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add：增加agv充电 取消充电

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liuxy
2026-07-10 10:59:15 +08:00
parent 52b26551e6
commit 32ec36da53
8 changed files with 188 additions and 0 deletions
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15
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/enums/EXTConstant.java
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@@ -41,4 +41,19 @@ public class EXTConstant {
* ACS下发 获取设备状态
*/
public final static String GET_DEVICE = "api/wms/getDevice";
/**
* ACS下发 获取AGV设备状态
*/
public final static String GET_AGV_DEVICE = "api/wms/getAgvDevice";
/**
* ACS下发 充电
*/
public final static String CONFIRM_CHARGE = "api/wms/sendCharge";
/**
* ACS下发 取消充电
*/
public final static String CANCEL_CHARGE = "api/wms/cancelCharge";
}

27
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/WmsToAcsService.java
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@@ -56,4 +56,31 @@ public interface WmsToAcsService {
* @return AcsResponse
*/
AcsResponse getDevice(JSONObject whereJson);
/**
* 获取AGV设备
* @param whereJson {
* device_code: 车号
* }
* @return AcsResponse
*/
AcsResponse getAgvDevice(JSONObject whereJson);
/**
* 下发充电任务
* @param whereJson {
* device_code: 车号
* }
* @return AcsResponse
*/
AcsResponse confirmCharge(JSONObject whereJson);
/**
* 下发取消充电任务
* @param whereJson {
* device_code: 车号
* }
* @return AcsResponse
*/
AcsResponse cancelCharge(JSONObject whereJson);
}

15
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/impl/WmsToAcsServiceImpl.java
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@@ -47,4 +47,19 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
public AcsResponse getDevice(JSONObject whereJson) {
return AcsUtil.notifyAcs(EXTConstant.GET_DEVICE, whereJson);
}
@Override
public AcsResponse getAgvDevice(JSONObject whereJson) {
return AcsUtil.notifyAcs(EXTConstant.GET_AGV_DEVICE, whereJson);
}
@Override
public AcsResponse confirmCharge(JSONObject whereJson) {
return AcsUtil.notifyAcs(EXTConstant.CONFIRM_CHARGE, whereJson);
}
@Override
public AcsResponse cancelCharge(JSONObject whereJson) {
return AcsUtil.notifyAcs(EXTConstant.CANCEL_CHARGE, whereJson);
}
}

5
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/ext/service/util/AcsResponse.java
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@@ -7,6 +7,9 @@ import com.alibaba.fastjson.JSONObject;
import lombok.Data;
import org.nl.wms.ext.util.BaseResponse;
import java.util.ArrayList;
import java.util.List;
/**
* @Author: Liuxy
* @Description: 下发acs的反馈数据*new
@@ -21,6 +24,8 @@ public class AcsResponse extends BaseResponse {
private JSONObject parameters = new JSONObject();
private List<JSONObject> dataList = new ArrayList<>();
/**
* 请求失败
* @param message 错误信息

22
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/general_management/controller/PdaTaskController.java
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@@ -2,6 +2,7 @@ package org.nl.wms.pda.general_management.controller;
import cn.dev33.satoken.annotation.SaIgnore;
import cn.hutool.core.lang.Assert;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
@@ -60,4 +61,25 @@ public class PdaTaskController {
return new ResponseEntity<>(pdaTaskService.forceConfirmTask(whereJson), HttpStatus.OK);
}
@PostMapping("/getAgvInfo")
@Log("获取AGV设备信息")
@SaIgnore
public ResponseEntity<Object> getAgvInfo(@RequestBody JSONObject whereJson) {
return new ResponseEntity<>(pdaTaskService.getAgvInfo(whereJson), HttpStatus.OK);
}
@PostMapping("/confirmCharge")
@Log("强制充电")
@SaIgnore
public ResponseEntity<Object> confirmCharge(@RequestBody JSONObject whereJson) {
return new ResponseEntity<>(pdaTaskService.confirmAndCancelCharge(whereJson), HttpStatus.OK);
}
@PostMapping("/cancelCharge")
@Log("取消充电")
@SaIgnore
public ResponseEntity<Object> cancelCharge(@RequestBody JSONObject whereJson) {
Assert.equals("6",whereJson.getString("status"),"车辆不在充电中不可以取消充电！");
return new ResponseEntity<>(pdaTaskService.confirmAndCancelCharge(whereJson), HttpStatus.OK);
}
}

19
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/general_management/service/PdaTaskService.java
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@@ -45,4 +45,23 @@ public interface PdaTaskService {
* @return PdaResponse
*/
PdaResponse forceConfirmTask(JSONObject whereJson);
/**
* 获取AGV设备信息
* @param whereJson {
* device_code: 车号
* }
* @return PdaResponse
*/
PdaResponse getAgvInfo(JSONObject whereJson);
/**
* 强制充电 或者 取消充电
* @param whereJson {
* device_code: 车号
* ....
* }
* @return PdaResponse
*/
PdaResponse confirmAndCancelCharge(JSONObject whereJson);
}

68
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/pda/general_management/service/impl/PdaTaskServiceImpl.java
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@@ -1,6 +1,11 @@
package org.nl.wms.pda.general_management.service.impl;
import cn.hutool.core.lang.Assert;
import cn.hutool.core.util.ObjectUtil;
import com.alibaba.fastjson.JSONObject;
import org.nl.common.exception.BadRequestException;
import org.nl.wms.ext.service.WmsToAcsService;
import org.nl.wms.ext.service.util.AcsResponse;
import org.nl.wms.pda.general_management.service.PdaTaskService;
import org.nl.wms.pda.util.PdaResponse;
import org.nl.wms.sch_manage.service.dao.SchBaseTask;
@@ -10,6 +15,13 @@ import org.nl.wms.sch_manage.service.util.TaskFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
/**
* <p>
* 平板任务管理 实现类
@@ -33,6 +45,31 @@ public class PdaTaskServiceImpl implements PdaTaskService {
@Autowired
private TaskFactory taskFactory;
/**
* wms调用acs服务
*/
@Autowired
private WmsToAcsService wmsToAcsService;
/**
* AGV设备状态码 -> 中文描述映射
*/
private static final Map<String, String> AGV_STATUS_MAP = new HashMap<>();
static {
AGV_STATUS_MAP.put("1", "关机");
AGV_STATUS_MAP.put("2", "AGV移动中");
AGV_STATUS_MAP.put("3", "AGV待机中");
AGV_STATUS_MAP.put("4", "AGV交管中");
AGV_STATUS_MAP.put("5", "AGV货叉动作中");
AGV_STATUS_MAP.put("6", "AGV充电中");
AGV_STATUS_MAP.put("7", "急停按钮被人拍下");
AGV_STATUS_MAP.put("8", "有障碍物，避障，触发");
AGV_STATUS_MAP.put("9", "货叉防撞开关，触发");
AGV_STATUS_MAP.put("10", "车身防撞边，触发");
AGV_STATUS_MAP.put("11", "手动模式");
}
@Override
public PdaResponse queryTask(JSONObject whereJson) {
return PdaResponse.requestParamOk(schBaseTaskMapper.queryPdaTask(whereJson));
@@ -66,4 +103,35 @@ public class PdaTaskServiceImpl implements PdaTaskService {
return PdaResponse.requestOk();
}
@Override
public PdaResponse getAgvInfo(JSONObject whereJson) {
// 1. 获取ACS返回的AGV设备数据，做空值防御
AcsResponse acsResponse = wmsToAcsService.getAgvDevice(whereJson);
if (acsResponse == null || acsResponse.getDataList() == null || acsResponse.getDataList().isEmpty()) {
return PdaResponse.requestParamOk(Collections.emptyList());
}
// 2. 一次Stream完成：状态码映射 + 按device_code排序
List<JSONObject> result = acsResponse.getDataList().stream()
.peek(item -> {
String statusCode = item.getString("status");
item.put("status", AGV_STATUS_MAP.getOrDefault(statusCode, "未知状态"));
})
.sorted(Comparator.comparing(
row -> row.getString("device_code"),
Comparator.nullsLast(String::compareTo)))
.collect(Collectors.toList());
return PdaResponse.requestParamOk(result);
}
@Override
public PdaResponse confirmAndCancelCharge (JSONObject whereJson) {
String deviceCode = whereJson.getString("device_code");
Assert.notEmpty(deviceCode, "车号不能为空!");
// 下发充电
AcsResponse resp = wmsToAcsService.confirmCharge(whereJson);
Assert.isTrue(resp.getStatus() == 200, "操作失败：" + resp.getMessage());
return PdaResponse.requestOk();
}
}

17
wms/nladmin-system/nlsso-server/src/main/java/org/nl/wms/sch_manage/service/util/AutoZJTask.java
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@@ -125,6 +125,23 @@ public class AutoZJTask {
continue;
}
}
// 查询包衣/内包叫料任务
List<SchBaseTask> byOrNbCallTaskList = taskService.list(
new LambdaQueryWrapper<SchBaseTask>()
.eq(SchBaseTask::getConfig_code, "CoatingUpTask")
.eq(SchBaseTask::getIs_delete, IOSConstant.ZERO)
.eq(SchBaseTask::getPoint_code1, taskDao.getPoint_code2())
.in(SchBaseTask::getTask_status, TaskStatus.EXECUTING.getCode(),TaskStatus.ISSUED.getCode())
);
if (ObjectUtil.isNotEmpty(byOrNbCallTaskList)) {
// 判断是否全部取货完成
boolean is_allGet = byOrNbCallTaskList.stream()
.allMatch(row -> IOSConstant.ONE.equals(row.getHandle_status()));
if (!is_allGet) {
continue;
}
}
AbstractTask task = taskFactory.getTask(taskDao.getConfig_code());
task.sendTaskOne(taskDao.getTask_id());
}