更新

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

@@ -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 {

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

@@ -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 = "";

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

@@ -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;
     }

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

@@ -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);
     }
 

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

@@ -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));
+                cargoLiftConveyorDeviceDriver.writing(1, 0);
-                standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(task_code));
+                cargoLiftConveyorDeviceDriver.writing(1, 1);
-                standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door));
+                cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address));
-                standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor));
+                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(1, 0);
-                cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(task_code));
+                standardCoveyorControlWithScannerDeviceDriver.writing(1, 1);
-                cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door));
+                standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address));
-                cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor));
+                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
+        List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code());
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "1")
+        if (ObjectUtils.isEmpty(shortPathsList)) {
-                && !StrUtil.equals(entity.getSend_status(), "2")) {
+            throw new Exception(entity.getStart_device_code() + "->" + entity.getNext_device_code() + "路由不通");
-            MagicAgvService magicAgvService = SpringContextHolder.getBean(MagicAgvService.class);
+        }
-            magicAgvService.deleteAgvInst(entity.getInstruction_code());
+        String type = shortPathsList.get(0).getType();
-            flag = true;
 
-        } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) {
+        RouteLineDto route = null;
-            //NDC agv指令不当场取消指令,需要等agv上报
+        for (int i = 0; i < shortPathsList.size(); i++) {
-            if (!StrUtil.isEmpty(entity.getAgv_jobno())) {
+            RouteLineDto routeLineDto = shortPathsList.get(i);
-                ndcAgvService.deleteAgvInstToNDC(entity);
+            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) {

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

@@ -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)) {

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

@@ -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();

acs/nladmin-system/src/main/resources/config/application-dev.yml

@@ -6,11 +6,12 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:yongyu_acs2}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+#      url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:yongyu_acs2}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
-#      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:yongyu_acs2}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:yy_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
-      password: ${DB_PWD:P@ssw0rd}
+#      password: ${DB_PWD:P@ssw0rd}
 #      password: ${DB_PWD:Root.123456}
+      password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5
       # 最小连接数

acs/nladmin-system/src/main/resources/config/application-prod.yml

@@ -6,9 +6,11 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:10.16.1.25}:${DB_PORT:3306}/${DB_NAME:whxr_mes}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.4.121}:${DB_PORT:3306}/${DB_NAME:yy_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
-      password: ${DB_PWD:whxr_root}
+        #      password: ${DB_PWD:P@ssw0rd}
+        #      password: ${DB_PWD:Root.123456}
+      password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5
       # 最小连接数
@@ -54,7 +56,7 @@ spring:
   redis:
     #数据库索引
     database: ${REDIS_DB:15}
-    host: ${REDIS_HOST:10.16.1.25}
+    host: ${REDIS_HOST:127.0.0.1}
     port: ${REDIS_PORT:6379}
     password: ${REDIS_PWD:}
     #连接超时时间