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This commit is contained in:
USER-20220102CG\noblelift
2022-11-10 09:04:14 +08:00
parent cfc9ebcead
commit d15c793c63
9 changed files with 120 additions and 55 deletions
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4
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
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@@ -82,6 +82,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
agvurl = agvurl2 + ":" + agvport2 + "/v1/transportOrders/" + inst.getInstruction_code();
}
log.info("下发agv任务请求:{}", agvurl);
log.info("下发agv任务参数:{}", jo.toString());
HttpResponse result = HttpRequest.post(agvurl)
.body(String.valueOf(jo))//表单内容
@@ -114,7 +115,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
HttpResponse result = HttpRequest.get(agvurl)
.timeout(20000)//超时，毫秒
.execute();
System.out.println("查询agv指令数据:" + result.body());
log.info("查询agv指令数据:{}", result.body());
return result;
} else {

42
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/cargo_lift_conveyor/CargoLiftConveyorDeviceDriver.java
View File

@@ -78,6 +78,7 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
Boolean isonline = true;
Boolean iserror = false;
String inst_message;
//1-执行任务；2-取货完成；3-放货完成；
int flag;
@@ -87,6 +88,7 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
int last_error = 0;
String device_code;
Instruction inst = null;
@Override
public Device getDevice() {
@@ -103,16 +105,14 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
device_code = this.getDeviceCode();
heartbeat = this.itemProtocol.getItem_heartbeat();
mode = this.itemProtocol.getItem_mode();
move = this.itemProtocol.getItem_mode();
move = this.itemProtocol.getItem_move();
error = this.itemProtocol.getItem_error();
task = this.itemProtocol.getItem_task();
action = this.itemProtocol.getItem_action();
if (mode != last_mode) {
this.setRequireSucess(false);
}
if (move != last_move) {
this.setRequireSucess(false);
if (move == 0) {
thingToNothing();
}
@@ -148,9 +148,24 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
break;
case 2:
//申请任务
if (move > 0 && !requireSucess) {
if (move > 0) {
instruction_require();
}
if (mode == 2 && move != 0 && task > 0) {
//inst_message
inst = instructionService.findByCodeFromCache(String.valueOf(task));
if (inst != null) {
inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code() + " 载具号：" + inst.getVehicle_code();
if (StrUtil.equals(inst.getInstruction_status(), "1") && StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
finish_instruction();
}
if (StrUtil.equals(inst.getInstruction_status(), "0") && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
}
}
break;
}
switch (flag) {
//取货完成
@@ -170,6 +185,10 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
last_error = error;
}
public synchronized boolean finish_instruction() throws Exception {
instructionService.finish(inst);
return true;
}
public synchronized boolean instruction_apply(String container_code) throws Exception {
Date date = new Date();
@@ -295,6 +314,10 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
+ "." + ItemProtocol.item_to_target;
String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_task;
String to_door = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_door;
String to_floor = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_floor;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
@@ -304,18 +327,23 @@ public class CargoLiftConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
} else if (type == 2) {
itemMap.put(to_target, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_target + ",value:" + command);
} else if (type == 3) {
itemMap.put(to_task, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_task + ",value:" + command);
} else if (type == 4) {
itemMap.put(to_door, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_door + ",value:" + command);
} else if (type == 5) {
itemMap.put(to_floor, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_floor + ",value:" + command);
}
ReadUtil.write(itemMap, server);
}
@Override
public JSONObject getDeviceStatusName() {
JSONObject jo = new JSONObject();
String device_code = this.getDevice_code();
String mode = "";
String action = "";
String move = "";

9
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/haokai_auto_conveyor/ItemProtocol.java
View File

@@ -16,6 +16,7 @@ public class ItemProtocol {
public static String item_move = "move";
public static String item_action = "action";
public static String item_error = "error";
public static String item_container_type = "container_type";
public static String item_task = "task";
@@ -50,10 +51,15 @@ public class ItemProtocol {
return this.getOpcIntegerValue(item_action);
}
public int getItem_container_type() {
return this.getOpcIntegerValue(item_container_type);
}
public int getItem_task() {
return this.getOpcIntegerValue(item_task);
}
Boolean isonline;
public int getOpcIntegerValue(String protocol) {
@@ -75,7 +81,8 @@ public class ItemProtocol {
list.add(new ItemDto(item_move, "光电信号", "VW4"));
list.add(new ItemDto(item_action, "取放信号", "VW6"));
list.add(new ItemDto(item_error, "故障", "VW8"));
list.add(new ItemDto(item_task, "任务号", "VD10"));
list.add(new ItemDto(item_container_type, "托盘类型", "VW10"));
list.add(new ItemDto(item_task, "任务号", "VD12"));
return list;
}

25
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/standard_conveyor_control_with_scanner/StandardCoveyorControlWithScannerDeviceDriver.java
View File

@@ -232,10 +232,10 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
break;
case 2:
//申请任务
if (move > 0 && !StrUtil.isEmpty(barcode()) && !requireSucess) {
if (!StrUtil.isEmpty(barcode()) && !requireSucess) {
instruction_require(barcode());
}
if (move > 0 && !StrUtil.isEmpty(barcode()) && !applySucess) {
if (!StrUtil.isEmpty(barcode()) && !applySucess) {
instruction_apply(barcode());
}
}
@@ -320,31 +320,34 @@ public class StandardCoveyorControlWithScannerDeviceDriver extends AbstractOpcDe
public void writing(int type, int command) {
String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_command;
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_command;
String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_target;
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_target;
String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_task;
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_task;
String to_door = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_door;
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_door;
String to_floor = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+ "." + ItemProtocol.item_to_floor;
+ "." + org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.ItemProtocol.item_to_floor;
String opcservcerid = this.getDevice().getOpc_server_id();
Server server = ReadUtil.getServer(opcservcerid);
Map<String, Object> itemMap = new HashMap<String, Object>();
if (type == 1) {
itemMap.put(to_command, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_command + ",value:" + command);
} else if (type == 2) {
itemMap.put(to_target, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_target + ",value:" + command);
} else if (type == 3) {
itemMap.put(to_task, command);
} else if (type == 4) {
log.info("设备:" + device_code + ",下发PLC信号" + to_task + ",value:" + command);
} else if (type == 4) {
itemMap.put(to_door, command);
} else if (type == 5) {
log.info("设备:" + device_code + ",下发PLC信号" + to_task + ",value:" + command);
} else if (type == 5) {
itemMap.put(to_floor, command);
log.info("设备:" + device_code + ",下发PLC信号" + to_task + ",value:" + command);
}
ReadUtil.write(itemMap, server);
}

77
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -304,7 +304,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
//输送线相关需要给任务字段进行赋值，通过任务来判断输送线当前执行到哪一步
if (startdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) {
cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) startdevice.getDeviceDriver();
cargoLiftConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver){
standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) nextdevice.getDeviceDriver();
standardCoveyorControlWithScannerDeviceDriver.writing(1,1);
@@ -320,15 +319,16 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (StrUtil.isEmpty(floor)){
throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！");
}
standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(task_code));
standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
cargoLiftConveyorDeviceDriver.writing(1, 0);
cargoLiftConveyorDeviceDriver.writing(1, 1);
cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
}
}
if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) {
standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) startdevice.getDeviceDriver();
standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code()));
if (nextdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver){
cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) nextdevice.getDeviceDriver();
cargoLiftConveyorDeviceDriver.writing(1,1);
@@ -344,10 +344,12 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (StrUtil.isEmpty(floor)){
throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！");
}
cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(task_code));
cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
cargoLiftConveyorDeviceDriver.writing(1, 0);
standardCoveyorControlWithScannerDeviceDriver.writing(1, 1);
standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(dto.getInstruction_code()));
standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
}
}
if (startdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) {
@@ -898,27 +900,48 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
entity.setRoute_plan_code(task.getRoute_plan_code());
}
// != 0 为agv任务 1=magic 2=NDC 3=XZ,4=ZHEDA
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "1")
&& !StrUtil.equals(entity.getSend_status(), "2")) {
MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
magicAgvService.deleteAgvInst(entity.getInstruction_code());
flag = true;
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code());
if (ObjectUtils.isEmpty(shortPathsList)) {
throw new Exception(entity.getStart_device_code() + "->" + entity.getNext_device_code() + "路由不通");
}
String type = shortPathsList.get(0).getType();
} 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())) {
ndcAgvService.deleteAgvInstToNDC(entity);
RouteLineDto route = null;
for (int i = 0; i < shortPathsList.size(); i++) {
RouteLineDto routeLineDto = shortPathsList.get(i);
String route_device = routeLineDto.getDevice_code();
String route_next_device = routeLineDto.getNext_device_code();
if (route_device.equals(entity.getStart_device_code()) && route_next_device.equals(entity.getNext_device_code())){
route = routeLineDto;
break;
}
}
if (ObjectUtil.isEmpty(route)){
throw new BadRequestException("未查询到相关路由！");
}
if (StrUtil.equals(route.getType(), "1")) {
// != 0 为agv任务 1=magic 2=NDC 3=XZ,4=ZHEDA
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "1")
&& !StrUtil.equals(entity.getSend_status(), "2")) {
MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
magicAgvService.deleteAgvInst(entity.getInstruction_code());
flag = true;
} 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())) {
ndcAgvService.deleteAgvInstToNDC(entity);
} else {
flag = true;
}
} else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")
&& !StrUtil.equals(entity.getSend_status(), "2")) {
XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class);
xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code());
flag = true;
} else {
flag = true;
}
} else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")
&& !StrUtil.equals(entity.getSend_status(), "2")) {
XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class);
xianGongAgvService.deleteXZAgvInst(entity.getInstruction_code());
flag = true;
} else {
flag = true;
}
if (flag) {

1
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcProtocolRunable.java
View File

@@ -187,6 +187,7 @@ public class DeviceOpcProtocolRunable implements Runnable {
Thread.sleep((long) (OpcConfig.synchronized_exception_wait_second * 1000));
} catch (InterruptedException e) {
e.printStackTrace();
Thread.currentThread().interrupt();
}
++this.error_num;
if (this.error_num > 3 && !StrUtil.equals(this.message, error_message)) {

2
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceOpcSynchronizeAutoRun.java
View File

@@ -45,14 +45,12 @@ public class DeviceOpcSynchronizeAutoRun extends AbstractAutoRunnable {
}while (ObjectUtil.isEmpty(pros));
Set<String> keys = pros.keySet();
Iterator var4 = keys.iterator();
System.out.println("test:" + var4.hasNext());
//代码执行一次
while (var4.hasNext()) {
String key = (String) var4.next();
List<List<OpcItemDto>> list = (List) pros.get(key);
OpcServerManageDto opcServer = (OpcServerManageDto) servers.get(key);
Iterator var8 = list.iterator();
System.out.println("test2:" + var8.hasNext());
while (var8.hasNext()) {
List<OpcItemDto> groupProtols = (List) var8.next();