opt:添加PDA，修改任务逻辑等。

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

@@ -13,6 +13,8 @@ import org.nl.acs.AcsConfig;
 import org.nl.acs.agv.AgvUtil;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.AcsToWmsZDService;
@@ -79,6 +81,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         if (StrUtil.isBlank(address)) {
             throw new BadRequestException("请求失败，地址为空！");
         }
+        String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
+        if (StrUtil.equals(hasWms, "1")){
             //请求取货
             if (address.contains("INGET")) {
                 JSONObject jo = new JSONObject();
@@ -100,70 +104,77 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 }
             }
             //取货完成
-        if (address.contains("OUTGET")) {
+            if (address.contains("OUTGET")) {
-                JSONObject jo = new JSONObject();
+                    JSONObject jo = new JSONObject();
-                jo.put("taskCode", task.getTask_code());
+                    jo.put("taskCode", task.getTask_code());
-                jo.put("carId", inst.getCarno());
+                    jo.put("carId", inst.getCarno());
-                jo.put("taskType ", task.getTask_type());
+                    jo.put("taskType ", task.getTask_type());
-                jo.put("feedbackStatus", "takeFinish");
+                    jo.put("feedbackStatus", "takeFinish");
-                log.info("取货完成请求参数:{}", jo);
+                    log.info("取货完成请求参数:{}", jo);
-                HttpResponse result = acsToWmsZDService.taskFeedback(jo);
+                    HttpResponse result = acsToWmsZDService.taskFeedback(jo);
-                JSONObject response = JSONObject.parseObject(result.body());
+                    JSONObject response = JSONObject.parseObject(result.body());
-                int responseCode = response.getInteger("responseCode");
+                    int responseCode = response.getInteger("responseCode");
-                if (responseCode == 0) {
+                    if (responseCode == 0) {
-                    JSONObject jo2 = new JSONObject();
+                        JSONObject jo2 = new JSONObject();
-                    jo2.put("status",200);
+                        jo2.put("status",200);
-                    log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                        log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
-                    return jo2;
+                        return jo2;
-                }else{
+                    }else{
-                    throw new BadRequestException("上位系统不允许取货完成离开");
+                        throw new BadRequestException("上位系统不允许取货完成离开");
+                    }
                 }
-            }
 //            //取货完成离开
 //            else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
 //                is_feedback = true;
 //            }
             //请求放货
-        if (address.contains("INPUT")) {
+            if (address.contains("INPUT")) {
-                JSONObject jo = new JSONObject();
+                    JSONObject jo = new JSONObject();
-                jo.put("taskCode", task.getTask_code());
+                    jo.put("taskCode", task.getTask_code());
-                jo.put("carId", inst.getCarno());
+                    jo.put("carId", inst.getCarno());
-                jo.put("taskType ", task.getTask_type());
+                    jo.put("taskType ", task.getTask_type());
-                jo.put("feedbackStatus", "applyPut");
+                    jo.put("feedbackStatus", "applyPut");
-                log.info("请求放货请求参数:{}", jo);
+                    log.info("请求放货请求参数:{}", jo);
-                HttpResponse result = acsToWmsZDService.taskFeedback(jo);
+                    HttpResponse result = acsToWmsZDService.taskFeedback(jo);
-                JSONObject response = JSONObject.parseObject(result.body());
+                    JSONObject response = JSONObject.parseObject(result.body());
-                int responseCode = response.getInteger("responseCode");
+                    int responseCode = response.getInteger("responseCode");
-                if (responseCode == 0) {
+                    if (responseCode == 0) {
-                    JSONObject jo2 = new JSONObject();
+                        JSONObject jo2 = new JSONObject();
-                    jo2.put("status",200);
+                        jo2.put("status",200);
-                    log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                        log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
-                    return jo2;
+                        return jo2;
-                }else{
+                    }else{
-                    throw new BadRequestException("上位系统不允许请求放货");
+                        throw new BadRequestException("上位系统不允许请求放货");
+                    }
                 }
-            }
             //放货完成
-        if (address.contains("OUTPUT")) {
+            if (address.contains("OUTPUT")) {
-                JSONObject jo = new JSONObject();
+                    JSONObject jo = new JSONObject();
-                jo.put("taskCode", task.getTask_code());
+                    jo.put("taskCode", task.getTask_code());
-                jo.put("carId", inst.getCarno());
+                    jo.put("carId", inst.getCarno());
-                jo.put("taskType ", task.getTask_type());
+                    jo.put("taskType ", task.getTask_type());
-                jo.put("feedbackStatus", "putFinish");
+                    jo.put("feedbackStatus", "putFinish");
-                log.info("放货完成请求参数:{}", jo);
+                    log.info("放货完成请求参数:{}", jo);
-                HttpResponse result = acsToWmsZDService.taskFeedback(jo);
+                    HttpResponse result = acsToWmsZDService.taskFeedback(jo);
-                JSONObject response = JSONObject.parseObject(result.body());
+                    JSONObject response = JSONObject.parseObject(result.body());
-                int responseCode = response.getInteger("responseCode");
+                    int responseCode = response.getInteger("responseCode");
-                if (responseCode == 0) {
+                    if (responseCode == 0) {
-                    JSONObject jo2 = new JSONObject();
+                        JSONObject jo2 = new JSONObject();
-                    jo2.put("status",200);
+                        jo2.put("status",200);
-                    log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                        log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
-                    return jo2;
+                        return jo2;
-                }else{
+                    }else{
-                    throw new BadRequestException("上位系统不允许放货完成离开");
+                        throw new BadRequestException("上位系统不允许放货完成离开");
+                    }
                 }
-            }
+            throw new BadRequestException("请求失败，IN OUT 站点错误!");
-        throw new BadRequestException("请求失败，IN OUT 站点错误!");
+        }else {
+            //不请求上位，没有光电 默认通过请求
+            JSONObject jo2 = new JSONObject();
+            jo2.put("status",200);
+            log.info("不请求上位，没有光电，默认通过请求");
+            return jo2;
+        }
     }
 
     @LokiLog(type = LokiLogType.AGV)

acs/nladmin-system/src/main/java/org/nl/acs/common/base/CommonFinalParam.java

@@ -0,0 +1,84 @@
+/**
+ * @author ls
+ * @date 2023/12/6 16:04
+ */
+package org.nl.acs.common.base;
+
+import lombok.Data;
+
+@Data
+public class CommonFinalParam {
+
+    public static final String DELETE = "0";
+    /**
+     * 分隔符
+     */
+    private final String BARRE = "-";
+    private final String POINT = ".";
+
+    public static final String ZERO = "0";
+    public static final String ONE = "1";
+
+    public static final String TWO = "2";
+
+    public static final String THREE = "3";
+    public static final String FOUR = "4";
+    public static final String FIVE = "5";
+    public static final String SIX = "6";
+    public static final String SEVEN = "7";
+    public static final String EIGHT = "8";
+    public static final String NINE = "9";
+    public static final String TEN = "10";
+    public static final String ELEVEN = "11";
+
+
+    /**
+     * 无货
+     */
+    public static final int DEVICE_MOVE_ZERO = 0;
+    /**
+     * 设备联机等待
+     */
+    public static final int DEVICE_MODE_TWO = 2;
+    /**
+     * 成功状态
+     */
+    public static final int STATUS_OPEN = 200;
+
+    /**
+     * 动作信号
+     */
+    public static final int ACTION_ONE = 1;
+    public static final int ACTION_TWO = 2;
+    public static final int ACTION_THREE = 3;
+
+    /**
+     * 申请任务type类型
+     */
+    public static final String TYPE_ONE = "1";
+    public static final String TYPE_TWO = "2";
+    public static final String TYPE_THREE = "3";
+    public static final String TYPE_FOUR = "4";
+    public static final String TYPE_FIVE = "5";
+    public static final String TYPE_SIX = "6";
+    public static final String TYPE_SEVEN = "7";
+
+
+
+
+    /**
+     * 切割点符号
+     */
+    public static final String DOT = ".";
+    /**
+     * 切割横杠符号
+     */
+    public static final String HYPHEN_ = "-";
+
+
+
+    /**
+     * 自动门
+     */
+    public static final String DOORS = "doors";
+}

acs/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java

@@ -370,7 +370,7 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
         //设备基础信息表【acs_device】
         JSONArray arr = WQLObject.getWQLObject("acs_device").query("is_delete= '0' AND is_active= '1' and  region = '" + region + "'", "device_code").getResultJSONArray(0);
         //acs_device_extra
-        WQLObject extraTab = WQLObject.getWQLObject("acs_device_extra");
+//        WQLObject extraTab = WQLObject.getWQLObject("acs_device_extra");
         JSONArray result = new JSONArray();
         for (int i = 0; i < arr.size(); i++) {
             JSONObject obj = arr.getJSONObject(i);
@@ -379,28 +379,28 @@ public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial
             json.put("device_code", obj.getString("device_code"));
             json.put("device_name", obj.getString("device_name"));
 
-            JSONArray extraArr = extraTab.query("device_id = '" + obj.getString("device_id") + "'").getResultJSONArray(0);
+//            JSONArray extraArr = extraTab.query("device_id = '" + obj.getString("device_id") + "'").getResultJSONArray(0);
-            for (int m = 0; m < extraArr.size(); m++) {
+//            for (int m = 0; m < extraArr.size(); m++) {
-                JSONObject jsonObject = extraArr.getJSONObject(m);
+//                JSONObject jsonObject = extraArr.getJSONObject(m);
-                String extra_code = jsonObject.getString("extra_code");
+//                String extra_code = jsonObject.getString("extra_code");
-                //定点作业：自动创建任务
+//                //定点作业：自动创建任务
-                if ("auto_create_task".equals(extra_code)) {
+//                if ("auto_create_task".equals(extra_code)) {
-                    json.put("auto_create_task", jsonObject.getBoolean("extra_value"));
+//                    json.put("auto_create_task", jsonObject.getBoolean("extra_value"));
-                }
+//                }
-                //呼叫
+//                //呼叫
-                if ("apply_task".equals(extra_code)) {
+//                if ("apply_task".equals(extra_code)) {
-                    json.put("apply_task", jsonObject.getBoolean("extra_value"));
+//                    json.put("apply_task", jsonObject.getBoolean("extra_value"));
-                }
+//                }
-                //响应
+//                //响应
-                if ("manual_create_task".equals(extra_code)) {
+//                if ("manual_create_task".equals(extra_code)) {
-                    json.put("manual_create_task", jsonObject.getBoolean("extra_value"));
+//                    json.put("manual_create_task", jsonObject.getBoolean("extra_value"));
-                }
+//                }
-                //清除
+//                //清除
-                if ("auto_clean_task".equals(extra_code)) {
+//                if ("auto_clean_task".equals(extra_code)) {
-                    json.put("auto_clean_task", jsonObject.getBoolean("extra_value"));
+//                    json.put("auto_clean_task", jsonObject.getBoolean("extra_value"));
-                }
+//                }
-
+//
-            }
+//            }
             result.add(json);
         }
         return result;

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -20,6 +20,7 @@ import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.StorageCellService;
 import org.nl.acs.device.service.dto.DeviceAssignedDto;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
+import org.nl.acs.ext.wms.data.CreateTaskResponse;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.AcsToWmsZDService;
 import org.nl.acs.instruction.service.InstructionService;
@@ -430,7 +431,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void create(TaskDto dto) throws Exception {
-        dto = foramte(dto);
+//        dto = foramte(dto);
         if (!StrUtil.isEmpty(dto.getVehicle_code())) {
             TaskDto vehicle_dto = this.findByContainer(dto.getVehicle_code());
             if (vehicle_dto != null) {
@@ -450,9 +451,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         }
         String start_point_code = dto.getStart_point_code();
         String next_point_code = dto.getNext_point_code();
-        String start_device_code = dto.getStart_device_code();
+//        String start_device_code = dto.getStart_device_code();
-        String next_device_code = dto.getNext_device_code();
+//        String next_device_code = dto.getNext_device_code();
+        String start_device_code = dto.getStart_point_code();
+        String next_device_code = dto.getNext_point_code();
         String route_plan_code = dto.getRoute_plan_code();
+        dto.setStart_device_code(start_point_code);
+        dto.setNext_device_code(next_point_code);
         dto.setCreate_by(currentUsername);
         dto.setUpdate_by(currentUsername);
         dto.setUpdate_time(now);
@@ -871,12 +876,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                 log.info("请求ZDwcs成功，任务取消 请求结果{}",responseCode);
             }
         }
-        List<RouteLineDto> shortPathsList =
+//        List<RouteLineDto> shortPathsList =
-                routeLineService.getShortPathLines(
+//                routeLineService.getShortPathLines(
-                        entity.getStart_device_code(),
+//                        entity.getStart_device_code(),
-                        entity.getNext_device_code(),
+//                        entity.getNext_device_code(),
-                        entity.getRoute_plan_code());
+//                        entity.getRoute_plan_code());
-        String type = shortPathsList.get(0).getType();
+//        String type = shortPathsList.get(0).getType();
         // != 0 为agv任务
 //        if (!StrUtil.equals(type, "0")) {
 //            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {

acs/nladmin-system/src/main/java/org/nl/hand/dto/HeadDto.java

@@ -0,0 +1,34 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+@Data
+public class HeadDto implements Serializable {
+
+    /**
+     * 起始设备编码
+     */
+    private String start_device_code;
+
+    /**
+     * 目标设备编码
+     */
+    private String next_device_code;
+
+    /**
+     * 任务类型
+     */
+    private String task_type;
+
+    /**
+     * 物料类型
+     */
+    private String material;
+
+}

acs/nladmin-system/src/main/java/org/nl/hand/dto/HeadInstDto.java

@@ -0,0 +1,40 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+@Data
+public class HeadInstDto implements Serializable {
+    /**
+     * 关键字 可为载具号、指令号、agv车号
+     */
+    private String keyword;
+
+    /**
+     * 起始设备编码
+     */
+    private String start_devicecode;
+
+    /**
+     * 目标设备编码
+     */
+    private String next_devicecode;
+
+    /**
+     * 指令uuid
+     */
+    private String inst_uuid;
+
+    /**
+     * 操作类型
+     * 1 指令撤销
+     * 2 重新下发
+     * 3 强制完成
+     */
+    private String type;
+}

acs/nladmin-system/src/main/java/org/nl/hand/dto/HeadTaskDto.java

@@ -0,0 +1,44 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+@Data
+public class HeadTaskDto implements Serializable {
+    /**
+     * 关键字 可为载具号、指令号、agv车号
+     */
+    private String keyword;
+
+    /**
+     * 起始设备编码
+     */
+    private String start_devicecode;
+
+    /**
+     * 目标设备编码
+     */
+    private String next_devicecode;
+
+    /**
+     * 任务uuid
+     */
+    private String task_uuid;
+
+    /**
+     * 操作类型
+     * 1 重新生成
+     * 2 强制完成
+     */
+    private String type;
+
+    /**
+     * 任务id
+     */
+    private String task_id;
+}

acs/nladmin-system/src/main/java/org/nl/hand/dto/RegionDto.java

@@ -0,0 +1,17 @@
+package org.nl.hand.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+@Data
+public class RegionDto implements Serializable {
+    /**
+     * 区域编号
+     */
+    private String region_code;
+}

acs/nladmin-system/src/main/java/org/nl/hand/rest/HandController.java

@@ -0,0 +1,112 @@
+package org.nl.hand.rest;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.logging.annotation.Log;
+import org.nl.hand.dto.HeadDto;
+import org.nl.hand.dto.HeadInstDto;
+import org.nl.hand.dto.HeadTaskDto;
+import org.nl.hand.dto.RegionDto;
+import org.nl.hand.service.HandService;
+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 javax.servlet.http.HttpServletRequest;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "手持接口")
+@RequestMapping("api/hand")
+@Slf4j
+public class HandController {
+    @Autowired
+    private HandService handService;
+
+    @PostMapping("/queryArea")
+    @Log("查询区域")
+    @ApiOperation("查询区域")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryArea() {
+        return new ResponseEntity<>(handService.queryArea(), HttpStatus.OK);
+    }
+
+    @PostMapping("/queryPointByArea")
+    @Log("根据区域编码查点位")
+    @ApiOperation("根据区域编码查点位")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryPointByArea(@RequestBody RegionDto dto) {
+        String region_code = dto.getRegion_code();
+        return new ResponseEntity<>(handService.queryPointByArea(region_code), HttpStatus.OK);
+    }
+
+    @PostMapping("/queryBusinessProcesses")
+    @Log("查询任务流程")
+    @ApiOperation("查询任务流程")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryBusinessProcesses() {
+        return new ResponseEntity<>(handService.queryBusinessProcesses(), HttpStatus.OK);
+    }
+
+    @PostMapping("/callTask")
+    @Log("手持创建任务")
+    @ApiOperation("手持创建任务")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> callTask(@RequestBody HeadDto dto) {
+        return new ResponseEntity<>(handService.callTask(dto), HttpStatus.OK);
+    }
+
+    @PostMapping("/insts")
+    @Log("查询未完成指令")
+    @ApiOperation("查询未完成指令")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> queryInst(@RequestBody HeadInstDto dto) {
+        return new ResponseEntity<>(handService.queryInst(dto), HttpStatus.OK);
+    }
+
+    @PostMapping("/inst")
+    @Log("指令操作")
+    @ApiOperation("指令操作")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> instOpt(@RequestBody HeadInstDto dto) throws Exception {
+        return new ResponseEntity<>(handService.instOpt(dto), HttpStatus.OK);
+    }
+
+    @PostMapping("/tasks")
+    @Log("查询未完成指令")
+    @ApiOperation("查询未完成指令")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> querytasks(@RequestBody HeadTaskDto dto, HttpServletRequest request ) {
+        request.getHeader("Accept-Language");
+        return new ResponseEntity<>(handService.querytasks(dto), HttpStatus.OK);
+    }
+
+    @PostMapping("/taskoperation")
+    @Log("指令操作")
+    @ApiOperation("指令操作")
+    @SaIgnore
+    //@PreAuthorize("@el.check('sect:list')")
+    public ResponseEntity<Object> taskOperation(@RequestBody HeadTaskDto dto) throws Exception {
+        return new ResponseEntity<>(handService.taskOperation(dto), HttpStatus.OK);
+    }
+}

acs/nladmin-system/src/main/java/org/nl/hand/service/HandService.java

@@ -0,0 +1,39 @@
+package org.nl.hand.service;
+
+
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.hand.dto.HeadDto;
+import org.nl.hand.dto.HeadInstDto;
+import org.nl.hand.dto.HeadTaskDto;
+
+import java.util.Map;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 16:45
+ */
+public interface HandService {
+
+
+    Map<String, Object>  queryPointByArea(String region_code);
+
+    /**
+     * 手持创建任务
+     *
+     * @param dto
+     * @return
+     */
+    Map<String, Object> callTask(HeadDto dto);
+
+    Map<String, Object> queryArea();
+
+    Map<String, Object> queryBusinessProcesses();
+
+    Map<String, Object> queryInst(HeadInstDto dto);
+
+    Map<String, Object> instOpt(HeadInstDto dto) throws Exception;
+
+    Map<String, Object> querytasks(HeadTaskDto dto);
+
+    Map<String, Object> taskOperation(HeadTaskDto dto);
+}

acs/nladmin-system/src/main/java/org/nl/hand/service/impl/HandServiceImpl.java

@@ -0,0 +1,474 @@
+package org.nl.hand.service.impl;
+
+import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.collection.CollectionUtil;
+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 com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.server.NDCAgvService;
+import org.nl.acs.common.base.CommonFinalParam;
+import org.nl.acs.device.service.DeviceService;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.task.enums.TaskStatusEnum;
+import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.hand.dto.HeadDto;
+import org.nl.hand.dto.HeadInstDto;
+import org.nl.hand.dto.HeadTaskDto;
+import org.nl.hand.service.HandService;
+import org.nl.modules.common.exception.BadRequestException;
+import org.nl.modules.system.service.DictDetailService;
+import org.nl.modules.system.service.DictService;
+import org.nl.modules.system.service.dto.DictDetailDto;
+import org.nl.modules.system.service.dto.DictDto;
+import org.nl.modules.system.service.dto.DictQueryCriteria;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+import java.math.BigDecimal;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * @Author : dsh
+ * @create 2025/2/6 19:01
+ */
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class HandServiceImpl implements HandService  {
+
+    @Autowired
+    private DeviceService deviceService;
+    @Autowired
+    private TaskService taskserver;
+    @Resource
+    private DictService dictService;
+    @Autowired
+    private DictDetailService dictDetailService;
+    @Autowired
+    private InstructionService instructionService;
+    @Autowired
+    NDCAgvService ndcAgvService;
+    @Autowired
+    DeviceAppService deviceAppService;
+
+
+
+    @Override
+    public Map<String, Object> queryPointByArea(String region_code) {
+        JSONArray data = new JSONArray();
+        if (StrUtil.isEmpty(region_code)) {
+            throw new BadRequestException("区域编码不能为空！");
+        }
+//
+//        //根据区域编码查询所有设备
+        JSONArray list = deviceService.selectDeviceListByRegion(region_code);
+        if (CollectionUtil.isEmpty(list)) {
+            throw new BadRequestException("没有查询到设备");
+        }
+//        for (int i = 0; i < list.size(); i++) {
+//            JSONObject jo = new JSONObject();
+//            Object device = list.get(i);
+//            String device_id = device.getDevice_id();
+//            String device_code = device.getDevice_code();
+//            String device_name = device.getDevice_name();
+//            jo.put("device_id", device_id);
+//            jo.put("device_code", device_code);
+//            jo.put("device_name", device_name);
+//            data.add(jo);
+//        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("message", "200");
+        resultJson.put("data", list);
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> callTask(HeadDto dto) {
+        JSONArray errArr = new JSONArray();
+        String start_device_code = dto.getStart_device_code();
+        String next_device_code = dto.getNext_device_code();
+        String task_type = dto.getTask_type();
+
+        if (StrUtil.isEmpty(start_device_code)) {
+            throw new BadRequestException("起点不能为空");
+        }
+        if (StrUtil.isEmpty(next_device_code)) {
+            throw new BadRequestException("终点不能为空");
+        }
+        if (StrUtil.isEmpty(task_type)) {
+            throw new BadRequestException("任务类型不能为空");
+        }
+
+//        String start_device_code2 = "";
+//        String next_device_code2 = "";
+        JSONObject jo = new JSONObject();
+//        if (StrUtil.equals(task_type, CommonFinalParam.TYPE_ONE)) {
+//            String s = start_device_code.substring(start_device_code.length() - 1);
+//            if (StrUtil.equals("K", s)) {
+//                start_device_code2 = next_device_code.substring(0, next_device_code.length() - 1) + "M";
+//                next_device_code2 = start_device_code.substring(0, start_device_code.length() - 1) + "M";
+//                jo.put("start_device_code2", start_device_code2);
+//                jo.put("next_device_code2", next_device_code2);
+//                jo.put("start_point_code2", start_device_code2);
+//                jo.put("next_point_code2", next_device_code2);
+//            }else{
+//                throw new BadRequestException("起点设备名称不符");
+//            }
+//        } else if (StrUtil.equals(task_type, CommonFinalParam.TYPE_TWO)) {
+//            String s = start_device_code.substring(start_device_code.length() - 1);
+//            String n = next_device_code.substring(next_device_code.length() - 1);
+//            if (StrUtil.equals("M", s) && StrUtil.equals("M", n)) {
+//                start_device_code2 = next_device_code.substring(0, next_device_code.length() - 1) + "K";
+//                next_device_code2 = start_device_code.substring(0, start_device_code.length() - 1) + "K";
+//                jo.put("start_device_code2", start_device_code2);
+//                jo.put("next_device_code2", next_device_code2);
+//                jo.put("start_point_code2", start_device_code2);
+//                jo.put("next_point_code2", next_device_code2);
+//            }else if(StrUtil.equals("S", n) && StrUtil.equals("M", s)){
+//                start_device_code2 = next_device_code.substring(0, next_device_code.length() - 1) + "X";
+//                next_device_code2 = start_device_code.substring(0, start_device_code.length() - 1) + "K";
+//                jo.put("start_device_code2", start_device_code2);
+//                jo.put("next_device_code2", next_device_code2);
+//                jo.put("start_point_code2", start_device_code2);
+//                jo.put("next_point_code2", next_device_code2);
+//            }else{
+//                throw new BadRequestException("起点设备名称不符");
+//            }
+//        }
+//        Device startDevice =  deviceAppService.findDeviceByCode(start_device_code2);
+//        Device nextDevice = deviceAppService.findDeviceByCode(next_device_code2);
+//        if(StrUtil.isAllNotEmpty(start_device_code2,next_device_code2) && ObjectUtil.isAllEmpty(startDevice,nextDevice)){
+//            throw new BadRequestException("起点终点设备不存在");
+//        }
+        jo.put("start_device_code", start_device_code);
+        jo.put("next_device_code", next_device_code);
+        jo.put("start_point_code", start_device_code);
+        jo.put("next_point_code", next_device_code);
+        jo.put("task_type", task_type);
+        jo.put("agv_system_type", "1");
+        jo.put("priority", "1");
+
+        TaskDto task_dto = jo.toJavaObject(TaskDto.class);
+        try {
+            taskserver.create(task_dto);
+        } catch (Exception e) {
+//                    e.printStackTrace();
+            JSONObject json = new JSONObject();
+            json.put("message", e.getMessage());
+            errArr.add(json);
+            throw new RuntimeException(e.getMessage());
+        }
+        JSONArray data = new JSONArray();
+        JSONObject resultJson = new JSONObject();
+        if (ObjectUtil.isEmpty(errArr)) {
+            resultJson.put("message", "操作成功");
+            resultJson.put("data", data);
+        } else {
+            resultJson.put("message", "操作失败");
+            resultJson.put("data", data);
+        }
+//        JSONObject resultJson = new JSONObject();
+//        resultJson.put("message", "操作成功");
+//        resultJson.put("data", data);
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> queryArea() {
+        JSONArray data = new JSONArray();
+        List<DictDetailDto> list = dictDetailService.getDictByName("region_type");
+        if (CollectionUtil.isEmpty(list)) {
+            throw new BadRequestException("没找到区域");
+        }
+        for (int i = 0; i < list.size(); i++) {
+            JSONObject jo = new JSONObject();
+            DictDetailDto dict = list.get(i);
+            String region_id = dict.getId().toString();
+            String region_code = dict.getValue();
+            String region_name = dict.getLabel();
+            jo.put("region_id", region_id);
+            jo.put("region_code", region_code);
+            jo.put("region_name", region_name);
+            data.add(jo);
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("message", "查询成功!");
+        resultJson.put("data", data);
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> queryBusinessProcesses() {
+        JSONArray data = new JSONArray();
+        DictQueryCriteria dictQueryCriteria = new DictQueryCriteria();
+        dictQueryCriteria.setBlurry("BusinessProcesses_");
+        List<DictDto> dictDtos = dictService.queryAll(dictQueryCriteria);
+        if (CollectionUtil.isEmpty(dictDtos)) {
+            throw new BadRequestException("没找到业务流程");
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("message", "查询成功!");
+        resultJson.put("data", dictDtos);
+        return resultJson;
+    }
+
+
+    @Override
+    public Map<String, Object> queryInst(HeadInstDto dto) {
+        //查询未完成的指令
+//        String key = dto.getKeyword();
+//        String start_point = dto.getStart_devicecode();
+//        String next_point = dto.getNext_devicecode();
+//
+//        List<InstructionMybatis> list;
+//        if (StrUtil.isEmpty(key)&&StrUtil.isEmpty(start_point)&&StrUtil.isEmpty(next_point)){
+//            list = instructionService.lambdaQuery()
+//                    .orderByDesc(InstructionMybatis::getCreate_time)
+//                    .list();
+//        }else {
+//            list = instructionService.lambdaQuery()
+//                    .like(InstructionMybatis::getStart_device_code, start_point)
+//                    .like(InstructionMybatis::getNext_device_code, next_point)
+//                    .ne(InstructionMybatis::getInstruction_status, "2")
+//                    .eq(InstructionMybatis::getInstruction_code, key)
+//                    .or()
+//                    .eq(InstructionMybatis::getCarno, key)
+//                    .or()
+//                    .eq(InstructionMybatis::getVehicle_code, key)
+//                    .orderByDesc(InstructionMybatis::getCreate_time)
+//                    .list();
+//        }
+//        if (CollectionUtil.isEmpty(list)){
+//            throw new BadRequestException(LangProcess.msg("error_no_ins"));
+//        }
+//        JSONArray data = new JSONArray();
+//        for (int i = 0; i < list.size(); i++) {
+//            Device deviceCodeStart = deviceAppService.findDeviceByCode(list.get(i).getStart_device_code());
+//            Device deviceCodeEnd = deviceAppService.findDeviceByCode(list.get(i).getNext_device_code());
+//
+//            JSONObject inst = new JSONObject();
+//            inst.put("inst_uuid",list.get(i).getInstruction_id());
+//            inst.put("task_no",list.get(i).getTask_code());
+//            inst.put("instruction_code",list.get(i).getInstruction_code());
+//            inst.put("start_devicecode",list.get(i).getStart_device_code());
+//            inst.put("start_en_devicecode",deviceCodeStart.getEn_device_name());
+//            inst.put("start_ko_devicecode",deviceCodeStart.getKo_device_name());
+//            inst.put("next_devicecode",list.get(i).getNext_device_code());
+//            inst.put("next_en_devicecode",deviceCodeEnd.getEn_device_name());
+//            inst.put("next_ko_devicecode",deviceCodeEnd.getKo_device_name());
+//            inst.put("inst_status",list.get(i).getInstruction_status());
+//            inst.put("carrier",list.get(i).getVehicle_code());
+//            inst.put("inst_step",list.get(i).getExecute_message());
+//            inst.put("priority",list.get(i).getPriority());
+//            inst.put("create_time",list.get(i).getCreate_time());
+//            inst.put("carno",list.get(i).getCarno());
+//            data.add(inst);
+//        }
+//        JSONObject resultJson = new JSONObject();
+//        resultJson.put("message", LangProcess.msg("universal_directives_message1"));
+//        resultJson.put("data", data);
+        return null;
+    }
+
+    @Override
+    public Map<String, Object> instOpt(HeadInstDto dto) throws Exception {
+//        JSONObject resultJson = new JSONObject();
+//        JSONArray data = new JSONArray();
+//        String type = dto.getType();
+//        String inst_uuid = dto.getInst_uuid();
+//        InstructionMybatis instruction= instructionService.lambdaQuery()
+//                .eq(InstructionMybatis::getInstruction_id, inst_uuid)
+//                .one();
+//        if(instruction==null){
+//            resultJson.put("message", "未找到该指令!");
+//            resultJson.put("data", data);
+//            return resultJson;
+//        }
+//        if (StrUtil.equals(instruction.getInstruction_status(),"2")||
+//                StrUtil.equals(instruction.getInstruction_status(),"3")){
+//            resultJson.put("message", "指令已完成或已取消,无法操作!");
+//            resultJson.put("data", data);
+//            return resultJson;
+//        }
+//
+//        /* 1 指令撤销
+//        2 重新下发
+//        3 强制完成*/
+//        if ("1".equals(type)){
+//            try {
+//                if (StrUtil.isEmpty(instruction.getAgv_jobno())){
+//                    instructionService.cancelNOSendAgv(inst_uuid);
+//                }else {
+//                    ndcAgvService.deleteAgvInstToNDC(BeanUtil.copyProperties(instruction, Instruction.class));
+//                }
+//            } catch (Exception e) {
+//                resultJson.put("message", "下发agv失败!");
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//        }else if ("2".equals(type)){
+//            try {
+//                ndcAgvService.sendAgvInstToNDC(instruction.getAgv_system_type(),BeanUtil.copyProperties(instruction, Instruction.class));
+//            } catch (Exception e) {
+//                resultJson.put("message", "下发agv失败!");
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//        }else if ("3".equals(type)){
+//            try {
+//                instructionService.finish(inst_uuid);
+//            } catch (Exception e) {
+//                resultJson.put("message", e.getMessage());
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//        }
+//
+//        resultJson.put("message", "操作成功");
+//        resultJson.put("data", data);
+        return null;
+    }
+
+    @Override
+    public Map<String, Object> querytasks(HeadTaskDto dto) {
+        String key = dto.getKeyword();
+        String start_point = dto.getStart_devicecode();
+        String next_point = dto.getNext_devicecode();
+
+        List<TaskDto> list = taskserver.queryAllUnfinished(new HashMap());;
+//        if (StrUtil.isEmpty(key)&&StrUtil.isEmpty(start_point)&&StrUtil.isEmpty(next_point)){
+//            list = taskserver.queryAllUnfinished(new HashMap());
+//        }else {
+//            list = taskserver.lambdaQuery()
+////                    .like(Task::getStart_device_code, start_point)
+////                    .like(Task::getNext_device_code, next_point)
+//                    .lt(Task::getTask_status, "2")
+//                    .eq(Task::getTask_code, key)
+//                    .or()
+//                    .eq(Task::getVehicle_code, key)
+//                    .or()
+//                    .eq(Task::getTask_id, key)
+//                    .orderByDesc(Task::getCreate_time)
+//                    .list();
+//        }
+        if (CollectionUtil.isEmpty(list)){
+            throw new BadRequestException("没有任务");
+        }
+        JSONArray data = new JSONArray();
+        if (CollUtil.isNotEmpty(list)) {
+            for (int i = 0; i < list.size(); i++) {
+//                Device deviceCodeStart = deviceAppService.findDeviceByCode(list.get(i).getStart_device_code());
+//                Device deviceCodeEnd = deviceAppService.findDeviceByCode(list.get(i).getNext_device_code());
+
+                JSONObject task = new JSONObject();
+                task.put("task_uuid", list.get(i).getTask_id());
+                task.put("task_no", list.get(i).getTask_code());
+                task.put("start_devicecode", list.get(i).getStart_device_code());
+                task.put("next_devicecode", list.get(i).getNext_device_code());
+                task.put("task_status", list.get(i).getTask_status());
+                task.put("priority", list.get(i).getPriority());
+                task.put("create_time", list.get(i).getCreate_time());
+                task.put("carrier", list.get(i).getVehicle_code());
+                data.add(task);
+            }
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("message", "universal_directives_message1");
+        resultJson.put("data", data);
+        return resultJson;
+    }
+
+    @Override
+    public Map<String, Object> taskOperation(HeadTaskDto dto) {
+//        JSONObject resultJson = new JSONObject();
+//        JSONArray data = new JSONArray();
+//        String type = dto.getType();
+//        String task_uuid = dto.getTask_uuid();
+//        if (StrUtil.isEmpty(type)){
+//            throw new BadRequestException("操作类型不能为空！");
+//        }
+//        if (StrUtil.isEmpty(task_uuid)){
+//            throw new BadRequestException("id不能为空！");
+//        }
+//        TaskDto taskDto = taskserver.findById(task_uuid);
+//        if (BeanUtil.isEmpty(taskDto)){
+//            throw new BadRequestException("任务为空！");
+//        }
+//        String task_code = taskDto.getTask_code();
+//        String start_device_code = taskDto.getStart_device_code();
+//        String next_device_code = taskDto.getNext_device_code();
+//        String task_id = taskDto.getTask_id();
+//
+//        if(StrUtil.equals(taskDto.getTask_status(),"2")||StrUtil.equals(taskDto.getTask_status(),"3")){
+//            resultJson.put("message", "任务已完成或已取消,无法操作");
+//            resultJson.put("data", data);
+//            return resultJson;
+//        }
+//        if ("1".equals(type)){
+//            //重新生成指令
+//            Instruction instdto = new Instruction();
+//            instdto.setInstruction_id(IdUtil.simpleUUID());
+//            instdto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO"));
+//            instdto.setRemark(taskDto.getRemark());
+//            instdto.setMaterial(taskDto.getMaterial());
+//            instdto.setTask_id(task_id);
+//            instdto.setTask_code(task_code);
+//            instdto.setVehicle_code(taskDto.getVehicle_code());
+//            String now = DateUtil.now();
+//            instdto.setCreate_time(now);
+//            instdto.setCreate_by("auto");
+//            instdto.setStart_point_code(taskDto.getStart_point_code());
+//            instdto.setNext_point_code(taskDto.getNext_point_code());
+//            instdto.setStart_device_code(start_device_code);
+//            instdto.setNext_device_code(next_device_code);
+//            instdto.setInstruction_status("0");
+//            InstructionMybatis instructionMybatis = instructionService.lambdaQuery()
+//                    .eq(InstructionMybatis::getStart_device_code, start_device_code)
+//                    .eq(InstructionMybatis::getNext_device_code, next_device_code)
+//                    .lt(InstructionMybatis::getInstruction_status, "2")
+//                    .eq(InstructionMybatis::getTask_id,task_uuid)
+//                    .one();
+//            if (BeanUtil.isNotEmpty(instructionMybatis)){
+//                resultJson.put("message", task_code + ":该任务已存在待完成指令!");
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//            try{
+//                instructionService.create(instdto);
+//            } catch (Exception e){
+//                resultJson.put("message", e.getMessage());
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//            instdto.setExecute_code(start_device_code);
+//        }else if ("2".equals(type)){
+//            //强制完成
+//            Instruction instruction = instructionService.findByTaskid(task_uuid, "instruction_status <2 ");
+//            if (instruction!=null){
+//                resultJson.put("message", "有指令未完成!");
+//                resultJson.put("data", data);
+//                return resultJson;
+//            }
+//            TaskIdAndStatusDTO taskIdAndStatusDTO = new TaskIdAndStatusDTO();
+//            taskIdAndStatusDTO.setTask_id(task_uuid);
+//            taskIdAndStatusDTO.setTask_status(TaskStatusEnum.FINISHED.getIndex());
+//            taskserver.finish(taskIdAndStatusDTO);
+//        }
+//        resultJson.put("message", "操作成功");
+//        resultJson.put("data", data);
+        return null;
+    }
+}

acs/nladmin-system/src/main/resources/config/application-prod.yml

@@ -6,9 +6,9 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:zdlb_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:nldy_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true
       username: ${DB_USER:root}
-      password: ${DB_PWD:root}
+      password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5
       # 最小连接数

acs/nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: dev
+    active: prod
   jackson:
     time-zone: GMT+8
   data:

acs/nladmin-ui/.env.production

@@ -2,6 +2,6 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://172.18.10.14:8011'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8011'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'ws://172.18.10.14:8011'
+VUE_APP_WS_API = 'ws://127.0.0.1:8011'

acs/nladmin-ui/package.json

@@ -2,12 +2,12 @@
   "name": "eladmin-web",
   "version": "2.6.0",
   "description": "EL-ADMIN 前端源码",
-  "author": "Zheng Jie",
+  "author": "dsh",
   "license": "Apache-2.0",
   "scripts": {
     "dev": "vue-cli-service serve",
     "dev2": "SET NODE_OPTIONS=--openssl-legacy-provider && vue-cli-service serve",
-    "build:prod": "vue-cli-service build",
+    "build:prod": "SET NODE_OPTIONS=--openssl-legacy-provider && vue-cli-service build",
     "build:stage": "vue-cli-service build --mode staging",
     "preview": "node build/index.js --preview",
     "lint": "eslint --ext .js,.vue src",