添加日志输出

gavel/src/main/java/com/gavel/qzsa/agv/process/AgvTaskHandler.java

 package com.gavel.qzsa.agv.process;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import com.alibaba.fastjson.JSONObject;
 import com.gavel.common.utils.DateUtils;
 import com.gavel.common.utils.SpringUtils;
 import com.gavel.qzsa.agv.service.HcMsglogService;
@@ -11,7 +15,7 @@ import com.gavel.qzsa.rabbitmq.model.TaskFeedback;
 public class AgvTaskHandler implements Runnable {
 
 
-
+	private Logger logger = LoggerFactory.getLogger(this.getClass());
 	//任务单号
 	private AgvTask agvTask;
 
@@ -52,6 +56,7 @@ public class AgvTaskHandler implements Runnable {
 			if("任务下发".equals(agvTask.getMsgtype())){
 				needWriteQueue = true;
 				feedback.setMsgtype("接收任务反馈");
+				logger.debug("处理任务下发！{} ", JSONObject.toJSONString(agvTask));
 				rcmsService().genHcTask(agvTask);
 				feedback.setMsgcode("1");
 				feedback.setMessage("任务下发成功,agvCode:"+agvTask.getTask().getAgvCode());

gavel/src/main/java/com/gavel/qzsa/agv/service/impl/AgvServiceImpl.java

@@ -159,32 +159,34 @@ public class AgvServiceImpl extends BaseEditServiceImpl implements AgvService {
                 //充电状态，阈值比较
                 if(StringUtils.equals(isEnable,"Y")){
                     if(StringUtils.equals("7",agvStatus.getStatus())) {
-                        String agvdl =  commonService.getStringOptionValue(JcsjParamEnum.AgvBatterySetting.id());
-                        Integer yz = Integer.valueOf(agvdl);//设置值
+                    	Integer yz =  commonService.getIntOptionValue(JcsjParamEnum.AgvBatterySetting.id());//设置值
                         Integer curValue = Integer.valueOf(agvStatus.getBattery());//获取小车值
                         if(NumberUtils.less(curValue , yz)){
+                        	logger.error("小车{}正在充电，且当前电量{}低于设定阈值{}！", agvStatus.getRobotCode(), curValue, yz);
                             continue;
                         }
                     }
                 }
                 //查询Eptask中是否已存在小车，如果存在，返回空，生成任务失败
                 if (eptaskDao.countExecutingHcTask(agvStatus.getRobotCode()) > 0) {
-                   logger.error("小车"+agvStatus.getRobotCode()+"已存在执行任务,生成任务失败！");
+                   logger.error("小车"+agvStatus.getRobotCode()+"已存在执行任务！");
                    continue;
                 }
 
                 if(StringUtils.isNotEmpty(template.getAgv())){
                     if(StringUtils.contains(template.getAgv(),agvStatus.getRobotCode())){
-                        String lockKey = "AgvTask";
+                        String lockKey = "AgvTask-"+agvStatus.getRobotCode();
                         if(!LockUtils.lock(lockKey,agvStatus.getRobotCode())) {
+                        	logger.error("小车{}已被别的任务占用，继续寻找小车！", agvStatus.getRobotCode());
                             continue;
                         }
                         LockUtils.releaseLock(lockKey,agvStatus.getRobotCode());
                         return agvStatus.getRobotCode();
                     }
                 }else {
-                    String lockKey = "AgvTask";
+                    String lockKey = "AgvTask-"+agvStatus.getRobotCode();
                     if(!LockUtils.lock(lockKey,agvStatus.getRobotCode())) {
+                    	logger.error("小车{}已被别的任务占用，继续寻找小车！", agvStatus.getRobotCode());
                         continue;
                     }
                     LockUtils.releaseLock(lockKey,agvStatus.getRobotCode());

gavel/src/main/java/com/gavel/qzsa/agv/service/impl/EptaskServiceImpl.java

 package com.gavel.qzsa.agv.service.impl;
 
+import java.util.Calendar;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
 import com.gavel.common.base.service.impl.BaseEditServiceImpl;
 import com.gavel.common.business.service.CommonService;
 import com.gavel.common.lock.LockUtils;
 import com.gavel.common.utils.StringUtils;
 import com.gavel.common.utils.UserInfoUtil;
+import com.gavel.persistence.sql.RecordSet;
 import com.gavel.qzsa.agv.dao.EptaskDao;
 import com.gavel.qzsa.agv.persistent.Agvtaskqueue;
 import com.gavel.qzsa.agv.persistent.Eptask;
@@ -24,21 +31,13 @@ import com.gavel.qzsa.mcs.utils.EpTask2Enum;
 import com.gavel.qzsa.mcs.utils.EpTaskEnum;
 import com.gavel.qzsa.rabbitmq.handler.MessageHandler;
 import com.gavel.qzsa.rabbitmq.model.AgvTask;
-import com.gavel.persistence.sql.RecordSet;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import org.springframework.transaction.annotation.Transactional;
-
-import java.util.Calendar;
 
 
 @Service("eptaskService")
 @Transactional
 public class EptaskServiceImpl extends BaseEditServiceImpl implements EptaskService {
 
-	private Logger logger = LoggerFactory.getLogger(this.getClass());
+//	private Logger logger = LoggerFactory.getLogger(this.getClass());
 
     @Autowired
     private EptaskDao eptaskDao;
@@ -156,7 +155,7 @@ public class EptaskServiceImpl extends BaseEditServiceImpl implements EptaskServ
         }
         String cancelTemplate = ","+commonService.getStringOptionValue(JcsjParamEnum.AGVBACK_TEMPLATE.id())+",";
         boolean isCancel = cancelTemplate.indexOf(","+agvTask.getTasktype()+",") >= 0;
-        String lockKey = "AgvTask";
+        String lockKey = "AgvTask-"+agvTask.getAgvcode();
         String agvCode = agvTask.getAgvcode();
         //查询空闲小车
         if (!isCancel){
@@ -164,7 +163,7 @@ public class EptaskServiceImpl extends BaseEditServiceImpl implements EptaskServ
             if(StringUtils.isEmpty(agvCode) ){
                 throwReturnMessage("未找到小车,生成任务失败！");
             }
-            //agvCode="1143";
+//            agvCode="1143";
         }
         if (LockUtils.lock(lockKey, agvCode)){
             try{
@@ -202,6 +201,7 @@ public class EptaskServiceImpl extends BaseEditServiceImpl implements EptaskServ
                         throwReturnMessage("货架"+pod.getPodCode()+"PLC连接状态不正确, 生成任务失败!");
                     }
                     eptask.setPodCode(pod.getPodCode());
+//                	eptask.setPodCode("1001");
                 }
                 eptask.setCreateDate(Calendar.getInstance().getTime());
                 eptask.setPriority("1");//优先级

gavel/src/main/java/com/gavel/qzsa/agv/service/impl/HcMsglogServiceImpl.java

@@ -4,6 +4,7 @@ import com.alibaba.fastjson.JSONObject;
 import com.gavel.common.base.service.impl.BaseEditServiceImpl;
 import com.gavel.common.converter.DataConvert;
 import com.gavel.common.utils.DateUtils;
+import com.gavel.common.utils.StringUtils;
 import com.gavel.qzsa.agv.persistent.Agvtaskqueue;
 import com.gavel.qzsa.agv.utils.MsgCodeEnum;
 import com.gavel.qzsa.rabbitmq.model.AgvTask;
@@ -43,7 +44,8 @@ public class HcMsglogServiceImpl extends BaseEditServiceImpl implements HcMsglog
         HcMsglog hcMsglog = new HcMsglog();
         hcMsglog.setGuid(agvTask.getGuid());
         hcMsglog.setTasktype(agvTask.getTasktype());
-        hcMsglog.setRevtime(DateUtils.parseDate(feedback.getTime()));
+        if (StringUtils.isNotEmpty(feedback.getTime()))
+        	hcMsglog.setRevtime(DateUtils.parseDate(feedback.getTime()));
         hcMsglog.setDesttask(DataConvert.list2JSONString(agvTask.getDesttask()));
         hcMsglog.setMsgcode(feedback.getMsgcode());
         hcMsglog.setMessage(JSONObject.toJSONString(feedback));

gavel/src/main/java/com/gavel/qzsa/config/InitConfig.java

 package com.gavel.qzsa.config;
 
-import com.gavel.qzsa.rabbitmq.handler.MessageHandler;
-import com.gavel.timer.scheduler.TimerJobFactory;
-import com.gavel.timer.scheduler.TimerJobInit;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.CommandLineRunner;
 import org.springframework.context.annotation.Bean;
@@ -11,8 +10,14 @@ import org.springframework.core.annotation.Order;
 import org.springframework.scheduling.quartz.SchedulerFactoryBean;
 import org.springframework.stereotype.Component;
 
+import com.gavel.qzsa.rabbitmq.handler.MessageHandler;
+import com.gavel.timer.scheduler.TimerJobFactory;
+import com.gavel.timer.scheduler.TimerJobInit;
+
 @Configuration
 public class InitConfig {
+	
+	private Logger logger = LoggerFactory.getLogger(this.getClass());
 
 	@Autowired
 	private TimerJobFactory timerJobFactory;
@@ -26,15 +31,44 @@ public class InitConfig {
 
 		@Autowired
 		private MessageHandler messageHandler;
+		
+//		@Autowired
+//		private AgvtaskqueueService agvtaskqueueService;
 
 		@Override
 		public void run(String... args) throws Exception {
 			messageHandler.init();
 			timerJobInit.init();
+//			test();
 		}
+		
+		/*private void test() {
+			String value = "{\"msgtype\":\"任务下发\",\"guid\":\"202210230930490000T\",\"tasktype\":\"S31\",\"desttask\":[{\"device\":101,\"desc\":\"上盘\"},{\"device\":101,\"desc\":\"上盘\"},{\"device\":0,\"desc\":\"下盘\"},{\"device\":0,\"desc\":\"下盘\"}],\"EquipID\":201,\"time\":\"2022-10-23 09:30:49.590\"}";
+			AgvTask agvTask = JSONObject.parseObject(value, AgvTask.class);
+			if (StringUtils.equals(agvTask.getMsgtype(), MessageHandler.TASK_START)
+					|| StringUtils.equals(agvTask.getMsgtype(), MessageHandler.TASK_CANCEL)
+					|| StringUtils.equals(agvTask.getMsgtype(), MessageHandler.TASK_PAUSE)
+					|| StringUtils.equals(agvTask.getMsgtype(), MessageHandler.TASK_RECORVER)){
+				TaskFeedback feedback = null;
+				try {
+					agvtaskqueueService.writeMessage(value);
+				}catch (Exception e){
+					feedback = new TaskFeedback();
+					feedback.setGuid(agvTask.getGuid());
+					feedback.setMessage(e.getMessage());
+					feedback.setMsgtype("接收任务反馈");
+					feedback.setTime(DateUtils.formatDate(DateUtils.getDateTime(),DateUtils.MillISECONDS_DATE_FORMAT));
+					feedback.setMsgcode("2");
+				}finally {
+					SpringUtils.getBean(HcMsglogService.class).addMsgLog(feedback,agvTask);
+					SpringUtils.getBean(RabbitMqSendMessage.class).sendMessageAgvTask(feedback);
+				}
+			}else
+				MessageHandler.executorSerivce.execute(new AgvTaskHandler(agvTask));
+		}*/
 
 		public void askForLeave(){
-			System.out.println("项目启动了，执行了方法");
+			logger.debug("项目启动了，执行了方法");
 		}
 	}
 

gavel/src/main/java/com/gavel/qzsa/jcsj/service/impl/TemplateServiceImpl.java

@@ -3,12 +3,16 @@ package com.gavel.qzsa.jcsj.service.impl;
 import java.util.ArrayList;
 import java.util.List;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import com.alibaba.fastjson.JSONObject;
 import com.gavel.common.base.service.impl.BaseEditServiceImpl;
 import com.gavel.common.utils.StringUtils;
+import com.gavel.persistence.sql.RecordSet;
 import com.gavel.qzsa.jcsj.dao.GwDao;
 import com.gavel.qzsa.jcsj.dao.PodDao;
 import com.gavel.qzsa.jcsj.dao.TemplateDao;
@@ -24,13 +28,14 @@ import com.gavel.qzsa.jcsj.vo.TemplateVO;
 import com.gavel.qzsa.jcsj.vo.TemplatedetailVO;
 import com.gavel.qzsa.mcs.model.Position;
 import com.gavel.qzsa.rabbitmq.model.Device;
-import com.gavel.persistence.sql.RecordSet;
 
 
 @Service
 @Transactional
 public class TemplateServiceImpl extends BaseEditServiceImpl implements TemplateService {
 
+	private Logger logger = LoggerFactory.getLogger(this.getClass());
+	
     @Autowired
     private TemplateDao templateDao;
 
@@ -173,6 +178,8 @@ public class TemplateServiceImpl extends BaseEditServiceImpl implements Template
         if (StringUtils.isEmpty(code)) {
             throwReturnMessage("编码不允许为空！");
         }
+        logger.debug("解析路线模板调用参数！agvCode【{}】, templateCode【{}】, deviceList【{}】, equipID【{}】", 
+        		agvCode, code, JSONObject.toJSONString(deviceList), equipID);
         List<Position> list = new ArrayList<>();
         //查询模板
         Template param = new Template();
@@ -253,9 +260,10 @@ public class TemplateServiceImpl extends BaseEditServiceImpl implements Template
                 deviceIndex++;
             } else if (StringUtils.equals(templatedetail.getGwlx(), GwlxEnum.S.getId())) {
                 //设备单元工位位置点
+            	logger.debug("设备起止点解析！equipID【{}】，gwlx【{}】", equipID, templatedetail.getGwlx());
                 Gw gw = gwDao.findByDevice(equipID, templatedetail.getGwlx());
                 if (gw == null) {
-                    throwReturnMessage("无法获取设备单元%s的%s！", equipID, GwlxEnum.findNameById(templatedetail.getGwlx()));
+                    throwReturnMessage("无法获取起止设备%s的%s！", equipID, GwlxEnum.findNameById(templatedetail.getGwlx()));
                 }
                 position.setPositionCode(gw.getMapdatacode());
                 list.add(position);

gavel/src/main/java/com/gavel/qzsa/jcsj/utils/GwlxEnum.java

@@ -18,7 +18,7 @@ public enum GwlxEnum {
     F("货架摆放点", "6"),
     G("取消点内", "7"),
     H("取消点外", "8"),
-    S("设备单元", "10"),
+    S("起止设备", "10"),
     Z("切换设备◎", "99");
 
     private String id;

gavel/src/main/java/com/gavel/qzsa/mcs/service/impl/RcmsServiceImpl.java

@@ -468,9 +468,9 @@ public class RcmsServiceImpl extends BaseEditServiceImpl implements RcmsService
 
         // RCS 提交任务
         List<Device> deviceList = agvTask.getDesttask().stream().filter(device -> !"0".equals(device.getDevice())).collect(Collectors.toList()); //过滤设备号为零
-        String equipID = agvTask.getEquipID();
         //获取位置集合
-        List<Position> positionCodePath =  templateService.parseTemplate(eptask.getAgvCode(),agvTask.getTasktype(),deviceList,equipID);
+        LOG.debug("解析路线模板调用前的参数传入！{}", JSONObject.toJSONString(agvTask));
+        List<Position> positionCodePath =  templateService.parseTemplate(eptask.getAgvCode(),agvTask.getTasktype(),deviceList,agvTask.getEquipID());
 
         GenAgvTaskResp genAgvTaskResp = genAgvSchedulingTask(eptask.getTaskTyp(),
                 positionCodePath, eptask.getPriority(), eptask.getTaskCode(),eptask.getPodCode(),eptask.getAgvCode());

gavel/src/main/java/com/gavel/qzsa/rabbitmq/handler/AgvTaskQueueHandler.java

@@ -55,6 +55,7 @@ public class AgvTaskQueueHandler implements Runnable {
 							logger.error(e.getMessage());
 						}
 					} else {
+						logger.debug("process AgvTaskQueue！{}", JSONObject.toJSONString(agvtaskQueue));
 						AgvTask agvTask = new AgvTask();
 						agvTask.setTasktype(agvtaskQueue.getTasktype());
 						agvTask.setGuid(agvtaskQueue.getGuid());

gavel/src/main/java/com/gavel/qzsa/rabbitmq/handler/MessageHandler.java

 package com.gavel.qzsa.rabbitmq.handler;
 
 
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+import org.apache.commons.codec.binary.StringUtils;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.amqp.rabbit.annotation.RabbitListener;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
 import com.alibaba.fastjson.JSONObject;
 import com.gavel.common.utils.DateUtils;
 import com.gavel.common.utils.SpringUtils;
@@ -13,13 +23,6 @@ import com.gavel.qzsa.jcsj.redisplcqueue.RedisQueuePlcTask;
 import com.gavel.qzsa.rabbitmq.model.AgvStatusModel;
 import com.gavel.qzsa.rabbitmq.model.AgvTask;
 import com.gavel.qzsa.rabbitmq.model.TaskFeedback;
-import org.apache.commons.codec.binary.StringUtils;
-import org.springframework.amqp.rabbit.annotation.RabbitListener;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-
-import java.util.concurrent.ExecutorService;
-import java.util.concurrent.Executors;
 
 @Service
 @RabbitListener
@@ -38,7 +41,7 @@ public class MessageHandler{
 
 	public static ExecutorService parseExecutor = Executors.newSingleThreadExecutor();
 
-
+	private Logger logger = LoggerFactory.getLogger(this.getClass());
 
     @Autowired
     private AgvtaskqueueService agvtaskqueueService;
@@ -66,7 +69,7 @@ public class MessageHandler{
 			value = new String((byte[])message);
 		}else
 			value = message.toString();
-		//LOGGER.info("process AgvTask {}", value);
+		logger.debug("process AgvTask {}", value);
 
 		AgvTask agvTask = JSONObject.parseObject(value, AgvTask.class);
 		if (StringUtils.equals(agvTask.getMsgtype(), TASK_START)

gavel/src/main/resources/templates/views/jcsj/gw/index.html

@@ -84,6 +84,7 @@ $(function () {
 			columns: [[
                 {title: "工位编码", field: "usercallcode", fieldType: "ftString",width:150},
                 {title: "工位名称", field: "name", fieldType: "ftString",width:150},
+                {title: "工位别名", field: "alias", fieldType: "ftString",width:150},
                 {title: "工位类型", field: "type", fieldType: "combobox", width:120, props:{data:$typeArray}},
                 {title: "工位状态", field: "status", fieldType: "ftString",width: 100, align:'center', formatter: function (value, index, row) {
                         return $statusMap[value] || value;

gavel/src/main/resources/templates/views/jcsj/map/edit.html

@@ -7,7 +7,7 @@
 			<div class="gui-col-sm12">
 				<label class="gui-form-label">地图编号：</label>
 				<div class="gui-input-block">
-					<input type="text" name="code" data-toggle="gui-textbox" data-options="" >
+					<input type="text" name="code" data-toggle="gui-textbox" data-options="" readonly>
 				</div>
 			</div>
 		</div>