更新

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvService.java

@@ -147,6 +147,11 @@ public interface AgvService {
      */
     public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception;
 
+
+    public HttpResponse pauseVehicleToXZ(JSONObject jsonObject) throws Exception;
+
+    public HttpResponse resumeVehicleToXZ(JSONObject jsonObject) throws Exception;
+
     public HttpResponse addOrderSequences(Instruction inst) throws Exception;
 
     /**
@@ -161,6 +166,7 @@ public interface AgvService {
     public JSONObject createOrederData(Instruction inst, String type);
 
     public JSONArray createBlocksData(Instruction inst);
+
     /**
      * magic 全部暂停车辆
      */

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

@@ -5,6 +5,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSON;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONArray;
@@ -1521,6 +1522,48 @@ public class AgvServiceImpl implements AgvService {
         }
     }
 
+    @Override
+    public HttpResponse pauseVehicleToXZ(JSONObject jsonObject) throws Exception {
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+            agvurl = agvurl + ":" + agvport + "/gotoSitePause";
+            System.out.println("请求地址为:" + agvurl);
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body(JSON.toJSONString(jsonObject))//表单内容
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            System.out.println("返回结果为:" + result);
+            log.info(agvurl);
+            logServer.log("pauseVehicle", "pauseVehicleToXZ", "info", String.valueOf(jsonObject), result.body(), String.valueOf(result.getStatus()), agvurl, String.valueOf(jsonObject));
+            return result;
+        } else {
+            return null;
+        }
+    }
+
+    @Override
+    public HttpResponse resumeVehicleToXZ(JSONObject jsonObject) throws Exception {
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+            agvurl = agvurl + ":" + agvport + "/gotoSiteResume";
+            System.out.println("请求地址为:" + agvurl);
+            HttpResponse result = HttpRequest.post(agvurl)
+                    .body(JSON.toJSONString(jsonObject))//表单内容
+                    .timeout(20000)//超时，毫秒
+                    .execute();
+            System.out.println("返回结果为:" + result);
+            log.info(agvurl);
+            logServer.log("resumeVehicle", "resumeVehicleToXZ", "info", String.valueOf(jsonObject), result.body(), String.valueOf(result.getStatus()), agvurl, String.valueOf(jsonObject));
+            return result;
+        } else {
+            return null;
+        }
+    }
+
     @Override
     public HttpResponse addOrderSequences(Instruction inst) throws Exception {
         JSONObject orderjo = createOrederData(inst, "1");

hd/nladmin-system/src/main/java/org/nl/acs/common/deviceInfo/PauseOrResumeDevice.java

@@ -0,0 +1,44 @@
+package org.nl.acs.common.deviceInfo;
+
+import net.sf.json.JSONObject;
+import org.nl.acs.common.AbstractDriverService;
+import org.nl.acs.device_driver.tianneng.PauseOrResumeDeviceDriver;
+import org.nl.acs.opc.Device;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author geng by
+ * 输送线
+ */
+@Component("pauseOrResume")
+public class PauseOrResumeDevice extends AbstractDriverService {
+    PauseOrResumeDeviceDriver pauseOrResumeDeviceDriver;
+
+    @Override
+    public JSONObject getDeviceInfo(Device device) {
+        pauseOrResumeDeviceDriver = (PauseOrResumeDeviceDriver) device.getDeviceDriver();
+        JSONObject jo = this.getCommonDeviceInfo(pauseOrResumeDeviceDriver);
+        return jo;
+    }
+
+    @Override
+    public Boolean createInstCheckStartPoint(Device device, TaskDto taskDto) throws Exception {
+        //standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+        //return this.checkStartPoint(standardConveyorLineDeviceDriver, taskDto, InstEnum.standard_conveyor_line_start.getMode(), InstEnum.standard_conveyor_line_start.getMove());
+        return true;
+    }
+
+    @Override
+    public Boolean createInstCheckNextPoint(Device device, TaskDto taskDto) throws Exception {
+        //standardConveyorLineDeviceDriver = (StandardConveyorLineDeviceDriver) device.getDeviceDriver();
+        // return this.checkNextPoint(standardConveyorLineDeviceDriver, taskDto,InstEnum.standard_conveyor_line_next.getMode(), InstEnum.standard_conveyor_line_next.getMove());
+        return true;
+    }
+
+    @Override
+    public void changeDeviceStatus(Device device, JSONObject form) {
+        pauseOrResumeDeviceDriver = (PauseOrResumeDeviceDriver) device.getDeviceDriver();
+        this.changeDeviceStatus(pauseOrResumeDeviceDriver, form, false);
+    }
+}

hd/nladmin-system/src/main/java/org/nl/acs/device/device_driver/DriverTypeEnum.java

@@ -82,7 +82,8 @@ public enum DriverTypeEnum {
 //
 //    ssj_cache_site(37, "ssj_cache_site", "三时纪-缓存站点", "conveyor"),
 
-    STANDARDCONVEYORLINE(38, "standard_conveyor_line", "缓存架", "conveyor");
+    STANDARDCONVEYORLINE(38, "standard_conveyor_line", "缓存架", "conveyor"),
+    PAUSEorresume(39, "pauseOrResume", "agv暂停或继续", "conveyor");
 
 
     //驱动索引

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/tianneng/ItemProtocol.java

@@ -0,0 +1,59 @@
+package org.nl.acs.device_driver.tianneng;
+
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Slf4j
+@Data
+public class ItemProtocol {
+
+    public static String item_agv_action = "agv_action";
+
+    private PauseOrResumeDeviceDriver driver;
+
+    public ItemProtocol(PauseOrResumeDeviceDriver driver) {
+        this.driver = driver;
+    }
+
+    public int getAgv_action() {
+        return this.getOpcIntegerValue(item_agv_action);
+    }
+
+    //是否有货
+    public int hasGoods(int move) {
+        return move;
+    }
+
+    Boolean isonline;
+
+    public int getOpcIntegerValue(String protocol) {
+        Integer value = this.driver.getIntegerValue(protocol);
+        if (value == null) {
+            log.error(this.getDriver().getDeviceCode() + ":protocol " + protocol + " 信号同步异常!");
+            setIsonline(false);
+        } else {
+            setIsonline(true);
+            return value;
+        }
+        return 0;
+
+    }
+
+    public static List<ItemDto> getReadableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_agv_action, "agv工作状态", "DB600.B502"));
+        return list;
+    }
+
+    public static List<ItemDto> getWriteableItemDtos() {
+        ArrayList list = new ArrayList();
+        list.add(new ItemDto(item_agv_action, "agv工作状态", "DB600.B502"));
+        return list;
+    }
+
+}
+

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/tianneng/PauseOrResumeDefination.java

@@ -0,0 +1,63 @@
+package org.nl.acs.device_driver.tianneng;
+
+import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceType;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * agv-暂停或恢复
+ */
+@Service
+public class PauseOrResumeDefination implements OpcDeviceDriverDefination {
+    @Override
+    public String getDriverCode() {
+        return "pauseOrResume";
+    }
+
+    @Override
+    public String getDriverName() {
+        return "agv-暂停或恢复";
+    }
+
+    @Override
+    public String getDriverDescription() {
+        return "agv-暂停或恢复";
+    }
+
+    @Override
+    public DeviceDriver getDriverInstance(Device device) {
+        return (new PauseOrResumeDeviceDriver()).setDevice(device).setDriverDefination(this);
+
+    }
+
+    @Override
+    public Class<? extends DeviceDriver> getDeviceDriverType() {
+        return PauseOrResumeDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.conveyor);
+        return types;
+    }
+
+    @Override
+    public List<ItemDto> getReadableItemDtos() {
+        return ItemProtocol.getReadableItemDtos();
+    }
+
+
+    @Override
+    public List<ItemDto> getWriteableItemDtos() {
+        return ItemProtocol.getWriteableItemDtos();
+    }
+
+}

hd/nladmin-system/src/main/java/org/nl/acs/device_driver/tianneng/PauseOrResumeDeviceDriver.java

@@ -0,0 +1,279 @@
+package org.nl.acs.device_driver.tianneng;
+
+import lombok.Data;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.agv.server.impl.AgvServiceImpl;
+import org.nl.acs.device.device_driver.standard_inspect.ReadUtil;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device_driver.DeviceDriver;
+import org.nl.acs.device_driver.RouteableDeviceDriver;
+import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
+import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.opc.DeviceAppServiceImpl;
+import org.nl.acs.route.service.RouteLineService;
+import org.nl.acs.task.service.TaskService;
+import org.nl.utils.SpringContextHolder;
+import org.openscada.opc.lib.da.Server;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.util.Date;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * agv暂停或恢复驱动
+ */
+@Slf4j
+@Data
+@RequiredArgsConstructor
+public class PauseOrResumeDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver {
+    protected ItemProtocol itemProtocol = new ItemProtocol(this);
+    @Autowired
+    InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+    @Autowired
+    DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
+    @Autowired
+    RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
+    @Autowired
+    TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl");
+    @Autowired
+    RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
+    @Autowired
+    DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
+    @Autowired
+    DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
+    @Autowired
+    AgvService agvService = SpringContextHolder.getBean(AgvServiceImpl.class);
+
+    private Date instruction_require_time = new Date();
+    private Date instruction_finished_time = new Date();
+    private Date instruction_apply_time = new Date();
+    private int instruction_require_time_out = 3000;
+
+    //请求暂停成功标记
+    Boolean requirePauseSuccess = false;
+    //请求继续成功标记
+    Boolean requireResumeSuccess = false;
+
+    int agv_action = 0;
+    int last_agv_action = 0;
+
+    Boolean isonline = true;
+    int hasGoods = 0;
+    String message = null;
+    Boolean iserror = false;
+
+    String Container = null;
+    String device_code = null;
+    int branchProtocol = 0;
+    //备注
+    String remark;
+    //数量
+    String qty;
+    //物料
+    String material;
+    //当前指令
+    Instruction inst = null;
+    //上次指令
+    Instruction last_inst = null;
+
+    //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+    int flag;
+
+    @Override
+    public Device getDevice() {
+        return this.device;
+    }
+
+
+    @Override
+    public void execute() throws Exception {
+        String message = null;
+        try {
+            device_code = this.getDeviceCode();
+            agv_action = this.itemProtocol.getAgv_action();
+
+            if (agv_action != last_agv_action) {
+                if (agv_action == 1) {
+                    this.setRequirePauseSuccess(false);
+                }
+                if (agv_action == 2) {
+                    this.setRequireResumeSuccess(false);
+                }
+                this.execute_log.setResource(this.device_code, this.device.getDevice_name());
+                this.execute_log.log("设备:" + device_code + ",last_agv_action -> agv_action:" + last_agv_action + "->" + agv_action);
+            }
+
+        } catch (Exception var17) {
+            return;
+        }
+
+        if (!this.itemProtocol.getIsonline()) {
+            this.setIsonline(false);
+            this.setIserror(true);
+            message = "信号量同步异常";
+            //未联机
+        } else {
+            this.setIsonline(true);
+            this.setIserror(false);
+            message = "";
+            Instruction instruction = null;
+            List toInstructions;
+            switch (agv_action) {
+                case 1:
+                    if (!requirePauseSuccess) {
+                        JSONObject map = new JSONObject();
+                        JSONArray vehicles = new JSONArray();
+                        map.put("vehicles", vehicles);
+                        agvService.pauseVehicleToXZ(map);
+                        this.setRequirePauseSuccess(true);
+                    }
+                    break;
+                case 2:
+                    if (!requireResumeSuccess) {
+                        JSONObject map = new JSONObject();
+                        JSONArray vehicles = new JSONArray();
+                        map.put("vehicles", vehicles);
+                        agvService.resumeVehicleToXZ(map);
+                        this.setRequireResumeSuccess(true);
+                    }
+                    break;
+            }
+
+//            switch (flag) {
+//                //取货完成
+//                case 1:
+//                    writing(2);
+//                    return;
+//                //放货完成
+//                case 2:
+//                    writing(3);
+//                    return;
+//
+//            }
+            last_agv_action = agv_action;
+        }
+
+    }
+
+
+    public boolean exe_error() {
+//        if (this.error == 0) {
+//            return true;
+//        } else {
+//            log.debug("设备报警");
+//            return false;
+//        }
+        return true;
+    }
+
+    protected void thingToNothing() {
+        log.debug("从有货到无货 清理数据");
+    }
+
+    public void set_last_container(String barcode, String type_desc) {
+        this.set_last_container(barcode);
+        this.set_last_container_type_desc(type_desc);
+    }
+
+    public void set_last_container(String barcode) {
+    }
+
+    public void set_last_container_type_desc(String type) {
+    }
+
+    public boolean exe_business() {
+        return true;
+    }
+
+    protected void executing(Instruction instruction) {
+        this.executing(1, instruction, "");
+    }
+
+    public void executing(int command, Instruction instruction, String appendMessage) {
+//        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + 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;
+//        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_task;
+//        if (appendMessage == null) {
+//            appendMessage = "";
+//        }
+
+    }
+
+    public void executing(Server server, Map<String, Object> itemMap) {
+        ReadUtil.write(itemMap, server);
+    }
+
+    public void writing(int command) {
+//        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_command;
+//
+//        String opcservcerid = this.getDevice().getOpc_server_id();
+//        Server server = ReadUtil.getServer(opcservcerid);
+//        Map<String, Object> itemMap = new HashMap<String, Object>();
+//        itemMap.put(to_command, command);
+//        ReadUtil.write(itemMap, server);
+
+    }
+
+    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;
+//        String to_target = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_target;
+//        String to_onset = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_onset;
+//        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_task;
+//        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);
+//        } else if (type == 2) {
+//            itemMap.put(to_target, command);
+//
+//        } else if (type == 3) {
+//            itemMap.put(to_task, command);
+//        }
+//        ReadUtil.write(itemMap, server);
+    }
+
+
+    public void writing(Instruction inst) {
+//        String to_command = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + 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;
+//        String to_onset = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_onset;
+//        String to_task = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+//                + "." + ItemProtocol.item_to_task;
+//        String opcservcerid = this.getDevice().getOpc_server_id();
+//        Server server = ReadUtil.getServer(opcservcerid);
+//        Map<String, Object> itemMap = new HashMap<String, Object>();
+//        itemMap.put(to_command, 1);
+//        itemMap.put(to_onset, appService.findDeviceByCode(inst.getStart_device_code()).getAddress());
+//        itemMap.put(to_target, appService.findDeviceByCode(inst.getNext_device_code()).getAddress());
+//        itemMap.put(to_task, inst.getInstruction_code());
+//        ReadUtil.write(itemMap, server);
+//        this.execute_log.setResource(this.device_code, device_code);
+//        this.execute_log.log("设备:{},下发作业命令:{},起始站{},目标站:{},任务号:{}", device_code, to_command, to_onset, to_target, to_task);
+//    }
+
+    }
+
+
+}