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add：增加agv充电 取消充电

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liuxy
2026-07-10 10:59:50 +08:00
parent 165eee94cf
commit a88c205eb6
7 changed files with 221 additions and 2 deletions
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8
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
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@@ -72,4 +72,12 @@ public interface NDCAgvService {
* @return
*/
public boolean createChargingTaskToNDC(String carno);
/**
* 下发取消充电任务
*
* @param carno
* @return
*/
public boolean cancelChargingTaskToNDC(String carno);
}

34
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -274,6 +274,40 @@ public class NDCAgvServiceImpl implements NDCAgvService {
return true;
}
@Override
public boolean cancelChargingTaskToNDC(String carno) {
byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
byte carlow = (byte) IntToHexLow(Integer.parseInt(carno));
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "carno:" + (Integer.parseInt(carno));
str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF);
System.out.println(str);
System.out.println(str1);
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X6E,
(byte) 0X00, (byte) 0X03,
(byte) 0X00, (byte) 0X00,
(byte) carhigh, (byte) carlow
};
log.info("下发AGV取消充电任务--{}", str1);
try {
OneNDCSocketConnectionAutoRun.write(b);
} catch (Exception e) {
e.getMessage();
return false;
}
System.out.println("下发agv取消充电任务数据:" + Bytes2HexString(b));
return true;
}
String hexToString(int i) {
return (i < 16 ? "0" + Integer.toHexString(i) : Integer.toHexString(i)).toUpperCase();
}

7
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/one/BaseResponse.java
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@@ -1,9 +1,12 @@
package org.nl.acs.ext.wms.data.one;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@Data
@@ -13,6 +16,7 @@ public class BaseResponse {
private String message;
private JSONArray errArr = new JSONArray();
private Map<String, String> parameters = new HashMap();
private List<JSONObject> dataList = new ArrayList<>();
public BaseResponse() {
}
@@ -41,6 +45,9 @@ public class BaseResponse {
this.parameters = parameters;
}
public void setDataList(List<JSONObject> dataList) {
this.dataList = dataList;
}
public Object getParameter(String key) {
return this.parameters.get(key);
}

21
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
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@@ -136,4 +136,25 @@ public class WmsToAcsController {
return new ResponseEntity<>(wmstoacsService.getDevice(param), HttpStatus.OK);
}
@PostMapping("/getAgvDevice")
@Log("wms获取agv设备")
@SaIgnore
public ResponseEntity<Object> getAgvDevice(@RequestBody JSONObject param) {
return new ResponseEntity<>(wmstoacsService.getAgvDevice(param), HttpStatus.OK);
}
@PostMapping("/sendCharge")
@Log("wms下发充电任务")
@SaIgnore
public ResponseEntity<Object> sendCharge(@RequestBody JSONObject param) {
return new ResponseEntity<>(wmstoacsService.sendCharge(param), HttpStatus.OK);
}
@PostMapping("/cancelCharge")
@Log("wms下发取消充电任务")
@SaIgnore
public ResponseEntity<Object> cancelCharge(@RequestBody JSONObject param) {
return new ResponseEntity<>(wmstoacsService.cancelCharge(param), HttpStatus.OK);
}
}

27
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
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@@ -134,4 +134,31 @@ public interface WmsToAcsService {
CreateTaskResponse isGetPut(JSONObject param);
CreateTaskResponse getDevice(JSONObject param);
/**
* 获取agv设备
* @param param {
* device_code: 车号
* }
* @return JSONObject
*/
CreateTaskResponse getAgvDevice(JSONObject param);
/**
* wms 下发充电任务
* @param param {
* device_code : 车号
* }
* @return CreateTaskResponse
*/
CreateTaskResponse sendCharge(JSONObject param);
/**
* wms 下发取消充电任务
* @param param {
* device_code : 车号
* }
* @return CreateTaskResponse
*/
CreateTaskResponse cancelCharge(JSONObject param);
}

84
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
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@@ -11,7 +11,9 @@ import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
import org.nl.acs.device_driver.basedriver.pallet_dispenser.PalletDispenseDeviceDriver;
import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.basedriver.weight_platform.WeightPlatformDeviceDriver;
@@ -41,6 +43,7 @@ import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Service
@RequiredArgsConstructor
@@ -59,6 +62,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
@Autowired
private TaskService taskserver;
@Autowired
private NDCAgvService ndcAgvService;
private String log_file_type = "log_file_type";
private String log_type = "LMS请求ACS";
@@ -604,4 +610,82 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
}
}
@Override
public CreateTaskResponse getAgvDevice(JSONObject param) {
log.info("wms获取agv设备-----输入参数{}", param);
CreateTaskResponse response = new CreateTaskResponse();
// 获取全部设备
List<Device> allDeviceList = deviceAppService.findAllDevice();
// 找出agv设备
List<Device> agvList = allDeviceList.stream()
.filter(row -> "agv".equals(row.getDevice_type()))
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(param.getString("device_code"))) {
String deviceCode = param.getString("device_code");
agvList = allDeviceList.stream()
.filter(row -> "agv".equals(row.getDevice_type()) && row.getDevice_code().equals(deviceCode))
.collect(Collectors.toList());
}
List<JSONObject> resulList = new ArrayList<>();
agvList.forEach(device -> {
AgvNdcOneDeviceDriver driver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
// 电量
int electricQty = driver.getElectric_qty();
JSONObject json = new JSONObject();
// 车号
json.put("device_code",device.getDevice_code());
// 当前电量
json.put("electric_qty",electricQty);
// 车辆状态
json.put("status",driver.getStatus());
resulList.add(json);
});
log.info("wms获取agv设备-----输出参数{}", resulList);
response.setStatus(200);
response.setDataList(resulList);
return response;
}
@Override
public CreateTaskResponse sendCharge(JSONObject param) {
log.info("ACS接收WMS下发充电任务-----输入参数{}", param);
CreateTaskResponse response = new CreateTaskResponse();
String deviceCode = param.getString("device_code");
try {
// 调用ndc下发接口
ndcAgvService.createChargingTaskToNDC(deviceCode);
} catch (Exception e) {
response.setStatus(400);
response.setMessage("下发充电失败:"+e.getMessage());
return response;
}
response.setStatus(200);
response.setMessage("下发充电成功");
log.info("ACS接收WMS下发充电任务-----输出参数{}", response);
return response;
}
@Override
public CreateTaskResponse cancelCharge(JSONObject param) {
log.info("ACS接收WMS下发取消充电任务-----输入参数{}", param);
CreateTaskResponse response = new CreateTaskResponse();
String deviceCode = param.getString("device_code");
try {
// 调用ndc取消充电接口
ndcAgvService.cancelChargingTaskToNDC(deviceCode);
} catch (Exception e) {
response.setStatus(400);
response.setMessage("下发充电失败:"+e.getMessage());
return response;
}
response.setStatus(200);
response.setMessage("下发充电成功");
log.info("ACS接收WMS下发取消充电任务-----输出参数{}", response);
return response;
}
}

42
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java
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@@ -2,6 +2,7 @@ package org.nl.system.service.quartz.task;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONObject;
@@ -10,6 +11,7 @@ import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.basedriver.pallet_dispenser.PalletDispenseDeviceDriver;
import org.nl.acs.device_driver.basedriver.weight_platform.WeightPlatformDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
import org.nl.acs.instruction.domain.Instruction;
@@ -89,11 +91,29 @@ public class AutoCreateInst {
// 查询所有执行中的任务
List<TaskDto> readyExTask = taskserver.findReadyExTask();
boolean is_like = readyExTask.stream()
.anyMatch(row -> row.getStart_device_code().equals("CZJT01") || row.getNext_device_code().equals("CZJT01"));
.anyMatch(row -> row.getStart_device_code().equals("CZJT01")
|| row.getNext_device_code().equals("CZJT01")
|| row.getNext_device_code().equals("CZJT03")
);
if (is_like) {
continue;
}
// 根据设备编码获取重量
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
Device device = deviceAppService.findDeviceByCode(acsTask.getNext_device_code());
if (ObjectUtil.isEmpty(device)) {
continue;
}
WeightPlatformDeviceDriver driver = (WeightPlatformDeviceDriver) device.getDeviceDriver();
Integer weight = driver.getWeight();
if (ObjectUtil.isEmpty(weight) || weight == 0) {
weight = driver.getWeight();
}
if (weight > 500) {
continue;
}
// 向WMS申请是否可以创建指令
JSONObject paramTask = new JSONObject().fluentPut("device_code", acsTask.getNext_device_code());
HttpResponse httpResponse = acsToWmsService.checkTask(paramTask);
@@ -109,11 +129,29 @@ public class AutoCreateInst {
// 查询所有执行中的任务
List<TaskDto> readyExTask = taskserver.findReadyExTask();
boolean is_like = readyExTask.stream()
.anyMatch(row -> row.getStart_device_code().equals("CZJT02") || row.getNext_device_code().equals("CZJT02"));
.anyMatch(row -> row.getStart_device_code().equals("CZJT02")
|| row.getNext_device_code().equals("CZJT02")
|| row.getNext_device_code().equals("CZJT04")
);
if (is_like) {
continue;
}
// 根据设备编码获取重量
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
Device device = deviceAppService.findDeviceByCode(acsTask.getNext_device_code());
if (ObjectUtil.isEmpty(device)) {
continue;
}
WeightPlatformDeviceDriver driver = (WeightPlatformDeviceDriver) device.getDeviceDriver();
Integer weight = driver.getWeight();
if (ObjectUtil.isEmpty(weight) || weight == 0) {
weight = driver.getWeight();
}
if (weight > 500) {
continue;
}
// 向WMS申请是否可以创建指令
JSONObject paramTask = new JSONObject().fluentPut("device_code", acsTask.getNext_device_code());
HttpResponse httpResponse = acsToWmsService.checkTask(paramTask);