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This commit is contained in:
周俊杰
2023-09-26 14:34:53 +08:00
parent 758423c75a
commit 86462118d2
10 changed files with 219 additions and 333 deletions
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2
acs/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java
View File

@@ -9,7 +9,7 @@ import com.alibaba.fastjson.JSONObject;
* https://blog.csdn.net/moneyshi/article/details/82978073
*/
public enum DriverTypeEnum {
ORDINARY_SITE(1, "standard_ordinary_site", "普通站点", "conveyor"),
ORDINARY_SITE(1, "standard_ordinary_site", "普通站点", "station"),
INSPECT_SITE(2, "standard_inspect_site", "检测站点", "conveyor"),

273
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -2,19 +2,23 @@ package org.nl.acs.device_driver.basedriver.agv.ndcone;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.basedriver.lubei_conveyor.LubeiConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.siemens_conveyor.SiemensConveyorDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.AcsToWmsZDService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.history.ErrorUtil;
import org.nl.acs.history.service.DeviceErrorLogService;
@@ -27,6 +31,10 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceManageDto;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.lucene.service.dto.LuceneLogDto;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.util.SpringContextHolder;
@@ -68,6 +76,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
int error = 0;
int last_error = 0;
String error_message = "";
boolean flag = false;
private synchronized void setErrorInfo(int error, String error_code, String error_message) {
this.error = error;
@@ -92,6 +101,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
logServer.deviceExecuteLog(this.device_code, "", "", "接收agv上报信息：" + "phase--" + phase + " index--" + index + " 指令号--" + ikey + " 站点号--" + agvaddr + " 车号--" + carno);
Instruction link_inst = null;
List<Instruction> insts = null;
@@ -133,8 +143,16 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
StandardStorageDeviceDriver standardStorageDeviceDriver;
//
SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
//将车号写入DeviceManageDto
DeviceManageDto deviceManageDto = new DeviceManageDto();
deviceManageDto.setCarno(carno);
LubeiConveyorDeviceDriver lubeiConveyorDeviceDriver;
boolean is_feedback = false;
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
AcsToWmsZDService acsToWmsZDService = SpringContextHolder.getBean("acsToWmsZDServiceImpl");
TaskDto task = taskService.findByCode(inst.getTask_code());
String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
//分配 车id
//(不需要WCS反馈)
if (phase == 0x02) {
@@ -145,11 +163,17 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//到达取货点
//(需要WCS反馈)
} else if (phase == 0x03) {
log.info("==================AGV请求取货==================");
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令：" + ikey);
log.info("{},{}", device_code, "未找到指令 [" + ikey + "]");
return;
}
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
log.info("{},{}", device_code, "agv地址参数有误,phase:" + phase);
return;
}
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
@@ -170,43 +194,70 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
logServer.deviceExecuteLog(this.device_code, "", "", agvaddr + "对应设备号为空");
return;
}
//校验agv上报站点编号与指令起始点相同
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到编号{}对应的指令", ikey);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
log.info("{},{}", device_code, "未找到关联编号对应的指令" + ikey);
return;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
if (siemensConveyorDeviceDriver.getMove() == 1) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
log.info("请求取货条件不满足待机有货");
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "applyTake");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
}
}
if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
if (siemensConveyorDeviceDriver.getMove() == 1) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
log.info("请求取货条件不满足待机有货");
}
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//
// if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
// siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
// if (siemensConveyorDeviceDriver.getMove() == 1) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// } else {
// log.info("请求取货条件不满足待机有货");
// }
// }
//
// if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
// siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
// if (siemensConveyorDeviceDriver.getMove() == 1) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// } else {
// log.info("请求取货条件不满足待机有货");
// }
// }
// if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// }
//取货完毕
//(需要WCS反馈)
} else if (phase == 0x05) {
@@ -243,40 +294,58 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
if (StrUtil.equals(inst.getStart_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "takeFinish");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，取货完成 请求结果{}", responseCode);
}
if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
if (siemensConveyorDeviceDriver.getTo_command() == 2) {
log.info("取货完成请求离开，当前输送to_command:" + siemensConveyorDeviceDriver.getTo_command());
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
} else {
log.info("取货完成请求离开下发输送信号，当前输送to_command:" + siemensConveyorDeviceDriver.getTo_command());
List list = new ArrayList();
Map map = new HashMap();
map.put("code", "to_command");
map.put("value", "2");
list.add(map);
siemensConveyorDeviceDriver.writing(list);
siemensConveyorDeviceDriver.writing(list);
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "takeFinish");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，取货完成 请求结果{}", responseCode);
}
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//
// if (device.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
// siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) device.getDeviceDriver();
// if (siemensConveyorDeviceDriver.getTo_command() == 2) {
// log.info("取货完成请求离开，当前输送to_command:" + siemensConveyorDeviceDriver.getTo_command());
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// } else {
// log.info("取货完成请求离开下发输送信号，当前输送to_command:" + siemensConveyorDeviceDriver.getTo_command());
// List list = new ArrayList();
// Map map = new HashMap();
// map.put("code", "to_command");
// map.put("value", "2");
// list.add(map);
// siemensConveyorDeviceDriver.writing(list);
// siemensConveyorDeviceDriver.writing(list);
// }
// }
if (ObjectUtil.isNotEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase：" + phase + "反馈:" + Bytes2HexString(data));
}
@@ -308,24 +377,53 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info(agvaddr + "对应设备号为空!");
return;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "applyPut");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，申请放货 请求结果{}", responseCode);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "applyPut");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，申请放货 请求结果{}", responseCode);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//校验agv上报站点编号与指令起始点相同
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到关联编号{}对应的指令", ikey);
return;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
if (flag) {
log.info("==================允许AGV放货==================");
log.info("{},{}", device_code,"允许AGV放货。");
}
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
@@ -360,18 +458,39 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
log.info("未找到编号{}对应的指令", ikey);
return;
}
if (StrUtil.equals(inst.getNext_device_code(), device_code)) {
if (device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
standardStorageDeviceDriver = (StandardStorageDeviceDriver) device.getDeviceDriver();
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "putFinish");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，放货完成 请求结果{}", responseCode);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
if (!StrUtil.startWith(task.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
JSONObject jo = new JSONObject();
jo.put("taskCode", task.getTask_code());
jo.put("carId", carno);
jo.put("taskType ", task.getTask_type());
jo.put("feedbackStatus", "putFinish");
log.info("请求参数:{}", jo);
HttpResponse result = acsToWmsZDService.taskFeedback(jo);
JSONObject response = JSONObject.parseObject(result.body());
int responseCode = response.getInteger("responseCode");
if (responseCode == 0) {
is_feedback = true;
log.info("请求ZDwcs成功，放货完成 请求结果{}", responseCode);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
}
}
}
//到达位置点
@@ -418,6 +537,8 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
} else if (phase == 0x74) {
//三色灯状态
status = ikey;
//将小车状态写入DeviceManageDto
deviceManageDto.setStatus(status);
}
if (!ObjectUtil.isEmpty(data)) {
logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + Bytes2HexString(data));

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java
View File

@@ -21,7 +21,7 @@ import java.util.Map;
@RestController
@RequiredArgsConstructor
@Api(tags = "wms接口")
@RequestMapping("/restful/api/v3/system_car")
@RequestMapping("/wcs/restful/api/v3/system_car")
@Slf4j
@Lazy
@SaIgnore

7
acs/nladmin-system/src/main/java/org/nl/acs/opc/DeviceManageDto.java
View File

@@ -47,15 +47,16 @@ public class DeviceManageDto {
private Boolean is_entrance;
/* 粉桶号 */
private String barrels_code;
/* 配合批号 */
private String cooperate_code;
/* 粉种名称 */
private String powder_name;
/* 粉桶状态 */
private String barrels_status;
/* 小车车号 */
private Integer carno;
/* 小车状态 */
private Integer status;
private List<DeviceExtraManageDto> extra = new LinkedList();
private String perfix;

51
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/DeviceStatusUpdate.java
View File

@@ -1,51 +0,0 @@
package org.nl.modules.quartz.task;
import cn.hutool.core.util.ObjectUtil;
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.agv.server.dto.AgvDto;
import org.nl.acs.ext.wms.service.AcsToWmsZDService;
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;
/**
* 设备上传 zjj
*/
@Slf4j
@Component
public class DeviceStatusUpdate {
@Autowired
AcsToWmsZDService acsToWmsZDService;
@Autowired
ZheDaAgvService zheDaAgvService;
public void run() throws Exception {
JSONObject row = new JSONObject();
HttpResponse response = zheDaAgvService.queryZDAgvDeviceStatus();
JSONArray inst_rows = JSONArray.parseArray(response.body());
for (int i = 0; i < inst_rows.size(); i++) {
JSONObject inst_jo = inst_rows.getJSONObject(i);
String deviceCode = inst_jo.getString("vehicle");
String statusDescription = inst_jo.getString("status");
row.put("deviceCode",deviceCode);
row.put("status","1");
row.put("statusDescription",statusDescription);
JSONObject jo=JSONObject.parseObject(String.valueOf(row));
HttpResponse result=acsToWmsZDService.deviceStatusUpdate(jo);
JSONObject response1=JSONObject.parseObject(result.body());
int responseCode= response1.getInteger("responseCode");
if(responseCode == 0) {
log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
}
}
}
}

166
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java
View File

@@ -1,166 +0,0 @@
package org.nl.modules.quartz.task;
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.AcsConfig;
import org.nl.acs.agv.server.ZheDaAgvService;
import org.nl.acs.ext.wms.service.AcsToWmsZDService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.task.service.impl.TaskServiceImpl;
import org.nl.modules.system.service.ParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@Slf4j
@Component
public class QueryZDAgvTaskStatus {
@Autowired
InstructionService instructionService;
@Autowired
ZheDaAgvService agvService;
@Autowired
ParamService paramService;
@Autowired
AcsToWmsZDService acsToWmsZDService;
@Autowired
TaskService taskService;
public void run() throws Exception {
try {
HttpResponse response = agvService.queryAgvInstStatus();
//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);
log.info("查询到的任务号{}",inst);
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) || "ACTIVE".equals(state)) {
if (inst != null && StrUtil.equals("0",inst.getInstruction_status())) {
log.info("更新指令状态执行中---");
inst.setInstruction_status("1");
instructionService.update(inst);
log.info("更新指令状态执行中成功---");
// 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
TaskDto entity = taskService.findByCode(inst.getTask_code());
String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
String Type1=entity.getTask_type();
if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
JSONObject jo = new JSONObject();
jo.put("taskCode",entity.getTask_code());
jo.put("carId","111");
jo.put("taskType ",entity.getTask_type());
jo.put("feedbackStatus","taking");
log.info("请求参数:{}",jo);
try{
HttpResponse result= acsToWmsZDService.taskFeedback(jo);
log.info("请求ZDwcs成功，反馈取货中 请求结果{}",result.body());
} catch (Exception e) {
e.printStackTrace();
}
// JSONObject response=JSONObject.parseObject(result.body());
// int responseCode= response.getInteger("responseCode");
// if(responseCode == 0) {
// log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
// }
} else {
if(StrUtil.equals(Type1,"定点任务")){
JSONObject jo = new JSONObject();
jo.put("taskCode",entity.getTask_code());
jo.put("carId",vehicle);
jo.put("taskType ",entity.getTask_type());
jo.put("feedbackStatus","taking");
log.info("请求参数:{}",jo);
try{
HttpResponse result= acsToWmsZDService.taskFeedback(jo);
log.info("请求ZDwcs成功，反馈取货中 请求结果{}",result.body());
} catch (Exception e) {
e.printStackTrace();
}
// JSONObject response=JSONObject.parseObject(result.body());
// int responseCode= response.getInteger("responseCode");
// if(responseCode == 0) {
// log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
// }
}
}
} else {
if(ObjectUtil.isEmpty(inst)){
log.info("未更新指令状态执行中，inst为空，指令号:"+ inst_code);
}
if(!StrUtil.equals("0",inst.getInstruction_status())){
log.info("未更新指令状态执行中，inst状态:"+ inst.getInstruction_status());
}
}
} 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);
}
}
}
}
} catch (Exception e) {
}
}
}

2
acs/nladmin-system/src/main/resources/log/AgvNdcOneDeviceDriver.xml
View File

@@ -6,7 +6,7 @@
<appender name="FILE11" class="ch.qos.logback.core.rolling.RollingFileAppender">
<rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
<!--日志文件输出的文件名-->
<FileNamePattern>${LOG_HOME}/AgvNdcOneDeviceDriver/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
<FileNamePattern>${LOG_HOME}/NDC与ACS交互/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
<!--日志文件保留天数-->
<maxHistory>15</maxHistory>
<!--单个日志最大容量 至少10MB才能看得出来-->

33
acs/nladmin-system/src/main/resources/log/QueryZDAgvTaskStatus.xml
View File

@@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<included>
<springProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
<property name="LOG_HOME" value="${logPath}"/>
<!-- 按照每天生成日志文件 -->
<appender name="QueryZDAgvTaskStatus" class="ch.qos.logback.core.rolling.RollingFileAppender">
<rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
<!--日志文件输出的文件名-->
<FileNamePattern>${LOG_HOME}/任务反馈/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
<!--日志文件保留天数-->
<maxHistory>15</maxHistory>
<!--单个日志最大容量 至少10MB才能看得出来-->
<maxFileSize>200MB</maxFileSize>
<!--所有日志最多占多大容量-->
<totalSizeCap>2GB</totalSizeCap>
</rollingPolicy>
<encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
<!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
<pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
<charset>${log.charset}</charset>
</encoder>
</appender>
<!-- <logger name="org.nl.start.Init" level="info" additivity="false">
<appender-ref ref="FILE3"/>
</logger>-->
<!-- 打印sql -->
<logger name="org.nl.modules.quartz.task.QueryZDAgvTaskStatus" level="info" additivity="false">
<appender-ref ref="QueryZDAgvTaskStatus"/>
</logger>
</included>

2
acs/nladmin-system/src/main/resources/logback-spring.xml
View File

@@ -30,7 +30,7 @@ https://juejin.cn/post/6844903775631572999
<include resource="log/ZheDaAgv.xml"/>
<include resource="log/AcsToZDWms.xml"/>
<include resource="log/ZDToAcsWms.xml"/>
<include resource="log/QueryZDAgvTaskStatus.xml"/>
<include resource="log/AgvNdcOneDeviceDriver.xml"/>
<appender name="CONSOLE" class="ch.qos.logback.core.ConsoleAppender">
<encoder>

14
nladmin-system/src/main/resources/log/AcsToZDWms.xml Normal file
View File

@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?>
<?import java.lang.*?>
<?import java.util.*?>
<?import javafx.scene.*?>
<?import javafx.scene.control.*?>
<?import javafx.scene.layout.*?>
<AnchorPane xmlns="http://javafx.com/javafx"
xmlns:fx="http://javafx.com/fxml"
fx:controller="$CONTROLLER_NAME$"
prefHeight="400.0" prefWidth="600.0">
</AnchorPane>