > 12) {
throw new BadRequestException("当前叠盘架：" + dto.getStart_device_code() + "超出最大叠盘数量！");
}
dto.setNext_device_code(next_device_code + "." + i);
dto.setNext_parent_code(next_device_code + "." + i);
dto.setNext_point_code(next_device_code + "." + i);
@@ -992,6 +1000,11 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class);
xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code());
flag = true;
} else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "4")
&& !StrUtil.equals(entity.getSend_status(), "2")) {
ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
zheDaAgvService.deleteZDAgvInst(entity.getInstruction_code());
flag = true;
} else {
flag = true;
}

4
acs/nladmin-system/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -266,7 +266,7 @@ public interface TaskService {
* @param code
* @return
*/
Integer queryStartNum(String code);
Integer queryStartNum(String start_code,String next_code);
/**
* 查询叠盘位起点未执行完任务得数量叠盘数量
@@ -274,7 +274,7 @@ public interface TaskService {
* @param code
* @return
*/
Integer queryEndNum(String code);
Integer queryEndNum(String start_code,String next_code);
}

8
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -1215,12 +1215,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
}
@Override
public Integer queryStartNum(String code) {
public Integer queryStartNum(String start_code,String next_code) {
int num = 0;
Iterator<TaskDto> iterator = tasks.iterator();
while (iterator.hasNext()) {
TaskDto task = iterator.next();
if (task.getStart_device_code().equals(code) && task.getTask_status().equals("1")) {
if (task.getStart_device_code().equals(start_code) && !task.getNext_device_code().equals(next_code) && task.getTask_status().equals("1")) {
num = num + Integer.parseInt(task.getEmptypallet_num());
}
}
@@ -1228,12 +1228,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
}
@Override
public Integer queryEndNum(String code) {
public Integer queryEndNum(String next_code,String start_code) {
int num = 0;
Iterator<TaskDto> iterator = tasks.iterator();
while (iterator.hasNext()) {
TaskDto task = iterator.next();
if (task.getNext_device_code().equals(code) && task.getTask_status().equals("1")) {
if (task.getNext_device_code().equals(next_code) && !task.getStart_device_code().equals(start_code) && task.getTask_status().equals("1")) {
num = num + Integer.parseInt(task.getEmptypallet_num());
}
}

103
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java
View File

@@ -31,26 +31,27 @@ public class QueryOneZDAgvTaskStatus {
public void run() throws Exception {
HttpResponse response = agvService.queryAgvInstStatus("1");
//查询AGV指令列表
JSONArray inst_rows = JSONArray.parseArray(response.body());
for (int i = 0; i < inst_rows.size(); i++) {
JSONObject inst_jo = inst_rows.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
try {
HttpResponse response = agvService.queryAgvInstStatus("1");
//查询AGV指令列表
JSONArray inst_rows = JSONArray.parseArray(response.body());
for (int i = 0; i < inst_rows.size(); i++) {
JSONObject inst_jo = inst_rows.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
String state = inst_jo.getString("state");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
String state = inst_jo.getString("state");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
// 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
@@ -60,40 +61,44 @@ public class QueryOneZDAgvTaskStatus {
// 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);
//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(inst_jo.getString("task_code"));
}
}
} 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(inst_jo.getString("task_code"));
}
}
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
}
}
}
}
}catch (Exception e){
}
}
}

103
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java
View File

@@ -27,26 +27,27 @@ public class QueryTwoZDAgvTaskStatus {
public void run() throws Exception {
HttpResponse response2 = agvService.queryAgvInstStatus("2");
//查询AGV指令列表
JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
for (int i = 0; i < inst_rows2.size(); i++) {
JSONObject inst_jo = inst_rows2.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
try {
HttpResponse response2 = agvService.queryAgvInstStatus("2");
//查询AGV指令列表
JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
for (int i = 0; i < inst_rows2.size(); i++) {
JSONObject inst_jo = inst_rows2.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
String status = inst_jo.getString("status");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
String status = inst_jo.getString("status");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
// 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
@@ -56,40 +57,44 @@ public class QueryTwoZDAgvTaskStatus {
// 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(status) || "ACTIVE".equals(status)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
//执行中
if ("BEING_PROCESSED".equals(status) || "ACTIVE".equals(status)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
}
}
} else if ("FINISHED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
}
}
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("true".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
}
}
}
}
} catch (Exception e){
}
}
}