add：增加agv充电 取消充电

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java

@@ -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);
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java

@@ -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();
     }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/data/one/BaseResponse.java

@@ -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);
     }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java

@@ -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);
+    }
+
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java

@@ -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);
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -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;
+    }
+
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java

@@ -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);