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USER-20220102CG\noblelift
2022-10-21 18:59:06 +08:00
parent 3c85feb4f9
commit 93640acc95
6 changed files with 411 additions and 42 deletions
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130
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java Normal file
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package org.nl.modules.quartz.task;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.StrUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.acs.route.service.RouteLineService;
import org.nl.acs.route.service.dto.RouteLineDto;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.stereotype.Component;
import java.util.Arrays;
import java.util.List;
/**
* 自动创建指令
*/
@Slf4j
@Component
public class AutoCreateInst {
/**
* 根据任务状态创建指令、生成下一条指令
* 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
*/
public void run() throws Exception {
TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
List<TaskDto> list = taskserver.queryAll("task_status = '0'");
for (int i = 0; i < list.size(); i++) {
TaskDto acsTask = list.get(i);
String taskid = acsTask.getTask_id();
String taskcode = acsTask.getTask_code();
String vehiclecode = acsTask.getVehicle_code();
String priority = acsTask.getPriority();
String is_send = acsTask.getIs_send();
String start_device_code = acsTask.getStart_device_code();
String next_device_code = acsTask.getNext_device_code();
String start_point_code = acsTask.getStart_point_code();
String put_point_code = acsTask.getPut_point_code();
String put_device_code = acsTask.getPut_device_code();
String route_plan_code = acsTask.getRoute_plan_code();
String vehicleType = acsTask.getVehicle_type();
String next_point_code = acsTask.getNext_point_code();
if(StrUtil.equals(is_send,"0")){
continue;
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
} else {
next_point_code = next_device_code;
}
Instruction instdto = new Instruction();
instdto.setInstruction_type(acsTask.getTask_type());
instdto.setInstruction_id(IdUtil.simpleUUID());
instdto.setRoute_plan_code(route_plan_code);
instdto.setRemark(acsTask.getRemark());
instdto.setMaterial(acsTask.getMaterial());
instdto.setQuantity(acsTask.getQuantity());
instdto.setTask_id(taskid);
instdto.setTask_code(taskcode);
instdto.setVehicle_code(vehiclecode);
String now = DateUtil.now();
instdto.setCreate_time(now);
instdto.setCreate_by("auto");
instdto.setStart_device_code(start_device_code);
instdto.setStart_point_code(start_point_code);
instdto.setPut_device_code(put_device_code);
instdto.setPut_point_code(put_point_code);
instdto.setNext_device_code(next_device_code);
instdto.setNext_point_code(next_point_code);
instdto.setPriority(priority);
instdto.setInstruction_status("0");
instdto.setExecute_device_code(start_point_code);
instdto.setVehicle_type(vehicleType);
try {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
continue;
}
//创建指令后修改任务状态
acsTask.setTask_status("1");
taskserver.update(acsTask);
}
}
}

40
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusMonitor.java Normal file
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package org.nl.modules.quartz.task;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.modules.mnt.websocket.MsgType;
import org.nl.modules.mnt.websocket.SocketMsg;
import org.nl.modules.mnt.websocket.WebSocketServer;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.io.IOException;
/**
* 设备状态监控
*/
@Slf4j
@Component
@RequiredArgsConstructor
public class DeviceStatusMonitor {
// @Autowired
// StageActorService stageActorService;
// private String stage_code = "SHDP";
//
// public void run(String stageCode) throws Exception {
// try {
// if (StrUtil.isNotEmpty(stageCode)) {
// stage_code = stageCode;
// }
// JSONObject json = stageActorService.queryStageActorByStageCode(stage_code);
// SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
//
// WebSocketServer.sendInfo(deviceInfo, "device_monitor");
// WebSocketServer.sendInfo(deviceInfo, "xj_device_monitor");
// } catch (IOException e) {
// e.printStackTrace();
// }
// }
}

164
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java Normal file
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package org.nl.modules.quartz.task;
import cn.hutool.core.map.MapUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.ZheDaAgvService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
/**
* 查询AGV任务状态
*/
@Slf4j
@Component
public class QueryZDAgvTaskStatus {
@Autowired
InstructionService instructionService;
@Autowired
ZheDaAgvService agvService;
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());
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
// 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(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);
}
}
}
}
HttpResponse response2 = agvService.queryAgvInstStatus("2");
//查询AGV指令列表
JSONArray inst_rows2 = JSONArray.parseArray(response.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 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
// 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(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);
}
}
}
}
}
}

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acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/TestTask.java
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/*
* Copyright 2019-2020 Zheng Jie
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.nl.modules.quartz.task;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
/**
* 测试用
* @author Zheng Jie
* @date 2019-01-08
*/
@Slf4j
@Component
public class TestTask {
public void run(){
log.info("run 执行成功");
}
public void run1(String str){
log.info("run1 执行成功，参数为： {}" + str);
}
public void run2(){
log.info("run2 执行成功");
}
}

76
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java Normal file
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package org.nl.modules.quartz.task;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.modules.mnt.websocket.MsgType;
import org.nl.modules.mnt.websocket.SocketMsg;
import org.nl.modules.mnt.websocket.WebSocketServer;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.Map;
/**
* 查询AGV设备状态
*/
@Slf4j
@Component
public class ToAgvDevice {
@Autowired
AcsToWmsService acsToWmsService;
@Autowired
AgvService agvService;
public void run() throws Exception {
JSONObject json = new JSONObject();
Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
JSONArray agv_rows = new JSONArray();
JSONObject row = new JSONObject();
for (AgvDto agvDto : agv_map.values()) {
row.put("device_code", agvDto.getName());
row.put("energyLevel", agvDto.getEnergyLevel());
if (agvDto.getState().equals("UNKNOWN")) {
row.put("status_name", "有任务");
row.put("flag", "1");
}
if (agvDto.getState().equals("UNAVAILABLE")) {
row.put("status_name", "网络异常");
row.put("flag", "1");
}
if (agvDto.getState().equals("ERROR")) {
row.put("status_name", "机器错误");
row.put("flag", "1");
}
if (agvDto.getState().equals("IDLE")) {
row.put("status_name", "空闲");
row.put("flag", "0");
}
if (agvDto.getState().equals("EXECUTING")) {
row.put("status_name", "运行中");
row.put("flag", "0");
}
if (agvDto.getState().equals("CHARGING")) {
row.put("status_name", "充电中");
row.put("flag", "0");
}
row.put("transportOrder", agvDto.getTransportOrder());
row.put("positionX", agvDto.getPositionX());
row.put("positionY", agvDto.getPositionY());
row.put("positionAngle", agvDto.getPositionAngle());
agv_rows.add(row);
}
json.put("agv_rows", agv_rows);
SocketMsg deviceInfo = new SocketMsg(json, MsgType.INFO);
WebSocketServer.sendInfo(deviceInfo, "toAgvDevice_data");
// acsToWmsService.feedbackAgv(row);
}
}