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rev:更新

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gengby
2024-08-06 20:16:42 +08:00
parent b489456a32
commit a9d66c9cef
17 changed files with 635 additions and 44 deletions
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65
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -3,8 +3,6 @@ package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
@@ -14,6 +12,7 @@ import org.nl.acs.agv.server.AgvWaitUtil;
import org.nl.acs.agv.server.XianGongAgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.ext.xg.XgHttpUtil;
@@ -90,7 +89,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@Override
public <T> UnifiedResponse<T> queryXZAgvDeviceStatus(String vehicles, Class<T> type) {
String path = "/robotsStatus" + vehicles == null ? "" : "?vehicles = " + vehicles;
String path = "/robotsStatus" + (vehicles == null ? "" : "?vehicles = " + vehicles);
return xgHttpUtil.sendGetRequest(path, type);
}
@@ -585,10 +584,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
JSONObject block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code());
block.put("operation", "JackLoad");
block.put("operationArgs", new JSONObject() {{
put("recognize", true);
}});
block.put("binTask", "ForkLoad");
// block.put("operationArgs", new JSONObject() {{
// put("recognize", true);
// }});
blocks.add(block);
if ("true".equals(device1.getExtraValue().get("ignore_pickup_check"))) {
@@ -610,6 +609,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
} else {
if (device1.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
block = new JSONObject();
block.put("binTask", "ForkHeight");
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code() + "OUTGET");
blocks.add(block);
}
}
// 终点1
@@ -638,7 +645,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getNext_point_code());
block.put("operation", "JackUnload");
block.put("binTask", "ForkUnload");
blocks.add(block);
if ("true".equals(device2.getExtraValue().get("ignore_release_check"))) {
@@ -660,6 +667,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
} else {
if (device2.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
block = new JSONObject();
block.put("binTask", "ForkHeight");
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getNext_point_code() + "OUTPUT");
blocks.add(block);
}
}
// 起点2
@@ -689,10 +704,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code2());
block.put("operation", "JackLoad");
block.put("operationArgs", new JSONObject() {{
put("recognize", true);
}});
block.put("binTask", "ForkLoad");
// block.put("operationArgs", new JSONObject() {{
// put("recognize", true);
// }});
blocks.add(block);
if ("true".equals(device3.getExtraValue().get("ignore_pickup_check"))) {
@@ -714,6 +729,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
} else {
if (device3.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
block = new JSONObject();
block.put("binTask", "ForkHeight");
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code2() + "OUTGET");
blocks.add(block);
}
}
}
@@ -744,7 +767,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getNext_point_code2());
block.put("operation", "JackUnload");
block.put("binTask", "ForkUnload");
blocks.add(block);
if ("true".equals(device4.getExtraValue().get("ignore_release_check"))) {
@@ -766,6 +789,14 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
} else {
if (device4.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
block = new JSONObject();
block.put("binTask", "ForkHeight");
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getNext_point_code2() + "OUTPUT");
blocks.add(block);
}
}
}
@@ -930,16 +961,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
//忽略放货校验
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
//放货完成等待
com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
JSONObject jo5 = new JSONObject();
jo5.put("blockId", IdUtil.simpleUUID());
jo5.put("location", inst.getNext_point_code() + "OUTPUT");
jo5.put("operation", "script");
jo5.put("id", inst.getNext_point_code() + "OUTPUT");
jo5.put("script_name", "userpy/interact.py");
com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
JSONObject script_args5 = new JSONObject();
// script_args5.put("addr", addr);
com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
JSONObject data5 = new JSONObject();
JSONObject reach5 = new JSONObject();
reach5.put("task_code", inst.getInstruction_code());
reach5.put("address", inst.getNext_point_code() + "OUTPUT");
data5.put("reach", reach5);

3
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/xg_agv/XianGongAgvDeviceDriver.java
View File

@@ -97,6 +97,8 @@ public class XianGongAgvDeviceDriver extends AbstractOpcDeviceDriver implements
*/
private Integer monthTaskNum = 0;
private String message;
@Override
public Device getDevice() {
return this.device;
@@ -129,6 +131,7 @@ public class XianGongAgvDeviceDriver extends AbstractOpcDeviceDriver implements
//jo.put("status_name", this.statusName);
jo.put("todayTaskNum", this.todayTaskNum);
jo.put("monthTaskNum", this.monthTaskNum);
jo.put("message", this.message == null ? "运行正常" : "运行异常");
return jo;
}

6
acs/nladmin-system/src/main/java/org/nl/acs/device_driver/rgv/RGVDeviceDriver.java
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@@ -13,6 +13,7 @@ import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.modules.lucene.service.LuceneExecuteLogService;
import org.nl.modules.lucene.service.dto.LuceneLogDto;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.util.ObjectUtils;
/**
* @author zhangjiangwei
@@ -176,14 +177,15 @@ public class RGVDeviceDriver extends AbstractOpcDeviceDriver implements
jo.put("error", this.error);
jo.put("battery_level", (this.energyLevel * 100) + "%");
jo.put("task_code", this.taskCode);
jo.put("startDeviceCode", this.startDeviceCode);
jo.put("nextDeviceCode", this.nextDeviceCode);
jo.put("current_loc", ObjectUtils.isEmpty(this.startDeviceCode) ? "0" : this.startDeviceCode);
jo.put("target_loc", ObjectUtils.isEmpty(this.nextDeviceCode) ? "0" : this.nextDeviceCode);
jo.put("vehicleCode", this.vehicleCode);
jo.put("x", this.x);
jo.put("y", this.y);
jo.put("action", this.action);
jo.put("todayTaskNum", this.todayTaskNum);
jo.put("allTaskNum", this.allTaskNum);
jo.put("message", this.message == null ? "运行正常" : "运行异常");
return jo;
}

18
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
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@@ -47,10 +47,22 @@ public class WmsToAcsController {
return new ResponseEntity<>(wmstoacsService.cancelFromWms(whereJson), HttpStatus.OK);
}
@PostMapping("/获取AGV和RGV数据")
@PostMapping("/agvInfo")
@OthersToInterfaceLog("LMS->ACS")
public ResponseEntity<Object> getAGVAndRGVInfo() {
return new ResponseEntity<>(wmstoacsService.getAGVAndRGVInfo(), HttpStatus.OK);
public ResponseEntity<Object> agvInfo(@RequestBody JSONObject req) {
return new ResponseEntity<>(wmstoacsService.agvInfo(req), HttpStatus.OK);
}
@PostMapping("/rgvInfo")
@OthersToInterfaceLog("LMS->ACS")
public ResponseEntity<Object> rgvInfo(@RequestBody JSONObject req) {
return new ResponseEntity<>(wmstoacsService.rgvInfo(req), HttpStatus.OK);
}
@PostMapping("/todayTask")
@OthersToInterfaceLog("LMS->ACS")
public ResponseEntity<Object> todayTask(@RequestBody JSONObject req) {
return new ResponseEntity<>(wmstoacsService.todayTask(req), HttpStatus.OK);
}
@PostMapping("/test")

7
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
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@@ -2,7 +2,6 @@ package org.nl.acs.ext.wms.service;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import java.util.Map;
@@ -24,5 +23,9 @@ public interface WmsToAcsService {
*/
Map<String, Object> cancelFromWms(String jsonObject) throws Exception;
JSONObject getAGVAndRGVInfo();
JSONObject agvInfo(JSONObject req);
JSONObject rgvInfo(JSONObject req);
JSONObject todayTask(JSONObject req);
}

36
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
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@@ -11,7 +11,6 @@ import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.AgvUtil;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.ext.wms.data.wmsToAcsData.createTask.CreateTaskRequest;
import org.nl.acs.ext.wms.data.wmsToAcsData.createTask.CreateTaskResponse;
import org.nl.acs.ext.wms.service.WmsToAcsService;
@@ -30,6 +29,7 @@ import org.nl.modules.lucene.service.dto.LuceneLogDto;
import org.nl.modules.quartz.task.DeviceStatusMonitor;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.system.service.impl.ParamServiceImpl;
import org.nl.modules.wql.WQL;
import org.nl.modules.wql.core.bean.WQLObject;
import org.nl.modules.wql.exception.WDKException;
import org.nl.modules.wql.util.SpringContextHolder;
@@ -38,6 +38,7 @@ import org.springframework.http.HttpStatus;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
@@ -313,26 +314,49 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
@SneakyThrows
@Override
public JSONObject getAGVAndRGVInfo() {
public JSONObject agvInfo(JSONObject req) {
JSONObject resp = new JSONObject();
List<Device> agvs = deviceAppService.findDevice(DeviceType.agv);
List<JSONObject> agvInfos = new ArrayList<>();
for (Device agv : agvs) {
if (agv != null && agv.getDeviceDriver() instanceof DeviceStatusMonitor) {
if (agv != null && agv.getDeviceDriver() instanceof DeviceStageMonitor) {
DeviceStageMonitor deviceStageMonitor = (DeviceStageMonitor) agv.getDeviceDriver();
agvInfos.add(deviceStageMonitor.getDeviceStatusName());
}
}
resp.put("agv", agvInfos);
resp.put("status", 0);
resp.put("message", "查询成功");
resp.put("data", agvInfos);
return resp;
}
@SneakyThrows
@Override
public JSONObject rgvInfo(JSONObject req) {
JSONObject resp = new JSONObject();
List<Device> rgvs = deviceAppService.findDevice(DeviceType.rgv);
List<JSONObject> rgvInfos = new ArrayList<>();
for (Device rgv : rgvs) {
if (rgv != null && rgv.getDeviceDriver() instanceof DeviceStatusMonitor) {
if (rgv != null && rgv.getDeviceDriver() instanceof DeviceStageMonitor) {
DeviceStageMonitor deviceStageMonitor = (DeviceStageMonitor) rgv.getDeviceDriver();
rgvInfos.add(deviceStageMonitor.getDeviceStatusName());
}
}
resp.put("rgv", rgvInfos);
resp.put("status", 0);
resp.put("message", "查询成功");
resp.put("data", rgvInfos);
return resp;
}
@Override
public JSONObject todayTask(JSONObject req) {
JSONObject resp = new JSONObject();
Map<String, String> map = new HashMap<>();
map.put("flag", "1");
JSONArray data = WQL.getWO("EXT_QUERY001").addParamMap(map).process().getResultJSONArray(0);
resp.put("status",0);
resp.put("message","查询成功");
resp.put("data",data);
return resp;
}
}

62
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/wql/EXT_QUERY001.wql Normal file
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@@ -0,0 +1,62 @@
[交易说明]
交易名： WMS接口查询
所属模块：
功能简述：
版权所有：
表引用：
版本经历：
[数据库]
--指定数据库，为空采用默认值，默认为db.properties中列出的第一个库
[IO定义]
#################################################
## 表字段对应输入参数
#################################################
输入.flag TYPEAS s_string
[临时表]
--这边列出来的临时表就会在运行期动态创建
[临时变量]
--所有中间过程变量均可在此处定义
[业务过程]
##########################################
# 1、输入输出检查 #
##########################################
##########################################
# 2、主过程前处理 #
##########################################
##########################################
# 3、业务主过程 #
##########################################
IF 输入.flag = "1"
QUERY
SELECT
inst.task_code,
inst.start_point_code,
inst.next_point_code,
CASE
WHEN inst.instruction_status = '0' THEN '就绪'
WHEN inst.instruction_status = '1' THEN '执行中'
WHEN inst.instruction_status = '2' THEN '完成'
ELSE '未知状态'
END AS task_status,
inst.carno,
inst.create_time
FROM
acs_instruction inst
WHERE
inst.`instruction_status` in ('0','1','2') and inst.task_code NOT LIKE '-%' and DATE(inst.create_time) = CURDATE()
ENDSELECT
ENDQUERY
ENDIF

15
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXGTaskStatus.java
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@@ -1,28 +1,16 @@
package org.nl.modules.quartz.task;
import cn.hutool.core.collection.CollUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.XianGongAgvService;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.opc.Device;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.modules.system.service.ParamService;
import org.nl.modules.wql.util.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
import java.util.stream.Collectors;
/**
* 查询AGV任务状态
@@ -41,6 +29,9 @@ public class QueryXGTaskStatus {
try {
List<Instruction> allInstFromCache = instructionService.findAllInstFromCache();
for (Instruction instruction : allInstFromCache) {
if (!instruction.getSend_status().equals("1")) {
continue;
}
UnifiedResponse<JSONObject> resp = agvService.queryXZAgvInstStatusByCode(instruction.getInstruction_code(), JSONObject.class);
if (resp.isSuccess()) {
// 已创建=CREATED，