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feat: ndc部分驱动开发

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This commit is contained in:
liyongde
2025-08-25 17:00:48 +08:00
parent 8bb61fdb73
commit 80116f37eb
7 changed files with 740 additions and 59 deletions
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51
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -16,11 +16,11 @@ import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.config.SpringContextHolder;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.system.service.dict.ISysDictService;
import org.nl.system.service.dict.dao.Dict;
import org.nl.system.service.param.ISysParamService;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.param.impl.SysParamServiceImpl;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
@@ -28,11 +28,13 @@ import org.springframework.stereotype.Component;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.util.Date;
import java.util.List;
import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
/**
* Demo class
*
@@ -43,7 +45,7 @@ import static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString;
@Component
public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
Socket s;
Socket socket;
String ip = "192.168.46.225";
int port = 1234;
static DataOutputStream dos;
@@ -71,10 +73,12 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
public OneNDCSocketConnectionAutoRun() {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
@Override
public String getCode() {
return OneNDCSocketConnectionAutoRun.class.getSimpleName();
}
@Override
public String getName() {
return "NDC在线连接";
@@ -92,13 +96,16 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
ip = paramService.findByCode(AcsConfig.AGVURL2).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT2).getValue());
InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
try {
byte[] b = new byte[1024];
s = new Socket(ip, port);
dos = new DataOutputStream(s.getOutputStream());
dis = new DataInputStream(s.getInputStream());
socket = new Socket(ip, port);
socket.connect(socketAddress, 5 * 1000);
socket.setKeepAlive(true);//长链接
socket.setSoTimeout(30000);//读取超时时间
dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream());
System.out.println("NDCAgv链接成功");
log.info("NDCAgv链接成功");
while (bConnected) {
@@ -129,9 +136,9 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
int phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
/**
* 任务号
*/
/**
* 任务号
*/
int ikey = arr[26] * 256 + arr[27];
//站点号
int agvaddr = arr[18] * 256 + arr[19];
@@ -202,23 +209,23 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}else if (phase == 0x64){
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){
} else if (phase == 0x64) {
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}", agvaddr, station);
Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
if (ObjectUtil.isNotEmpty(dict)) {
dict.setValue("1");
dict.setPara2(String.valueOf(agvaddr));
dict.setPara3("下发成功");
dictService.updateDetail(dict);
}
//充电成功
}else if (phase == 0x65){
log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station);
} else if (phase == 0x65) {
log.info("AGV车号{}反馈充电中，充电桩{}", agvaddr, station);
//充电取消上报
}else if (phase == 0x66){
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){
} else if (phase == 0x66) {
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}", agvaddr, station);
Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
if (ObjectUtil.isNotEmpty(dict)) {
dict.setValue("0");
dict.setPara2("");
dict.setPara3("充电桩空闲");
@@ -253,8 +260,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
System.out.println("Agv链接异常");
log.info("Agv链接异常");
log.error("agv连接出现异常:{}", e);
if (ObjectUtil.isNotEmpty(s)) {
s.close();
if (ObjectUtil.isNotEmpty(socket)) {
socket.close();
}
System.out.println(e.getMessage());
e.printStackTrace();
@@ -271,7 +278,7 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
public void stop() {
super.after();
try {
s.close();
socket.close();
} catch (Exception e) {
e.printStackTrace();
}

26
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java
View File

@@ -100,12 +100,6 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info("2楼1区域AGV系统链接开始");
ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
// byte[] b = new byte[1024];
// s = new Socket(ip, port);
// System.out.println("2楼1区域Agv链接成功");
// dos = new DataOutputStream(s.getOutputStream());
// dis = new DataInputStream(s.getInputStream());
InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
byte[] b = new byte[1024];
@@ -248,7 +242,9 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
instructionService.cancelNOSendAgv(inst.getInstruction_id());
}
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0);
} else if (phase == 0x50) {
}
// 开门
else if (phase == 0x50) {
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
@@ -274,7 +270,9 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
log.info(agvaddr + "对应设备号为空!");
}
} else if (phase == 0x51) {
}
// 关门
else if (phase == 0x51) {
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
@@ -299,7 +297,9 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
} else {
log.info(device_code + "对应设备号为空!");
}
} else if (phase == 0x64){
}
// todo: ??
else if (phase == 0x64){
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){
@@ -309,10 +309,14 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dictService.updateDetail(dict);
}
//充电成功
}else if (phase == 0x65){
}
// todo: ??
else if (phase == 0x65){
log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station);
//充电取消上报
}else if (phase == 0x66){
}
// todo: ??
else if (phase == 0x66){
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){

612
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndcone/AgvNdcOneDeviceDriver.java
View File

@@ -16,6 +16,9 @@ import org.nl.acs.device_driver.FeedLmsRealFailed;
import org.nl.acs.device_driver.agv.utils.OneAgvPhase;
import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.driver.AbstractDeviceDriver;
import org.nl.acs.device_driver.zz_driver.unpacking_conveyor.UnpackingConveyorDeviceDriver;
import org.nl.acs.device_driver.zz_driver.unpacking_machine.UnpackingMachineDeviceDriver;
import org.nl.acs.ext.wms.data.ApplyPlugPullSitResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
@@ -24,11 +27,14 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.DeviceAppService;
import org.nl.system.service.param.ISysParamService;
import org.nl.config.SpringContextHolder;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.system.service.param.ISysParamService;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
/**
* NDC单工位AGV
@@ -41,11 +47,12 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService NDCAgvService = SpringContextHolder.getBean(NDCAgvService.class);
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
// DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
// DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean(LuceneExecuteLogService.class);
OneAgvPhase oneAgvPhase = new OneAgvPhase();
@@ -103,9 +110,9 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
phase = arr[16] * 256 + arr[17];
// agv任务号
int index = arr[12] * 256 + arr[13];
/**
* 任务号
*/
/**
* 任务号
*/
int ikey = arr[26] * 256 + arr[27];
//站点号
agvaddr = arr[18] * 256 + arr[19];
@@ -143,11 +150,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
// if (arr[18] * 256 + arr[19] == 0) {
//
// }
// data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
// data = nDCAgvService.sendAgvOneModeInst(phase, index, 0);
// }
//普通站点
StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
UnpackingMachineDeviceDriver unpackingMachineDeviceDriver;
UnpackingConveyorDeviceDriver unpackingConveyorDeviceDriver;
//分配 车id
//(不需要WCS反馈)
@@ -202,6 +211,63 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
standardOrdinarySiteDeviceDriver.setInst(inst);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 1);
try {
unpackingMachineDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingMachineDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingMachineDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 1);
try {
unpackingConveyorDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingConveyorDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingConveyorDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
//取货完毕
@@ -249,9 +315,46 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 2);
try {
unpackingMachineDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 2);
try {
unpackingConveyorDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
}
if (ObjectUtil.isNotEmpty(data)) {
@@ -259,7 +362,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
}
//到达放货点
//(需要WCS反馈)
} else if (phase == 0x07) {
} else if (phase == 0x08) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
@@ -295,13 +398,71 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 3);
try {
unpackingMachineDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingMachineDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingMachineDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 3);
try {
unpackingConveyorDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingConveyorDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingConveyorDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
}
//放货完毕
//(需要WCS反馈)
} else if (phase == 0x09) {
} else if (phase == 0x0A) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
@@ -338,11 +499,420 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 4);
try {
unpackingMachineDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 4);
try {
unpackingConveyorDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
}
}
// 到达取货2
else if (phase == 0x0C) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
CommonFinalParam commonFinalParam = new CommonFinalParam();
device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
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);
return;
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 1);
try {
unpackingMachineDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingMachineDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingMachineDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 1);
try {
unpackingConveyorDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingConveyorDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingConveyorDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
}
// 取货完毕2
else if (phase == 0x0E) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
CommonFinalParam commonFinalParam = new CommonFinalParam();
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
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, "", "", "对应设备号为空" + device_code);
return;
}
//校验agv上报站点编号与指令起始点相同
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到关联编号{}对应的指令", ikey);
logServer.deviceExecuteLog(this.device_code, "", "", "未找到关联编号对应的指令" + ikey);
return;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 2);
try {
unpackingMachineDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 2);
try {
unpackingConveyorDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
}
// 到达放货2
else if (phase == 0x10) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
if (agvaddr != 0) {
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
CommonFinalParam commonFinalParam = new CommonFinalParam();
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(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("未找到关联编号{}对应的指令", ikey);
return;
}
// 各个驱动判断
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 3);
try {
unpackingMachineDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingMachineDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingMachineDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 请求进入
Map<String, Object> map = new HashMap<>();
map.put("to_command", 3);
try {
unpackingConveyorDeviceDriver.writing(map);
} catch (Exception e) {
e.printStackTrace();
}
if (unpackingConveyorDeviceDriver.getAction() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} else {
message = "设备号:" + device_code + ",动作信号:" + unpackingConveyorDeviceDriver.getAction() + ",指令号:" + ikey + "不满足取货条件";
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(message)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
}
// 放货完毕2
else if (phase == 0x12) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
logServer.deviceExecuteLog(this.device_code, "", "", "agv地址参数有误,phase:" + phase);
return;
}
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
CommonFinalParam commonFinalParam = new CommonFinalParam();
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(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);
return;
}
if (StrUtil.equals(inst.getNext_device_code2(), device_code)) {
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof UnpackingMachineDeviceDriver) {
unpackingMachineDeviceDriver = (UnpackingMachineDeviceDriver) device.getDeviceDriver();
Map<String, Object> map = new HashMap<>();
// 下发去皮
map.put("to_operate", 1);
// 告知放货完成
map.put("to_command", 4);
unpackingMachineDeviceDriver.writing(map);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
}
if (device.getDeviceDriver() instanceof UnpackingConveyorDeviceDriver) {
unpackingConveyorDeviceDriver = (UnpackingConveyorDeviceDriver) device.getDeviceDriver();
// 取货完毕
Map<String, Object> map = new HashMap<>();
map.put("to_command", 4);
try {
unpackingConveyorDeviceDriver.writing(map);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
} catch (Exception e) {
e.printStackTrace();
}
}
}
}
// 料桶检验
else if (phase == 0x61) {
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
String task_code = inst.getTask_code();
JSONObject jsonObject = new JSONObject();
jsonObject.put("task_code", task_code);
jsonObject.put("vehicle_code", agvaddr);
LuceneLogDto logDto1 = LuceneLogDto.builder()
.device_code("AGV-61")
.content("料桶检验AGV扫码反馈:" + jsonObject.toJSONString() + ";设备:AGV-61")
.build();
logDto1.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto1);
ApplyPlugPullSitResponse response = acsToWmsService.actionCheckMaterialBucket(jsonObject);
if (response.getCode() == 200) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
}
this.setPhase(phase);
}
//到达位置点
//(需要WCS反馈)
//param,agv货位id待定
@@ -350,13 +920,13 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
//1、根据货位id找到对应三工位设备，赋给agv属性地址对应的满料位设备
agvaddr = arr[18] * 256 + arr[19];
agvaddr_copy = agvaddr;
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
//进入交通灯区域
} else if (phase == 0x50) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
//离开交通灯区域
} else if (phase == 0x51) {
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
//agv异常
} else if (phase == 0x67) {
// if (ikey == 0) {
@@ -384,7 +954,7 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
param.put("product_area", paramService.findByCode("productArea").getValue());
// acsToWmsService.sendDeviceStatus(param);
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
data = ndcAgvService.sendAgvOneModeInst(phase, index, 0);
last_error = error;
} else if (phase == 0x70) {
//x坐标
@@ -467,19 +1037,17 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
String status_name = this.status == 1 ? "关机" : this.status == 2 ? "工作中" : this.status == 3 ? "交通管制" : this.status == 4 ? "任务等待" : this.status == 5 ? "充电中" : this.status == 6 ? "故障中" : this.status == 7 ? "电量低" : "正常";
//agv状态
jo.put("status_name", status_name);
/**
* 任务号
*/
/**
* 任务号
*/
jo.put("task_code", ObjectUtil.isEmpty(instruction) ? "0" : instruction.getTask_code());
//异常
jo.put("fault", this.getError_message());
jo.put("message",message);
jo.put("message", message);
return jo;
}
@Override
public void setDeviceStatus(JSONObject data) {

15
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/zz_driver/unpacking_conveyor/UnpackingConveyorDeviceDriver.java
View File

@@ -9,6 +9,8 @@ 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.ext.wms.data.ApplyPlugPullSitResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.history.ErrorUtil;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
@@ -35,6 +37,8 @@ public class UnpackingConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
private DeviceExecuteLogService logServer;
@Resource
private LuceneExecuteLogService luceneExecuteLogService;
@Resource
private AcsToWmsService acsToWmsService;
private Date instruction_require_time = new Date();
private Date instruction_finished_time = new Date();
@@ -81,10 +85,13 @@ public class UnpackingConveyorDeviceDriver extends AbstractOpcDeviceDriver imple
move = itemProtocol.getMove();
error = itemProtocol.getError();
if (move == 1 && mode == 5 && mode != last_mode) {
// 1、todo: 请求LMS横移
// 2、复位
this.writing("to_command", 5);
if (mode == 5 && mode != last_mode) {
// 1、请求LMS横移
ApplyPlugPullSitResponse response = acsToWmsService.actionMove(new JSONObject().fluentPut("device_code", device_code));
if (response.getCode() == 200) {
// 2、复位
this.writing("to_command", 5);
}
}
} catch (Exception e) {

1
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/zz_driver/unpacking_machine/UnpackingMachineDeviceDriver.java
View File

@@ -132,6 +132,7 @@ public class UnpackingMachineDeviceDriver extends AbstractOpcDeviceDriver implem
}
public void writing(String commandKey, int command) {
log.info("执行写入数据：{} - {}", commandKey, command);
Map<String, Object> itemMap = new HashMap<>();
itemMap.put(getToParam(commandKey), command);
this.control(itemMap);

14
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@@ -217,6 +217,20 @@ public interface AcsToWmsService {
*/
void actionFinishRequest2(JSONObject jsonObject);
/**
* 检测料桶
* @param jsonObject
* @return
*/
ApplyPlugPullSitResponse actionCheckMaterialBucket(JSONObject jsonObject);
/**
* 横移请求
* @param jsonObject
* @return
*/
ApplyPlugPullSitResponse actionMove(JSONObject jsonObject);
String forceMove(JSONObject param);
/**

80
acs/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -857,6 +857,86 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
}
}
@Override
public ApplyPlugPullSitResponse actionCheckMaterialBucket(JSONObject param) {
log.info("向lms请求校验料桶编码,请求参数{}", param);
String result = "";
try {
MDC.put(log_file_type, log_type);
ApplyPlugPullSitResponse applyPlugPullSitResponse = new ApplyPlugPullSitResponse();
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("actionCheckMaterialBucket");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
log.info("向lms请求校验料桶编码----请求参数:{}", JSONObject.toJSONString(param));
try {
result = HttpRequest.post(url)
.addInterceptor(tLogHutoolhttpInterceptor)
.header(Header.USER_AGENT, "Hutool http")
.body(JSON.toJSONString(param))
.execute().body();
JSONObject jsonObject = JSONObject.parseObject(result);
applyPlugPullSitResponse = JSONObject.toJavaObject(jsonObject, ApplyPlugPullSitResponse.class);
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "actionCheckMaterialBucket", String.valueOf(applyPlugPullSitResponse.getstatus()),
JSON.toJSONString(param), String.valueOf(result), "ACS向LMS申请料桶检验");
luceneLogService.interfaceExecuteLog(luceneLogDto);
} catch (Exception e) {
JSONObject jsonObject = JSONObject.parseObject(result);
log.info("向lms请求校验料桶编码----返回参数{}", e.getMessage());
applyPlugPullSitResponse = JSONObject.toJavaObject(jsonObject, ApplyPlugPullSitResponse.class);
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "actionCheckMaterialBucket", String.valueOf(applyPlugPullSitResponse.getstatus()),
JSON.toJSONString(param),
String.valueOf(result), "向lms请求校验料桶编码请求失败");
luceneLogService.interfaceExecuteLog(luceneLogDto);
}
}
return applyPlugPullSitResponse;
} finally {
MDC.remove(log_file_type);
}
}
@Override
public ApplyPlugPullSitResponse actionMove(JSONObject param) {
log.info("向lms请求横移,请求参数{}", param);
String result = "";
try {
MDC.put(log_file_type, log_type);
ApplyPlugPullSitResponse applyPlugPullSitResponse = new ApplyPlugPullSitResponse();
if (StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), "1")) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("actionMove");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
log.info("向lms请求横移----请求参数:{}", JSONObject.toJSONString(param));
try {
result = HttpRequest.post(url)
.addInterceptor(tLogHutoolhttpInterceptor)
.header(Header.USER_AGENT, "Hutool http")
.body(JSON.toJSONString(param))
.execute().body();
JSONObject jsonObject = JSONObject.parseObject(result);
applyPlugPullSitResponse = JSONObject.toJavaObject(jsonObject, ApplyPlugPullSitResponse.class);
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "actionMove", String.valueOf(applyPlugPullSitResponse.getstatus()),
JSON.toJSONString(param), String.valueOf(result), "向lms请求横移");
luceneLogService.interfaceExecuteLog(luceneLogDto);
} catch (Exception e) {
JSONObject jsonObject = JSONObject.parseObject(result);
log.info("向lms请求校验料桶编码----返回参数{}", e.getMessage());
applyPlugPullSitResponse = JSONObject.toJavaObject(jsonObject, ApplyPlugPullSitResponse.class);
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "actionMove", String.valueOf(applyPlugPullSitResponse.getstatus()),
JSON.toJSONString(param),
String.valueOf(result), "向lms请求横移请求失败");
luceneLogService.interfaceExecuteLog(luceneLogDto);
}
}
return applyPlugPullSitResponse;
} finally {
MDC.remove(log_file_type);
}
}
@Override
public HttpResponse feedbackDies(JSONObject param) {
HttpResponse result2 = null;