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feat: 海康交互接口-base

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liyongde
2026-01-30 14:37:56 +08:00
parent 853de6c582
commit da6a39c10a
53 changed files with 2019 additions and 3 deletions
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4
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java
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@@ -63,4 +63,8 @@ public interface AcsConfig {
String LOGLEVEL = "log_level";
String ELECTRIC ="electric";
String HAS_HK = "has_hk";
String HK_URL = "hk_url";
}

131
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkHttpUtil.java Normal file
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@@ -0,0 +1,131 @@
package org.nl.acs.agv.hk;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import com.alibaba.fastjson.JSON;
import org.nl.acs.AcsConfig;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.agv.hk.log.ToOthersInterfaceLog;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
@Component
public class HkHttpUtil {
private static final RequestAdapter REQUEST_ADAPTER = new HkRequestAdapter();
private static final ResponseAdapter RESPONSE_ADAPTER = new HkResponseAdapter();
@Autowired
private ISysParamService paramService;
@ToOthersInterfaceLog("ACS->HK")
public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.body(JSON.toJSONString(requestParam))
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->HK")
public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.body(JSON.toJSONString(requestParam))
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->HK")
public <T> UnifiedResponse<T> sendPostRequest(String path, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->HK")
public <T> UnifiedResponse<T> sendPostRequest(String path) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->HK")
public <T> UnifiedResponse<T> sendGetRequest(String path, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.get(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->HK")
public <T> UnifiedResponse<T> sendGetRequest(String path) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HAS_HK).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.get(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
}

20
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkRequestAdapter.java Normal file
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@@ -0,0 +1,20 @@
package org.nl.acs.agv.hk;
import org.nl.acs.AcsConfig;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.param.ISysParamService;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public class HkRequestAdapter implements RequestAdapter {
@Override
public String getUrl() {
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
return paramService.findByCode(AcsConfig.HK_URL).getValue();
}
}

39
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/HkResponseAdapter.java Normal file
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@@ -0,0 +1,39 @@
package org.nl.acs.agv.hk;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import java.util.Collection;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public class HkResponseAdapter implements ResponseAdapter {
@Override
public <T> UnifiedResponse<T> adapt(String responseBody, Class<T> type) {
JSONObject resp = JSON.parseObject(responseBody);
boolean isSuccess = resp.getInteger("code") == 0;
String message = resp.getString("message");
String reqCode = resp.getString("reqCode");
if (type != null) {
Object dataObject = resp.get("data");
T data;
if (type == String.class) {
data = type.cast(dataObject.toString());
} else if (type == Object.class) {
data = type.cast(dataObject);
} else if (type.isArray() || Collection.class.isAssignableFrom(type)) {
data = JSON.parseObject(dataObject.toString(), type);
} else {
data = JSON.parseObject(resp.getString("data"), type);
}
return new UnifiedResponse<>(isSuccess, message, reqCode, data);
}
return new UnifiedResponse<>(isSuccess, message, reqCode);
}
}

10
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/RequestAdapter.java Normal file
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@@ -0,0 +1,10 @@
package org.nl.acs.agv.hk;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public interface RequestAdapter {
String getUrl();
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/ResponseAdapter.java Normal file
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@@ -0,0 +1,12 @@
package org.nl.acs.agv.hk;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public interface ResponseAdapter {
public <T> UnifiedResponse<T> adapt(String responseBody, Class<T> type);
}

55
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/UnifiedResponse.java Normal file
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@@ -0,0 +1,55 @@
package org.nl.acs.agv.hk;
public class UnifiedResponse<T> {
private boolean success;
private String message;
private String reqCode;
private T data;
public UnifiedResponse(boolean success, String message, T data) {
this.success = success;
this.message = message;
this.data = data;
}
public UnifiedResponse(boolean success, String message, String reqCode, T data) {
this.success = success;
this.message = message;
this.reqCode = reqCode;
this.data = data;
}
public UnifiedResponse(boolean success, String message) {
this.success = success;
this.message = message;
}
public UnifiedResponse(boolean success, String message, String reqCode) {
this.success = success;
this.message = message;
this.reqCode = reqCode;
}
public boolean isSuccess() {
return this.success;
}
public String getMessage() {
return this.message;
}
public String getReqCode() {
return this.reqCode;
}
public T getData() {
return this.data;
}
public void setData(T data) {
this.data = data;
}
}

109
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OtherToInterfaceLogAspect.java Normal file
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@@ -0,0 +1,109 @@
package org.nl.acs.agv.hk.log;
import com.alibaba.fastjson.JSON;
import org.aspectj.lang.ProceedingJoinPoint;
import org.aspectj.lang.annotation.Around;
import org.aspectj.lang.annotation.Aspect;
import org.aspectj.lang.reflect.MethodSignature;
import org.nl.acs.agv.hk.utils.IpUtil;
import org.nl.common.exception.BadRequestException;
import org.nl.system.service.lucene.LuceneExecuteLogService;
import org.nl.system.service.lucene.dto.LuceneLogDto;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.web.bind.annotation.*;
import java.lang.reflect.Method;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/7/8
*/
@Aspect
@Component
public class OtherToInterfaceLogAspect {
@Autowired
private LuceneExecuteLogService logService;
@Around("@annotation(org.nl.acs.ext.hk.log.OthersToInterfaceLog)")
public Object logAround(ProceedingJoinPoint joinPoint) throws Throwable {
long startTime = System.currentTimeMillis();
MethodSignature signature = (MethodSignature) joinPoint.getSignature();
Method method = signature.getMethod();
Class<?> targetClass = joinPoint.getTarget().getClass();
RequestMapping classRequestMapping = targetClass.getAnnotation(RequestMapping.class);
String classUrlValue = classRequestMapping != null ? String.join(",", classRequestMapping.value()) : "No Class Annotation";
String methodUrlValue = "";
if (method.isAnnotationPresent(GetMapping.class)) {
GetMapping getMapping = method.getAnnotation(GetMapping.class);
methodUrlValue = String.join(",", getMapping.value());
} else if (method.isAnnotationPresent(PostMapping.class)) {
PostMapping postMapping = method.getAnnotation(PostMapping.class);
methodUrlValue = String.join(",", postMapping.value());
} else if (method.isAnnotationPresent(PutMapping.class)) {
PutMapping putMapping = method.getAnnotation(PutMapping.class);
methodUrlValue = String.join(",", putMapping.value());
} else if (method.isAnnotationPresent(DeleteMapping.class)) {
DeleteMapping deleteMapping = method.getAnnotation(DeleteMapping.class);
methodUrlValue = String.join(",", deleteMapping.value());
} else if (method.isAnnotationPresent(RequestMapping.class)) {
RequestMapping methodRequestMapping = method.getAnnotation(RequestMapping.class);
methodUrlValue = String.join(",", methodRequestMapping.value());
}
String request_direction = "";
if (method.isAnnotationPresent(OthersToInterfaceLog.class)) {
OthersToInterfaceLog interfaceLog = method.getAnnotation(OthersToInterfaceLog.class);
request_direction = interfaceLog.value();
}
String methodName = joinPoint.getSignature().getName();
Object[] args = joinPoint.getArgs();
LuceneLogDto logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
.request_direction(request_direction)
.request_param(JSON.toJSONString(args))
.method(methodName)
.content("开始请求")
.build();
logService.interfaceExecuteLog(logDto);
Object result = null;
try {
result = joinPoint.proceed();
} catch (Exception e) {
logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
.request_direction(request_direction)
.request_param(JSON.toJSONString(args))
.method(methodName)
.response_param(e.getMessage())
.executeTime(System.currentTimeMillis() - startTime)
.content("响应请求")
.build();
logService.interfaceExecuteLog(logDto);
throw new BadRequestException(e.getMessage());
}
logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(IpUtil.localIP() + classUrlValue + methodUrlValue)
.request_direction(request_direction)
.request_param(JSON.toJSONString(args))
.method(methodName)
.response_param(JSON.toJSONString(result))
.executeTime(System.currentTimeMillis() - startTime)
.content("响应请求")
.build();
logService.interfaceExecuteLog(logDto);
return result;
}
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/OthersToInterfaceLog.java Normal file
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@@ -0,0 +1,12 @@
package org.nl.acs.agv.hk.log;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
public @interface OthersToInterfaceLog {
String value() default "";
}

139
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOtherInterfaceLogAspect.java Normal file
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@@ -0,0 +1,139 @@
package org.nl.acs.agv.hk.log;
import com.alibaba.fastjson.JSON;
import org.aspectj.lang.ProceedingJoinPoint;
import org.aspectj.lang.annotation.Around;
import org.aspectj.lang.annotation.Aspect;
import org.aspectj.lang.reflect.MethodSignature;
import org.nl.common.exception.BadRequestException;
import org.nl.system.service.lucene.LuceneExecuteLogService;
import org.nl.system.service.lucene.dto.LuceneLogDto;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.ReflectionUtils;
import java.lang.reflect.Field;
import java.lang.reflect.Method;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/7/8
*/
@Aspect
@Component
public class ToOtherInterfaceLogAspect {
private static final ConcurrentMap<Class<?>, Field> fieldCache = new ConcurrentHashMap<>();
private static final ConcurrentMap<Class<?>, Method> methodCache = new ConcurrentHashMap<>();
@Autowired
private LuceneExecuteLogService logService;
@Around("@annotation(org.nl.acs.ext.hk.log.ToOthersInterfaceLog)")
public Object logAround(ProceedingJoinPoint joinPoint) throws Throwable {
long startTime = System.currentTimeMillis();
MethodSignature signature = (MethodSignature) joinPoint.getSignature();
Method method = signature.getMethod();
String request_direction = "";
if (method.isAnnotationPresent(ToOthersInterfaceLog.class)) {
ToOthersInterfaceLog interfaceLog = method.getAnnotation(ToOthersInterfaceLog.class);
request_direction = interfaceLog.value();
}
String methodName = joinPoint.getSignature().getName();
Object[] args = joinPoint.getArgs();
Object url = "";
Object requesr_param = "";
if (args.length > 1) {
url = args[0];
requesr_param = args[1];
}
Class<?> targetClass = joinPoint.getTarget().getClass();
Object ipPort = "";
try {
Field requestAdapterField = fieldCache.computeIfAbsent(targetClass, clazz -> {
try {
Field field = clazz.getDeclaredField("REQUEST_ADAPTER");
ReflectionUtils.makeAccessible(field);
return field;
} catch (NoSuchFieldException e) {
throw new RuntimeException(e);
}
});
Object requestAdapterObject = requestAdapterField.get(null);
Method getUrlMethod = methodCache.computeIfAbsent(requestAdapterObject.getClass(), clazz -> {
try {
Method m = clazz.getDeclaredMethod("getUrl");
ReflectionUtils.makeAccessible(m);
return m;
} catch (NoSuchMethodException e) {
throw new RuntimeException(e);
}
});
ipPort = getUrlMethod.invoke(requestAdapterObject);
} catch (Exception e) {
LuceneLogDto logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(ipPort + String.valueOf(url))
.request_direction(request_direction)
.request_param(JSON.toJSONString(requesr_param))
.method(methodName)
.content("开始请求,获取url失败," + e.getMessage())
.build();
logService.interfaceExecuteLog(logDto);
}
LuceneLogDto logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(ipPort + String.valueOf(url))
.request_direction(request_direction)
.request_param(JSON.toJSONString(requesr_param))
.method(methodName)
.content("开始请求")
.build();
logService.interfaceExecuteLog(logDto);
Object result = null;
try {
result = joinPoint.proceed();
} catch (Exception e) {
logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(ipPort + String.valueOf(url))
.request_direction(request_direction)
.request_param(JSON.toJSONString(requesr_param))
.method(methodName)
.response_param(e.getMessage())
.executeTime(System.currentTimeMillis() - startTime)
.content("响应请求")
.build();
logService.interfaceExecuteLog(logDto);
throw new BadRequestException(e.getMessage());
}
logDto =
LuceneLogDto.builder()
.logType("接口日志")
.request_url(ipPort + String.valueOf(url))
.request_direction(request_direction)
.request_param(JSON.toJSONString(requesr_param))
.method(methodName)
.response_param(JSON.toJSONString(result))
.executeTime(System.currentTimeMillis() - startTime)
.content("响应请求")
.build();
logService.interfaceExecuteLog(logDto);
return result;
}
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/log/ToOthersInterfaceLog.java Normal file
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@@ -0,0 +1,12 @@
package org.nl.acs.agv.hk.log;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
public @interface ToOthersInterfaceLog {
String value() default "";
}

64
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/AcsToHkController.java Normal file
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@@ -0,0 +1,64 @@
package org.nl.acs.agv.hk.rest;
import cn.dev33.satoken.annotation.SaIgnore;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.hk.service.AcsToHkService;
import org.nl.acs.agv.hk.service.data.BindPodAndBerthReq;
import org.nl.acs.agv.hk.service.data.QueryTaskStatusReq;
import org.nl.acs.agv.hk.service.data.ResumeRobotReq;
import org.nl.acs.agv.hk.service.data.StopRobotReq;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import java.util.List;
/**
* @author ludj
* @date 2021-07-21
**/
@RestController
@RequiredArgsConstructor
@RequestMapping("/acsToHk")
@Slf4j
public class AcsToHkController {
@Autowired
private AcsToHkService acsToHkService;
@SaIgnore
@PostMapping("/queryTaskStatus")
public ResponseEntity<Object> agvCallback(@RequestBody JSONObject requestParam) {
QueryTaskStatusReq queryTaskStatusReq = JSONObject.toJavaObject(requestParam, QueryTaskStatusReq.class);
QueryTaskStatusReq req = QueryTaskStatusReq.builder().taskCodes(requestParam.getJSONArray("taskCodes").toJavaList(String.class)).build();
return new ResponseEntity<>(acsToHkService.queryTaskStatus(queryTaskStatusReq, List.class), HttpStatus.OK);
}
@SaIgnore
@PostMapping("/stopRobot")
public ResponseEntity<Object> stopRobot(@RequestBody JSONObject requestParam) {
StopRobotReq req = StopRobotReq.builder().robotCount(requestParam.getString("robotCount")).robots(requestParam.getJSONArray("robots").toJavaList(String.class)).build();
return new ResponseEntity<>(acsToHkService.stopRobot(req), HttpStatus.OK);
}
@SaIgnore
@PostMapping("/resumeRobot")
public ResponseEntity<Object> resumeRobot(@RequestBody JSONObject requestParam) {
ResumeRobotReq req = ResumeRobotReq.builder().robotCount(requestParam.getString("robotCount")).robots(requestParam.getJSONArray("robots").toJavaList(String.class)).build();
return new ResponseEntity<>(acsToHkService.resumeRobot(req), HttpStatus.OK);
}
@SaIgnore
@PostMapping("/bindPodAndBerth")
public ResponseEntity<Object> bindPodAndBerth(@RequestBody JSONObject requestParam) {
BindPodAndBerthReq req = BindPodAndBerthReq.builder().podCode(requestParam.getString("podCode")).positionCode(requestParam.getString("positionCode")).indBind(requestParam.getString("indBind")).build();
return new ResponseEntity<>(acsToHkService.bindPodAndBerth(req), HttpStatus.OK);
}
}

41
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/rest/HkToACSController.java Normal file
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@@ -0,0 +1,41 @@
package org.nl.acs.agv.hk.rest;
import cn.dev33.satoken.annotation.SaIgnore;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.hk.log.OthersToInterfaceLog;
import org.nl.acs.agv.hk.service.HkToAcsService;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
/**
* @author wangs
* @date 2021-07-21
**/
@RestController
@RequiredArgsConstructor
@RequestMapping("/hkToAcs")
@Slf4j
public class HkToACSController {
private final HkToAcsService hkToAcsService;
@SaIgnore
@PostMapping("/agv/agvCallbackService/agvCallback")
@OthersToInterfaceLog("HK->ACS")
public ResponseEntity<Object> agvCallback(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(hkToAcsService.agvCallback(requestParam), HttpStatus.OK);
}
@SaIgnore
@PostMapping("/agvCallbackService/warnCallback")
@OthersToInterfaceLog("HK->ACS")
public ResponseEntity<Object> warnCallback(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(hkToAcsService.warnCallback(requestParam), HttpStatus.OK);
}
}

111
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/AcsToHkService.java Normal file
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@@ -0,0 +1,111 @@
package org.nl.acs.agv.hk.service;
import org.nl.acs.agv.hk.UnifiedResponse;
import org.nl.acs.agv.hk.service.data.BaseReq;
/**
* @author onepiece
*/
public interface AcsToHkService {
/**
* 生成任务单
*
* @param type 响应类型
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> genAgvSchedulingTask(BaseReq<R> requestParam, Class<T> type);
/**
* 继续执行任务
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> continueTask(BaseReq<R> requestParam);
/**
* 取消任务
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> cancelTask(BaseReq<R> requestParam);
/**
* 查询任务状态
*
* @param type 响应类型
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> queryTaskStatus(BaseReq<R> requestParam, Class<T> type);
/**
* 查询AGV状态
*
* @param type 响应类型
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> queryAgvStatus(BaseReq<R> requestParam, Class<T> type);
/**
* 停止AGV
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> stopRobot(BaseReq<R> requestParam);
/**
* 恢复AGV
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> resumeRobot(BaseReq<R> requestParam);
/**
* 区域清空或释放
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> blockArea(BaseReq<R> requestParam);
/**
* 预调度对外接口
*
* @param type 响应类型
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> genPreScheduleTask(BaseReq<R> requestParam, Class<T> type);
/**
* 料箱取放回调
*
* @param type 响应类型
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> boxApplyPass(BaseReq<R> requestParam, Class<T> type);
/**
* 货架与位置绑定、解绑
*
* @param requestParam
* @return
*/
public <T,R> UnifiedResponse<T> bindPodAndBerth(BaseReq<R> requestParam);
}

27
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/HkToAcsService.java Normal file
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package org.nl.acs.agv.hk.service;
import com.alibaba.fastjson.JSONObject;
/**
* @author onepiece
*/
public interface HkToAcsService {
/**
* CTU回调接口处理逻辑
*
* @param requestParam
* @return
*/
JSONObject agvCallback(JSONObject requestParam);
/**
* CTU报警接口处理逻辑
*
* @param requestParam
* @return
*/
JSONObject warnCallback(JSONObject requestParam);
}

27
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BaseReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import cn.hutool.core.date.DateUtil;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.experimental.SuperBuilder;
import org.nl.config.IdUtil;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
@AllArgsConstructor
@NoArgsConstructor
public class BaseReq<T> {
@Builder.Default
private String reqCode = IdUtil.getStringId();
@Builder.Default
private String reqTime = DateUtil.now();
private String clientCode;
private String tokenCode;
}

15
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BaseResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class BaseResp {
private String reqCode;
private String code;
private String message;
}

24
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BindPodAndBerthReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@AllArgsConstructor
@NoArgsConstructor
@SuperBuilder
public class BindPodAndBerthReq <T> extends BaseReq<T> {
private String podCode;
private String positionCode;
private String podDir;
private String characterValue;
private String indBind;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BindPodAndBerthResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class BindPodAndBerthResp extends BaseResp {
}

30
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BlockAreaReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class BlockAreaReq <T> extends BaseReq<T> {
/**
* 被封锁或解封的区域编号
*/
private String matterArea;
/**
* "1"：封锁，
* "0"：解封
*/
private String indBind;
private String pause;
private String controlMod;
private String targetArea;
private String noticeThird;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BlockAreaResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class BlockAreaResp extends BaseResp {
}

24
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BoxApplyPassReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class BoxApplyPassReq <T> extends BaseReq<T> {
/**
* 指令号
*/
private String taskCode;
/**
* 1-取申请通过
* <p>
* 2-放申请通过
*/
private String type;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/BoxApplyPassResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class BoxApplyPassResp extends BaseResp {
private String data;
}

18
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/CancelTaskReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class CancelTaskReq <T> extends BaseReq<T>{
private String forceCancel;
private String matterArea;
private String agvCode;
private String taskCode;
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/CanncelTaskResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class CanncelTaskResp extends BaseResp {
}

20
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/ContinueTaskReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class ContinueTaskReq <T> extends BaseReq<T>{
private String wbCode;
private String podCode;
private String agvCode;
private String taskCode;
private String taskSeq;
private Object nextPositionCode;
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/ContinueTaskResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class ContinueTaskResp extends BaseResp {
}

36
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/GenAgvSchedulingTaskReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
import java.util.List;
import java.util.Map;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class GenAgvSchedulingTaskReq<T> extends BaseReq<T>{
private String taskTyp;
private String ctnrTyp;
private String ctnrCode;
private String ctnrNum;
private String taskMode;
private String wbCode;
private List<Map<String,String>> positionCodePath;
private String podCode;
private String podDir;
private String podTyp;
private String materialLot;
private String materialType;
private String priority;
private String taskCode;
private String agvCode;
private String groupId;
private String agvTyp;
private String positionSelStrategy;
private String data;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/GenAgvSchedulingTaskResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class GenAgvSchedulingTaskResp extends BaseResp {
private String data;
}

47
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/GenPreScheduleTaskReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
import java.math.BigDecimal;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class GenPreScheduleTaskReq <T> extends BaseReq<T> {
/**
* 任务点位呼叫号
*/
private String positionCode;
/**
* 预调度时间（s）
* 表示真实任务预计多久后生成，传-1
* 清空点位全部的预调度任务
*/
private String nextTask;
/**
* AGV 类型，预调度需要指定车型
*/
private String agvTyp;
/**
* 优先级
*/
private String priority;
/**
* 需求空仓位数
*/
private String useableLayers;
/**
* 缓存料箱数
*/
private String cacheCount;
/**
* 是否更新，默认为 0
*/
private BigDecimal update;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/GenPreScheduleTaskResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class GenPreScheduleTaskResp extends BaseResp {
private String data;
}

18
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/QueryAgvStatusReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import lombok.experimental.SuperBuilder;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@SuperBuilder
public class QueryAgvStatusReq <T> extends BaseReq<T> {
/**
* 地图编号
*/
private String mapCode;
}

16
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/QueryAgvStatusResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import org.nl.acs.agv.hk.service.data.dto.QueryAgvStatusDto;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class QueryAgvStatusResp extends BaseResp {
private List<QueryAgvStatusDto> data;
}

22
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/QueryTaskStatusReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.experimental.SuperBuilder;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@AllArgsConstructor
@NoArgsConstructor
@SuperBuilder
public class QueryTaskStatusReq <T> extends BaseReq<T>{
private List<String> taskCodes;
private String agvCode;
}

16
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/QueryTaskStatusResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
import org.nl.acs.agv.hk.service.data.dto.QueryTaskStatusDto;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class QueryTaskStatusResp extends BaseResp {
private List<QueryTaskStatusDto> data;
}

23
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/ResumeRobotReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.experimental.SuperBuilder;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@AllArgsConstructor
@NoArgsConstructor
@SuperBuilder
public class ResumeRobotReq <T> extends BaseReq<T> {
private String robotCount;
private String mapShortName;
private List<String> robots;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/ResumeRobotResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class ResumeRobotResp extends BaseResp {
}

23
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/StopRobotReq.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
import lombok.experimental.SuperBuilder;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
@AllArgsConstructor
@NoArgsConstructor
@SuperBuilder
public class StopRobotReq <T> extends BaseReq<T> {
private String robotCount;
private String mapShortName;
private List<String> robots;
}

13
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/StopRobotResp.java Normal file
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package org.nl.acs.agv.hk.service.data;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/12/28
*/
@Data
public class StopRobotResp extends BaseResp {
}

28
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/dto/QueryAgvStatusDto.java Normal file
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package org.nl.acs.agv.hk.service.data.dto;
import lombok.Data;
import java.util.List;
/**
* @Description TODO
* @Author Gengby
* @Date 2025/1/3
*/
@Data
public class QueryAgvStatusDto {
private String robotCode;
private String robotDir;
private String robotIp;
private String battery;
private String posX;
private String posY;
private String mapCode;
private String speed;
private String status;
private String exclType;
private String stop;
private String podCode;
private String podDir;
private List<String> path;
}

16
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/data/dto/QueryTaskStatusDto.java Normal file
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package org.nl.acs.agv.hk.service.data.dto;
import lombok.Data;
/**
* @Description TODO
* @Author Gengby
* @Date 2025/1/3
*/
@Data
public class QueryTaskStatusDto {
private String taskCode;
private String taskTyp;
private String taskStatus;
private String agvCode;
}

94
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/AcsToHkServiceImpl.java Normal file
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package org.nl.acs.agv.hk.service.impl;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.address.service.AddressService;
import org.nl.acs.address.service.dto.AddressDto;
import org.nl.acs.agv.hk.HkHttpUtil;
import org.nl.acs.agv.hk.UnifiedResponse;
import org.nl.acs.agv.hk.service.AcsToHkService;
import org.nl.acs.agv.hk.service.data.BaseReq;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
/**
* @author onepiece
*/
@Service
@RequiredArgsConstructor
@Slf4j
public class AcsToHkServiceImpl implements AcsToHkService {
@Autowired
private AddressService addressService;
@Autowired
private HkHttpUtil hkHttpUtil;
@Override
public <T,R> UnifiedResponse<T> genAgvSchedulingTask(BaseReq<R> requestParam, Class<T> type) {
AddressDto addressDto = addressService.findByCode("genAgvSchedulingTask");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam, type);
}
@Override
public <T,R> UnifiedResponse<T> continueTask(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("continueTask");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
@Override
public <T,R> UnifiedResponse<T> cancelTask(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("cancelTask");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
@Override
public <T,R> UnifiedResponse<T> queryTaskStatus(BaseReq<R> requestParam, Class<T> type) {
AddressDto addressDto = addressService.findByCode("queryTaskStatus");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam, type);
}
@Override
public <T,R> UnifiedResponse<T> queryAgvStatus(BaseReq<R> requestParam, Class<T> type) {
AddressDto addressDto = addressService.findByCode("queryAgvStatus");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam, type);
}
@Override
public <T,R> UnifiedResponse<T> stopRobot(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("stopRobot");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
@Override
public <T,R> UnifiedResponse<T> resumeRobot(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("resumeRobot");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
@Override
public <T,R> UnifiedResponse<T> blockArea(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("blockArea");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
@Override
public <T,R> UnifiedResponse<T> genPreScheduleTask(BaseReq<R> requestParam, Class<T> type) {
AddressDto addressDto = addressService.findByCode("genPreScheduleTask");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam, type);
}
@Override
public <T,R> UnifiedResponse<T> boxApplyPass(BaseReq<R> requestParam, Class<T> type) {
AddressDto addressDto = addressService.findByCode("boxApplyPass");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam, type);
}
@Override
public <T, R> UnifiedResponse<T> bindPodAndBerth(BaseReq<R> requestParam) {
AddressDto addressDto = addressService.findByCode("bindPodAndBerth");
return hkHttpUtil.sendPostRequest(addressDto.getMethods_url(), requestParam);
}
}

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acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/service/impl/HkToAcsServiceImpl.java Normal file
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package org.nl.acs.agv.hk.service.impl;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.SneakyThrows;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.domain.Device;
import org.nl.acs.agv.hk.service.AcsToHkService;
import org.nl.acs.agv.hk.service.HkToAcsService;
import org.nl.acs.agv.hk.service.data.GenPreScheduleTaskReq;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.enums.InstTypeEnum;
import org.nl.acs.instruction.enums.InstructionStatusEnum;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.task.enums.TaskTypeEnum;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.Optional;
/**
* 海康AGV接口
*
* @author: gengby
* @createDate: 2024/12/28
*/
@Service
@RequiredArgsConstructor
@Slf4j
public class HkToAcsServiceImpl implements HkToAcsService {
@Autowired
private InstructionService instructionService;
@Autowired
private DeviceAppService deviceAppService;
@Autowired
private AcsToHkService acsToHkService;
@Autowired
private ISysParamService sysParamService;
@Autowired
private AcsToWmsService acsToWmsService;
@Autowired
private TaskService taskService;
@SneakyThrows
@Override
public JSONObject agvCallback(JSONObject requestParam) {
JSONObject resp = new JSONObject();
String reqCode = requestParam.getString("reqCode");
String robotCode = requestParam.getString("robotCode");
String taskCode = requestParam.getString("taskCode");
String method = requestParam.getString("method");
Instruction instruction = instructionService.findByCodeFromCache(taskCode);
if (ObjectUtil.isEmpty(instruction)) {
resp.put("code", "1");
resp.put("message", "请求失败，指令信息不存在,指令号:" + taskCode);
resp.put("reqCode", reqCode);
return resp;
}
TaskDto taskDto = taskService.findByCodeFromCache(instruction.getTask_code());
if (ObjectUtil.isEmpty(taskDto)) {
resp.put("code", "1");
resp.put("message", "请求失败，任务信息不存在,指令号:" + taskCode);
resp.put("reqCode", reqCode);
return resp;
}
String now = DateUtil.now();
//method 回调1、任务开始start
if (StrUtil.equals(method, "start")) {
//修改指令状态执行中并修改CTU车号
instruction.setCarno(robotCode);
instruction.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
instruction.setExecute_device_code(instruction.getStart_point_code());
instruction.setUpdate_time(now);
instructionService.update(instruction);
JSONObject reqParam = new JSONObject();
reqParam.put("task_id", instruction.getTask_id());
reqParam.put("task_code", instruction.getTask_code());
reqParam.put("car_no", robotCode);
acsToWmsService.feedCarNo(reqParam);
}
//method 回调2、任务完成/结束end
else if (StrUtil.equals(method, "end")) {
if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())) {
instruction.setExecute_device_code(instruction.getStart_point_code());
}
//修改指令状态完成
instruction.setInstruction_status(InstructionStatusEnum.FINISHED.getIndex());
instruction.setUpdate_time(now);
instructionService.finish(instruction);
if (StrUtil.equals(instruction.getIs_wait(), "1") && StrUtil.equals(instruction.getInstruction_type(), InstTypeEnum.CTU_OUT_TASK.getCode())) {
String ctuWaitTime = Optional.ofNullable(sysParamService.findByCode("ctuWaitTime").getValue()).map(Object::toString).orElse("3600");
GenPreScheduleTaskReq gpsReq = GenPreScheduleTaskReq.builder()
.positionCode(instruction.getStart_device_code())
.nextTask(ctuWaitTime)
.agvTyp("10")
.build();
acsToHkService.genPreScheduleTask(gpsReq, null);
}
}
//method 回调3、任务取消cancel
else if (StrUtil.equals(method, "cancel")) {
//修改指令状态取消
instruction.setInstruction_status(InstructionStatusEnum.CANCEL.getIndex());
instruction.setUpdate_time(now);
instructionService.update(instruction);
}
//method 回调4、取放料箱申请inApply
else if (StrUtil.equals(method, "inApply")) {
Device device = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
if (ObjectUtil.isEmpty(device)) {
resp.put("code", "1");
resp.put("message", "请求失败，请求位置编号不存在！");
resp.put("reqCode", reqCode);
return resp;
}
// StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver;
// //CTU取货申请
// //如果请求位置编号与指令起点一致并且是输送线则是取货申请
// if (device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) {
// standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver();
// if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) {
// standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true);
// standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode);
// } else {
// standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true);
// standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
// }
// }
}
//method 回调5、inApplyOk
else if (StrUtil.equals(method, "inApplyOK")) {
//如果是WMS下发的任务，就反馈WMS取货完成
if (!instruction.getTask_code().startsWith("-")) {
JSONObject reqParam = new JSONObject();
reqParam.put("task_code", instruction.getTask_code());
reqParam.put("point_code", instruction.getStart_point_code());
acsToWmsService.takeFinish(reqParam);
}
}
//method 回调6、放料箱申请outApply
else if (StrUtil.equals(method, "outApply")) {
Device device = deviceAppService.findDeviceByCode(instruction.getNext_device_code());
if (instruction.getInstruction_type().equals(InstTypeEnum.AGV_THREE_TASK.getCode())) {
device = deviceAppService.findDeviceByCode(instruction.getStart_device_code());
}
if (ObjectUtil.isEmpty(device)) {
resp.put("code", "1");
resp.put("message", "请求失败，请求位置编号不存在！");
resp.put("reqCode", reqCode);
return resp;
}
// StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver;
// //CTU取货申请
// //如果请求位置编号与指令起点一致并且是输送线则是取货申请
// if (device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) {
// standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver();
// if (TaskTypeEnum.CTU_TASK.getCode().equals(taskDto.getTask_type())) {
// standardWeightSiteDeviceDriver.setReqCtuTakeRequireSuccess(true);
// standardWeightSiteDeviceDriver.setReqCtuTakeInstCode(taskCode);
// } else {
// standardWeightSiteDeviceDriver.setReqAgvTakeRequireSuccess(true);
// standardWeightSiteDeviceDriver.setReqAgvTakeInstCode(taskCode);
// }
// }
}
resp.put("code", "0");
resp.put("message", "成功");
resp.put("reqCode", reqCode);
return resp;
}
@Override
public JSONObject warnCallback(JSONObject requestParam) {
String reqCode = requestParam.getString("reqCode");
String reqTime = requestParam.getString("reqTime");
JSONArray data = requestParam.getJSONArray("data");
JSONObject resp = new JSONObject();
resp.put("code", "0");
resp.put("message", "成功");
resp.put("reqCode", reqCode);
return resp;
}
}

35
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/utils/IpUtil.java Normal file
View File

@@ -0,0 +1,35 @@
package org.nl.acs.agv.hk.utils;
import java.net.InetAddress;
import java.net.NetworkInterface;
import java.net.SocketException;
import java.util.Enumeration;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/6/25
*/
public class IpUtil {
public static final String LOCAL_IP = localIP();
public static String localIP() {
try {
Enumeration<NetworkInterface> networkInterfaces = NetworkInterface.getNetworkInterfaces();
while (networkInterfaces.hasMoreElements()) {
NetworkInterface networkInterface = networkInterfaces.nextElement();
Enumeration<InetAddress> inetAddresses = networkInterface.getInetAddresses();
while (inetAddresses.hasMoreElements()) {
InetAddress inetAddress = inetAddresses.nextElement();
if (!inetAddress.isLoopbackAddress() && inetAddress instanceof java.net.Inet4Address) {
return inetAddress.getHostAddress();
}
}
}
} catch (SocketException e) {
e.printStackTrace();
}
return "";
}
}

26
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/hk/utils/TypeCastingUtil.java Normal file
View File

@@ -0,0 +1,26 @@
package org.nl.acs.agv.hk.utils;
import com.alibaba.fastjson.JSONObject;
import java.util.List;
import java.util.stream.Collectors;
/**
* @Description TODO
* @Author Gengby
* @Date 2025/1/3
*/
public class TypeCastingUtil {
public static <T> List<T> convertToList(List<?> rawList, Class<T> clazz) {
return rawList.stream()
.filter(item -> item instanceof JSONObject)
.map(item -> {
JSONObject jsonObject = (JSONObject) item;
return clazz.cast(jsonObject.toJavaObject(clazz));
})
.collect(Collectors.toList());
}
}

134
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsHttpUtil.java Normal file
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@@ -0,0 +1,134 @@
package org.nl.acs.ext.wms;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import com.alibaba.fastjson.JSON;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.hk.RequestAdapter;
import org.nl.acs.agv.hk.ResponseAdapter;
import org.nl.acs.agv.hk.UnifiedResponse;
import org.nl.acs.agv.hk.log.ToOthersInterfaceLog;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
@Component
public class LmsHttpUtil {
private static final RequestAdapter REQUEST_ADAPTER = new LmsRequestAdapter();
private static final ResponseAdapter RESPONSE_ADAPTER = new LmsResponseAdapter();
@Autowired
private ISysParamService paramService;
@ToOthersInterfaceLog("ACS->WMS")
public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.body(JSON.toJSONString(requestParam))
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->WMS")
public <T, W> UnifiedResponse<T> sendPostRequest(String path, W requestParam) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.body(JSON.toJSONString(requestParam))
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->WMS")
public <T> UnifiedResponse<T> sendPostRequest(String path, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->WMS")
public <T> UnifiedResponse<T> sendPostRequest(String path) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->WMS")
public <T> UnifiedResponse<T> sendGetRequest(String path, Class<T> type) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.get(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, type);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
@ToOthersInterfaceLog("ACS->WMS")
public <T> UnifiedResponse<T> sendGetRequest(String path) {
if (!StrUtil.equals(paramService.findByCode(AcsConfig.HASWMS).getValue(), CommonFinalParam.ONE)) {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
String body = HttpRequest
.get(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(5000)
.execute()
.body();
return RESPONSE_ADAPTER.adapt(body, null);
} catch (Exception e) {
return new UnifiedResponse<>(false, e.getMessage());
}
}
}

20
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsRequestAdapter.java Normal file
View File

@@ -0,0 +1,20 @@
package org.nl.acs.ext.wms;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.hk.RequestAdapter;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.param.ISysParamService;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public class LmsRequestAdapter implements RequestAdapter {
@Override
public String getUrl() {
ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class);
return paramService.findByCode(AcsConfig.WMSURL).getValue();
}
}

31
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/LmsResponseAdapter.java Normal file
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@@ -0,0 +1,31 @@
package org.nl.acs.ext.wms;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.agv.hk.ResponseAdapter;
import org.nl.acs.agv.hk.UnifiedResponse;
/**
* @Description TODO
* @Author Gengby
* @Date 2024/4/22
*/
public class LmsResponseAdapter implements ResponseAdapter {
@Override
public <T> UnifiedResponse<T> adapt(String responseBody, Class<T> type) {
JSONObject jsonResponse = JSONObject.parseObject(responseBody);
boolean isSuccess = jsonResponse.getInteger("status") == 200;
String message = jsonResponse.getString("message");
if (type != null) {
if (type.isArray()) {
T data = JSONObject.toJavaObject(jsonResponse.getJSONArray("data"), type);
return new UnifiedResponse<>(isSuccess, message, data);
} else {
T data = JSONObject.toJavaObject(jsonResponse.getJSONObject("data"), type);
return new UnifiedResponse<>(isSuccess, message, data);
}
}
return new UnifiedResponse<>(isSuccess, message);
}
}

38
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java
View File

@@ -3,6 +3,7 @@ package org.nl.acs.ext.wms.service;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.agv.hk.UnifiedResponse;
import org.nl.acs.ext.wms.data.ApplyGreenFoilButtonRequest;
import org.nl.acs.ext.wms.data.ApplyGreenFoilButtonResponse;
import org.nl.acs.ext.wms.data.BlankingButtonRequest;
@@ -129,4 +130,41 @@ public interface AcsToWmsService {
*/
BlankingButtonResponse applyBlankButtonTask(BlankingButtonRequest param);
/**
* 反馈车号
*
* @param request
* @param <T>
* @return
*/
<T> UnifiedResponse<T> feedCarNo(JSONObject request);
/**
* 反馈重量
*
* @param request
* @param <T>
* @return
*/
<T> UnifiedResponse<T> feedWeight(JSONObject request, Class<T> type);
/**
* 申请放货
*
* @param request
* @param <T>
* @return
*/
<T> UnifiedResponse<T> applyPass(JSONObject request, Class<T> type);
/**
* 取货完成
*
* @param request
* @param <T>
* @return
*/
<T> UnifiedResponse<T> takeFinish(JSONObject request);
}

35
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -14,7 +14,9 @@ import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.address.service.AddressService;
import org.nl.acs.address.service.dto.AddressDto;
import org.nl.acs.agv.hk.UnifiedResponse;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.ext.wms.LmsHttpUtil;
import org.nl.acs.ext.wms.data.ApplyGreenFoilButtonRequest;
import org.nl.acs.ext.wms.data.ApplyGreenFoilButtonResponse;
import org.nl.acs.ext.wms.data.BlankingButtonRequest;
@@ -59,6 +61,9 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
public String token;
@Autowired
private LmsHttpUtil lmsHttpUtil;
TLogHutoolhttpInterceptor tLogHutoolhttpInterceptor = new TLogHutoolhttpInterceptor();
private String log_file_type = "log_file_type";
@@ -147,7 +152,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
.header(Header.USER_AGENT, "Hutool http")
.header("Authorization", token).body(String.valueOf(data))
.execute();
LuceneLogDto luceneLogDto = new LuceneLogDto(4,"feedTaskStatus", String.valueOf(result2.getStatus()),
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "feedTaskStatus", String.valueOf(result2.getStatus()),
String.valueOf(data), String.valueOf(result2.body()), "ACS向WMS反馈任务状态");
luceneLogService.interfaceExecuteLog(luceneLogDto);
} catch (Exception e) {
@@ -162,7 +167,7 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
type = "info";
JSONObject jo = JSONObject.parseObject(result2.body());
log.info("feedbackTaskStatusToWms-----输出参数{}", jo.toString());
LuceneLogDto luceneLogDto = new LuceneLogDto(4,"feedTaskStatus", String.valueOf(result2.getStatus()),
LuceneLogDto luceneLogDto = new LuceneLogDto(4, "feedTaskStatus", String.valueOf(result2.getStatus()),
String.valueOf(data), String.valueOf(result2.body()), "ACS向WMS反馈任务状态");
luceneLogService.interfaceExecuteLog(luceneLogDto);
return result2;
@@ -243,4 +248,28 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
MDC.remove(log_file_type);
}
}
}
@Override
public <T> UnifiedResponse<T> feedCarNo(JSONObject request) {
AddressDto addressDto = addressService.findByCode("feedCarNo");
return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request);
}
@Override
public <T> UnifiedResponse<T> feedWeight(JSONObject request, Class<T> type) {
AddressDto addressDto = addressService.findByCode("feedWeight");
return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request, type);
}
@Override
public <T> UnifiedResponse<T> applyPass(JSONObject request, Class<T> type) {
AddressDto addressDto = addressService.findByCode("applyPass");
return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request, type);
}
@Override
public <T> UnifiedResponse<T> takeFinish(JSONObject request) {
AddressDto addressDto = addressService.findByCode("takeFinish");
return lmsHttpUtil.sendPostRequest(addressDto.getMethods_url(), request);
}
}

76
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/enums/InstTypeEnum.java Normal file
View File

@@ -0,0 +1,76 @@
package org.nl.acs.instruction.enums;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.AllArgsConstructor;
import lombok.Getter;
/**
* @author 20220102CG\noblelift
*/
@Getter
@AllArgsConstructor
public enum InstTypeEnum {
CTU_IN_TASK("A031", "A031", "CTU入库任务"),
CTU_OUT_TASK("A032", "A032", "CTU出库任务"),
CTU_MOVE_TASK("A033", "A033", "CTU移库任务"),
AGV_TWO_TASK("A012", "A012", "AGV两点任务(称重位到库外站点)"),
AGV_TWO2_TASK("A021", "A021", "AGV两点任务(库外站点到库外站点)"),
AGV_TWO3_TASK("A013", "A013", "AGV两点任务(库外站点到称重位)"),
AGV_THREE_TASK("A011", "A011", "AGV三点任务(称重位到库外站点到称重位)"),
OTHER_TASK("8", "8", "其他任务类型");
/**
* 索引
*/
private String index;
/**
* 编码
*/
private String code;
/**
* 名字
*/
private String name;
/**
* 描述
*/
private String desc;
/**
* 构造方法
*
* @param index
* @param code
* @param name
*/
InstTypeEnum(String index, String code, String name) {
this.index = index;
this.code = code;
this.name = name;
}
public static JSONArray getList() {
JSONArray arr = new JSONArray();
JSONObject json = new JSONObject();
for (InstTypeEnum em : InstTypeEnum.values()) {
json.put("code", em.getCode());
json.put("name", em.getName());
arr.add(json);
}
return arr;
}
public static String getName(String code) {
for (InstTypeEnum c : InstTypeEnum.values()) {
if (c.code == code) {
return c.name;
}
}
return null;
}
}

5
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java
View File

@@ -364,4 +364,9 @@ public class InstructionDto implements Serializable {
*/
private String to_device_code;
/**
* 任务完成是否等待
*/
private String is_wait;
}

27
acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/lucene/dto/LuceneLogDto.java
View File

@@ -26,6 +26,33 @@ public class LuceneLogDto {
/* 指令编码 */
private String instruct_code;
/**
* 请求路径
*/
private String request_url;
/**
* 请求参数
*/
private String request_param;
/**
* 响应参数
*/
private String response_param;
/**
* 请求方向
*/
private String request_direction;
/**
* 执行时间
*/
private long executeTime;
/* 任务标识 */
private String task_id;