add 仙工叉车下发任务

acs/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java

@@ -1,5 +1,8 @@
 package org.nl.acs.agv.rest;
 
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import com.alibaba.fastjson.JSONObject;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
@@ -11,6 +14,8 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RestController;
 
 import javax.servlet.http.HttpServletRequest;
@@ -22,14 +27,12 @@ import javax.servlet.http.HttpServletRequest;
 public class XianGongAgvController {
     @Autowired
     XianGongAgvService xianGongAgvService;
-    @GetMapping("/waitPointRequest")
+    @PostMapping("/api/agv/xg/waitPointRequest")
-    @Log("agv等待点请求")
+    @Log("仙工AGV请求取放货")
-    @ApiOperation("下发agv任务")
+    @ApiOperation("仙工AGV请求取放货")
-    //@PreAuthorize("@el.check('routePlan:list')")
+    @SaIgnore
-    public ResponseEntity<Object> waitPointRequest(HttpServletRequest req) throws Exception {
+    public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
-        String serviceName = req.getRequestURI();
+        return new ResponseEntity<>(xianGongAgvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
-        String param = StringUtils.substringAfterLast(serviceName, "/");
-        return new ResponseEntity<>(xianGongAgvService.waitPointRequest(param), HttpStatus.OK);
     }
 
 }

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

@@ -28,7 +28,7 @@ public interface XianGongAgvService {
      * @param
      * @return
      */
-    public String waitPointRequest(String param);
+    JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
 
     /**
      * acs->agv

acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java

@@ -57,34 +57,116 @@ public class AgvDto implements Serializable {
     /**
      * 角度
      */
-    private String positionAngle;
+    private float positionAngle;
 
     /**
      * X坐标
      */
-    private String positionX;
+    private float positionX;
 
     /**
      * Y坐标
      */
-    private String positionY;
+    private float positionY;
 
     /**
      * 当前任务号
      */
     private String transportOrder;
-    /**
-     * 状态码
-     */
-    private Integer status;
-    /**
-     * 状态描述
-     */
-    private String statusDescription;
-    /**
-     * 当前车号
-     */
-    private String vehicle;
 
+    /**
+     * 电池温度
+     */
+    private String battery_temp;
+
+    /**
+     * 电池电量
+     */
+    private float battery_level;
+
+    /**
+     * 是否阻挡
+     */
+    private String blocked;
+
+    /**
+     * 是否刹车
+     */
+    private String brake;
+
+    /**
+     * 是否充电
+     */
+    private Boolean charging;
+
+    /**
+     * 机器人连接状态，0表示断连，1表示连接上
+     */
+    private Integer connection_status;
+
+    /**
+     * 控制器温度
+     */
+    private String controller_temp;
+
+    /**
+     * 当前地图
+     */
+    private String current_map;
+
+    /**
+     * 当前位置
+     */
+    private String current_station;
+
+    /**
+     * 急停
+     */
+    private String emergency;
+
+    /**
+     * 里程
+     */
+    private String odo;
+
+    /**
+     * 请求电流
+     */
+    private String requestCurrent;
+
+    /**
+     * 请求电压
+     */
+    private String requestVoltage;
+
+    /**
+     * 软急停
+     */
+    private String soft_emc;
+
+    /**
+     * 今天运行的里程
+     */
+    private String today_odo;
+
+    /**
+     * 电压
+     */
+    private String voltage;
+
+    /**
+     * x方向的速度
+     */
+    private String vx;
+
+    /**
+     * y方向的速度
+     */
+    private String vy;
+
+    /**
+     * 加速度
+     */
+    private String w;
 
 }

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

@@ -287,50 +287,9 @@ public class MagicAgvServiceImpl implements MagicAgvService {
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse queryMagicAgvDeviceStatus() {
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            agvurl = agvurl + ":" + agvport + "/v1/vehicles";
-            HttpResponse result = HttpRequest.get(agvurl)
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-            log.info("查询agv状态数据:{}", result.body());
-            if (result.getStatus() == 200) {
-                JSONArray ja = (JSONArray) JSONArray.parse(result.body());
-                for (int i = 0; i < ja.size(); i++) {
-                    JSONObject jo = (JSONObject) ja.get(i);
-                    String name = jo.getString("name");
-                    String state = jo.getString("state");
-                    String energyLevel = jo.getString("energyLevel");
-                    String transportOrder = jo.getString("transportOrder");
-                    String positionAngle = jo.getString("positionAngle");
-                    String positionX = jo.getString("positionX");
-                    String positionY = jo.getString("positionY");
-                    AgvDto dto = new AgvDto();
-                    dto.setName(name);
-                    dto.setEnergyLevel(energyLevel);
-                    dto.setState(state);
-                    dto.setPositionAngle(positionAngle);
-                    dto.setPositionX(positionX);
-                    dto.setPositionY(positionY);
-                    dto.setTransportOrder(transportOrder);
-
-                    if (AGVDeviceStatus.containsKey(name)) {
-                        AGVDeviceStatus.remove(name);
-                        AGVDeviceStatus.put(name, dto);
-                    } else {
-                        AGVDeviceStatus.put(name, dto);
-                    }
-                }
-            }
-            return result;
-        } else {
         return null;
     }
 
-
-    }
-
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse deleteAgvInst(String instCode) {

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

@@ -47,136 +47,123 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @Autowired
     private  ParamService paramService;
     @Autowired
+    TaskService taskService;
+    @Autowired
     private  AcsToWmsService acsToWmsService;
     @Autowired
     InstructionService instructionService;
     @Autowired
+    AcsToWmsZDService acsToWmsZDService;
+    @Autowired
     AcsConfigService acsConfigService;
+
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
+
     @Value("${agvToAcs.addr}")
     private String addr;
     @LokiLog(type = LokiLogType.AGV)
     @Override
-    public String waitPointRequest(String param) {
+    public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
-        log.info("收到AGV请求参数:{}", param);
+        log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
-        String[] strs = param.split("-");
+        String instCode = requestParam.getString("task_code");
-        String address = strs[0];
+        Instruction inst = instructionService.findByCodeFromCache(instCode);
-        String inst_code = strs[1];
+        if (ObjectUtil.isEmpty(inst)) {
-        String type = strs[2];
+            throw new BadRequestException("请求失败，未找到指令！");
-        String newaddress = null;
+        }
-        // 前置点会加上p
+        TaskDto task = taskService.findByCodeFromCache(inst.getTask_code());
-        if (address.endsWith("IN")) {
+        if (ObjectUtil.isEmpty(task)) {
-            newaddress = address.substring(0, address.length() - 2);
+            throw new BadRequestException("请求失败，未找到指令对应任务！");
-        } else if (address.endsWith("OUT")) {
+        }
-            newaddress = address.substring(0, address.length() - 3);
+        String address = requestParam.getString("address");
-        } else if (address.endsWith("P") || address.endsWith("L") || address.endsWith("R")) {
+        if (StrUtil.isBlank(address)) {
-            newaddress = address.substring(0, address.length() - 1);
+            throw new BadRequestException("请求失败，地址为空！");
-        } else if (address.endsWith("CZ")) {
-            newaddress = address.substring(0, address.length() - 2);
-        } else if (address.endsWith("IQ") || address.endsWith("OQ")) {
-            newaddress = address.substring(0, address.length() - 2);
-        } else {
-            newaddress = address;
         }
-        boolean is_feedback = false;
-        Device device = deviceAppService.findDeviceByCode(newaddress);
-        Instruction inst = instructionService.findByCodeFromCache(inst_code);
-        TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
-        AcsToWmsZDService acsToWmsZDService = SpringContextHolder.getBean("acsToWmsZDServiceImpl");
-        TaskDto task = taskService.findByCode(inst.getTask_code());
-        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
             //请求取货
-            if (StrUtil.equals(type, "01") && address.endsWith("IN")) {
+            if (address.contains("INGET")) {
                 JSONObject jo = new JSONObject();
                 jo.put("taskCode", task.getTask_code());
                 jo.put("carId", inst.getCarno());
                 jo.put("taskType ", task.getTask_type());
                 jo.put("feedbackStatus", "applyTake");
-                log.info("请求参数:{}", jo);
+                log.info("请求取货请求参数:{}", jo);
                 HttpResponse result = acsToWmsZDService.taskFeedback(jo);
                 JSONObject response = JSONObject.parseObject(result.body());
                 int responseCode = response.getInteger("responseCode");
                 if (responseCode == 0) {
-                    is_feedback = true;
+                    JSONObject jo2 = new JSONObject();
+                    jo2.put("status",200);
                     log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                    return jo2;
+                }else{
+                    throw new BadRequestException("上位系统不允许取货");
                 }
             }
             //取货完成
-            else if (StrUtil.equals(type, "02")) {
+        if (address.contains("OUTGET")) {
                 JSONObject jo = new JSONObject();
                 jo.put("taskCode", task.getTask_code());
                 jo.put("carId", inst.getCarno());
                 jo.put("taskType ", task.getTask_type());
                 jo.put("feedbackStatus", "takeFinish");
-                log.info("请求参数:{}", jo);
+                log.info("取货完成请求参数:{}", jo);
                 HttpResponse result = acsToWmsZDService.taskFeedback(jo);
                 JSONObject response = JSONObject.parseObject(result.body());
                 int responseCode = response.getInteger("responseCode");
                 if (responseCode == 0) {
-                    is_feedback = true;
+                    JSONObject jo2 = new JSONObject();
+                    jo2.put("status",200);
                     log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                    return jo2;
+                }else{
+                    throw new BadRequestException("上位系统不允许取货完成离开");
                 }
             }
-            //取货完成离开
+//            //取货完成离开
-            else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
+//            else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
-                is_feedback = true;
+//                is_feedback = true;
-            }
+//            }
             //请求放货
-            else if (StrUtil.equals(type, "03") && address.endsWith("IN")) {
+        if (address.contains("INPUT")) {
                 JSONObject jo = new JSONObject();
                 jo.put("taskCode", task.getTask_code());
                 jo.put("carId", inst.getCarno());
                 jo.put("taskType ", task.getTask_type());
                 jo.put("feedbackStatus", "applyPut");
-                log.info("请求参数:{}", jo);
+                log.info("请求放货请求参数:{}", jo);
                 HttpResponse result = acsToWmsZDService.taskFeedback(jo);
                 JSONObject response = JSONObject.parseObject(result.body());
                 int responseCode = response.getInteger("responseCode");
                 if (responseCode == 0) {
-                    is_feedback = true;
+                    JSONObject jo2 = new JSONObject();
+                    jo2.put("status",200);
                     log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
+                    return jo2;
+                }else{
+                    throw new BadRequestException("上位系统不允许请求放货");
                 }
             }
             //放货完成
-            else if (StrUtil.equals(type, "04")) {
+        if (address.contains("OUTPUT")) {
                 JSONObject jo = new JSONObject();
                 jo.put("taskCode", task.getTask_code());
                 jo.put("carId", inst.getCarno());
                 jo.put("taskType ", task.getTask_type());
                 jo.put("feedbackStatus", "putFinish");
-                log.info("请求参数:{}", jo);
+                log.info("放货完成请求参数:{}", jo);
                 HttpResponse result = acsToWmsZDService.taskFeedback(jo);
                 JSONObject response = JSONObject.parseObject(result.body());
                 int responseCode = response.getInteger("responseCode");
                 if (responseCode == 0) {
-                    is_feedback = true;
+                    JSONObject jo2 = new JSONObject();
+                    jo2.put("status",200);
                     log.info("请求ZDwcs成功，申请取货 请求结果{}", responseCode);
-                }
+                    return jo2;
-            }
-            //放货完成离开
-            else if (StrUtil.equals(type, "06") && address.endsWith("OUT")
-                    && standardOrdinarySiteDeviceDriver.getMove() != 0) {
-                is_feedback = true;
-            }
-        }
-            JSONObject jo = new JSONObject();
-            if (is_feedback) {
-                jo.put("name", param);
-                jo.put("lastAction", "wait");
-                jo.put("lastActionStatus", "DONE");
-                jo.put("status", "IDLE");
                 }else{
-                jo.put("name", param);
+                    throw new BadRequestException("上位系统不允许放货完成离开");
-                jo.put("lastAction", "wait");
-                jo.put("lastActionStatus", "FAILED");
-                jo.put("status", "IDLE");
                 }
-            is_feedback = false;
+            }
-            log.info("反馈AGV请求参数:{}", jo.toString());
+        throw new BadRequestException("请求失败，IN OUT 站点错误!");
-            return jo.toString();
     }
 
     @LokiLog(type = LokiLogType.AGV)
@@ -208,53 +195,80 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @Override
     public HttpResponse queryXZAgvDeviceStatus() {
 
-        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue().toString(), "1")) {
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
 
-            String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
+            agvurl = agvurl + ":" + agvport + "/robotsStatus";
-            String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
 
-            HttpResponse result = HttpRequest.get(agvurl1)
+            HttpResponse result = HttpRequest.get(agvurl)
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-
-
-            HttpResponse result2 = HttpRequest.get(agvurl2)
                     .timeout(20000)//超时，毫秒
                     .execute();
 
             System.out.println("查询agv状态数据:" + result.body());
             if (result.getStatus() == 200) {
-                JSONArray ja = (JSONArray) JSONArray.parse(result.body());
+                com.alibaba.fastjson.JSONObject body = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-
+                com.alibaba.fastjson.JSONArray ja = body.getJSONArray("report");
                 for (int i = 0; i < ja.size(); i++) {
-                    JSONObject jo = (JSONObject) ja.get(i);
+                    com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i);
-                    String name = jo.getString("name");
+                    //机器人编码
-                    String state = jo.getString("state");
+                    String agv_code = jo.getString("uuid");
-                    String energyLevel = jo.getString("energyLevel");
+                    //机器人详细状态信息
-                    String transportOrder = jo.getString("transportOrder");
+                    com.alibaba.fastjson.JSONObject rbk_report = jo.getJSONObject("rbk_report");
-                    String vehicle=jo.getString("getString");
+                    //是否正在充电
-                    JSONObject detailjo = (JSONObject) JSONObject.parse(result2.body());
+                    Boolean charging = rbk_report.getBoolean("charging");
-                    JSONObject item = (JSONObject) detailjo.get(name);
+                    //电池电量
-                    String x = item.getString("x");
+                    float battery_level1 = rbk_report.getFloatValue("battery_level");
-                    String y = item.getString("y");
+                    float battery_level=battery_level1*100;
-                    String angle = item.getString("angle");
+                    //当前地图
+                    String current_map = rbk_report.getString("current_map");
+                    //角度
+                    float angle = rbk_report.getFloatValue("angle");
+                    //执行运单信息
+                    com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order");
+                    int task_status=rbk_report.getInteger("task_status");
+                    String state=null;
+                    if(task_status==0){
+                        state="NONE";
+                    }if(task_status==1){
+                        state="WAITING";
+                    }if(task_status==2){
+                        state="RUNNING";
+                    }if(task_status==3){
+                        state="SUSPENDED";
+                    }if(task_status==4){
+                        state="COMPLETED";
+                    }if(task_status==5){
+                        state="FAILED";
+                    }if(task_status==6){
+                        state="CANCELED";
+                    }
+                    Integer connectionStatus = jo.getInteger("connection_status");
+                    String inst_code = current_order.getString("id");
+                    String taskNo= "0";
+                    if (StrUtil.isNotEmpty(inst_code)) {
+                        Instruction inst = instructionService.findByCodeFromCache(inst_code);
+                        if (ObjectUtil.isNotEmpty(inst)) {
+                            //任务号
+                            taskNo  = inst.getTask_code();
+                        }
+                    }
+                    //x坐标
+                    float x = rbk_report.getFloatValue("x");
+                    //y坐标
+                    float y = rbk_report.getFloatValue("y");
                     AgvDto dto = new AgvDto();
-                    dto.setName(name);
+                    dto.setName(agv_code);
-                    dto.setEnergyLevel(energyLevel);
+                    dto.setCurrent_map(current_map);
-                    dto.setState(state);
+                    dto.setCharging(charging);
-                    dto.setTransportOrder(transportOrder);
+                    dto.setBattery_level(battery_level);
-                    dto.setVehicle(vehicle);
+                    dto.setTransportOrder(taskNo);
-                    dto.setPositionAngle(angle);
                     dto.setPositionX(x);
                     dto.setPositionY(y);
-                    if (AGVDeviceStatus.containsKey(name)) {
+                    dto.setPositionAngle(angle);
-                        AGVDeviceStatus.remove(name);
+                    dto.setConnection_status(connectionStatus);
-                        AGVDeviceStatus.put(name, dto);
+                    dto.setState(state);
-                    } else {
+                    AGVDeviceStatus.put(agv_code, dto);
-                        AGVDeviceStatus.put(name, dto);
-                    }
                 }
             }
             return result;
@@ -268,9 +282,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse queryXZAgvInstStatus() {
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
 
             agvurl = agvurl + ":" + agvport + "/orders?page=1&size=9999";
             List<Instruction> insts = instructionService.findAllInstFromCache();
@@ -307,9 +321,13 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
 
-            agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + instCode + "/withdrawal";
+            com.alibaba.fastjson.JSONObject param = new com.alibaba.fastjson.JSONObject();
+            param.put("id", instCode);
+            param.put("disableVehicle", false);
+            agvurl = agvurl + ":" + agvport + "/terminate";
             log.info("删除agv指令请求agvurl:{}", agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
+                    .body(param.toJSONString())
                     .timeout(20000)//超时，毫秒
                     .execute();
             log.info("删除agv指令请求反馈:{}", result);
@@ -322,18 +340,19 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception {
+
         com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
         jo.put("id", inst.getInstruction_code());
         jo.put("complete", true);
         jo.put("blocks", createBlocksData(inst));
         jo.put("priority", inst.getPriority());
         log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo.toString());
-
+        if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV), "1")) {
+            log.info("准备下发");
-            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
             agvurl = agvurl + ":" + agvport + "/setOrder";
-
+            log.info("下发地址为{}",agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(jo))//表单内容
                     .timeout(20000)//超时，毫秒
@@ -347,6 +366,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
     public com.alibaba.fastjson.JSONArray createBlocksData(Instruction inst) {
         com.alibaba.fastjson.JSONArray ja = new com.alibaba.fastjson.JSONArray();
+        com.alibaba.fastjson.JSONObject jo9 = new com.alibaba.fastjson.JSONObject();
+        jo9.put("blockId", IdUtil.simpleUUID());
+        jo9.put("location", inst.getStart_point_code() + "INGET");
+        jo9.put("binTask", "ForkLoad");
+        ja.add(jo9);
         Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
         if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
             //取货前等待
@@ -355,7 +379,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo.put("location", inst.getStart_point_code() + "INGET");
             jo.put("operation", "script");
             jo.put("id", inst.getStart_point_code() + "INGET");
-            jo.put("script_name", "userpy/interact.py");
+            jo.put("script_name", "userpy/interact1.py");
             com.alibaba.fastjson.JSONObject script_args = new com.alibaba.fastjson.JSONObject();
             script_args.put("addr", addr);
             com.alibaba.fastjson.JSONObject data = new com.alibaba.fastjson.JSONObject();
@@ -368,11 +392,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo.put("script_args", script_args);
             ja.add(jo);
         }
-
         com.alibaba.fastjson.JSONObject jo1 = new com.alibaba.fastjson.JSONObject();
         jo1.put("blockId", IdUtil.simpleUUID());
         jo1.put("location", inst.getStart_point_code());
-        jo1.put("operation", "JackLoad");
+        jo1.put("binTask", "ForkLoad");
         ja.add(jo1);
 
         //取货完成等待
@@ -381,7 +404,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         jo2.put("location", inst.getStart_point_code() + "OUTGET");
         jo2.put("operation", "script");
         jo2.put("id", inst.getStart_point_code() + "OUTGET");
-        jo2.put("script_name", "userpy/interact.py");
+        jo2.put("script_name", "userpy/interact1.py");
         com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
         script_args2.put("addr", addr);
         com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
@@ -393,7 +416,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         script_args2.put("protocol", "HTTP");
         jo2.put("script_args", script_args2);
         ja.add(jo2);
-
+        com.alibaba.fastjson.JSONObject jo6 = new com.alibaba.fastjson.JSONObject();
+        jo6.put("blockId", IdUtil.simpleUUID());
+        jo6.put("location", inst.getStart_point_code() + "OUTGET");
+        jo6.put("binTask", "ForkUnload");
+        ja.add(jo6);
+        com.alibaba.fastjson.JSONObject jo7 = new com.alibaba.fastjson.JSONObject();
+        jo7.put("blockId", IdUtil.simpleUUID());
+        jo7.put("location", inst.getNext_point_code() + "INPUT");
+        jo7.put("binTask", "ForkLoad");
+        ja.add(jo7);
         Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
         if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
             //放货前等待
@@ -402,7 +434,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo3.put("location", inst.getNext_point_code() + "INPUT");
             jo3.put("operation", "script");
             jo3.put("id", inst.getNext_point_code() + "INPUT");
-            jo3.put("script_name", "userpy/interact.py");
+            jo3.put("script_name", "userpy/interact1.py");
             com.alibaba.fastjson.JSONObject script_args3 = new com.alibaba.fastjson.JSONObject();
             script_args3.put("addr", addr);
             com.alibaba.fastjson.JSONObject data3 = new com.alibaba.fastjson.JSONObject();
@@ -415,26 +447,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo3.put("script_args", script_args3);
             ja.add(jo3);
         }
-
-//        //放货前下发旋转角度
-//        com.alibaba.fastjson.JSONObject json1 = new com.alibaba.fastjson.JSONObject();
-//        AcsPointAngleDto acsPointAngleDto = acsPointAngleService.findByCode(inst.getStart_device_code(),inst.getNext_device_code());
-//        if (ObjectUtil.isNotEmpty(acsPointAngleDto)){
-//            log.info("acsPointAngleDto----參數,{}", acsPointAngleDto.toString());
-//            com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
-//            BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
-//            operation_args.put("increase_spin_angle",next_point_angle);//弧度值，如3.14
-//            operation_args.put("skill_name","GoByOdometer");
-//            json1.put("blockId", IdUtil.simpleUUID());
-//            json1.put("location", inst.getNext_point_code() + "INPUT");
-//            json1.put("operation_args",operation_args);
-//            ja.add(json1);
-//        }
-
         com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
         jo4.put("blockId", IdUtil.simpleUUID());
         jo4.put("location", inst.getNext_point_code());
-        jo4.put("operation", "JackUnload");
+        jo4.put("binTask", "ForkUnload");
         ja.add(jo4);
 
         if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
@@ -444,7 +460,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             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");
+            jo5.put("script_name", "userpy/interact1.py");
             com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
             script_args5.put("addr", addr);
             com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
@@ -457,6 +473,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             jo5.put("script_args", script_args5);
             ja.add(jo5);
         }
+        com.alibaba.fastjson.JSONObject jo8 = new com.alibaba.fastjson.JSONObject();
+        jo8.put("blockId", IdUtil.simpleUUID());
+        jo8.put("location", inst.getNext_point_code() + "OUTPUT");
+        jo8.put("binTask", "ForkUnload");
+        ja.add(jo8);
         return ja;
     }
 

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java

@@ -21,21 +21,20 @@ import java.util.Map;
 @RestController
 @RequiredArgsConstructor
 @Api(tags = "wms接口")
-@RequestMapping("/restful/api/v3/system_car")
 @Slf4j
 @Lazy
 @SaIgnore
 public class AcsToWmsZDController {
     private final AcsToWmsZDService acsToWmsZDService;
 
-    @PostMapping("/feedbackTask")
+    @PostMapping("/wcs/restful/api/v3/system_ca/feedbackTask")
     @Log("任务反馈")
     @ApiOperation("任务反馈")
     public ResponseEntity<Object> taskFeedback(@RequestBody JSONObject whereJson) throws Exception {
         return new ResponseEntity<>(acsToWmsZDService.taskFeedback(whereJson), HttpStatus.OK);
     }
 
-    @PostMapping("/deprecateTask")
+    @PostMapping("/restful/api/v3/system_car/deprecateTask")
     @Log("任务取消")
     @ApiOperation("任务取消")
     public ResponseEntity<Object> taskDeprecate(@RequestBody JSONObject whereJson) throws Exception {

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java

@@ -20,7 +20,7 @@ import org.springframework.web.bind.annotation.RestController;
 @RestController
 @RequiredArgsConstructor
 @Api(tags = "wms接口")
-@RequestMapping("/restful/API/V3")
+@RequestMapping("/restful/api/v3")
 @Slf4j
 @Service
 @Lazy

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsZDToAcsServiceImpl.java

@@ -134,6 +134,7 @@ public class WmsZDToAcsServiceImpl implements WmsZDToAcsService {
             e.printStackTrace();
             map.put("responseCode", 1);
             map.put("responseMessage", e.getMessage());
+            log.info("报错信息为{}",map);
             return map;
         }
         map.put("responseCode", 0);

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -357,6 +357,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver;
 
         try {
+            log.info("仙工订单准备下发");
             String start_device_code = dto.getStart_device_code();
             String next_device_code = dto.getNext_device_code();
             String route_plan_code = task.getRoute_plan_code();
@@ -392,7 +393,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
                             ndcAgvService.sendAgvInstToNDC("1", dto);
                             dto.setSend_status("1");
 
-                        } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).toString(), String.valueOf(AgvSystemEnum.XianGong.getIndex()))) {
+                        } else if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue().toString(), String.valueOf(AgvSystemEnum.XianGong.getIndex()))) {
                             if (StrUtil.equals(task.getRequest_again_success(), "1")) {
                                 //追加订单
                                 HttpResponse result = xianGongAgvService.sendOrderSequencesToXZ(dto);
@@ -945,37 +946,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         if (flag) {
             com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
             requestjo.put("task_code", entity.getInstruction_code());
-            String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
+
-            String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            String taskcode=entity.getInstruction_code();
-            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + taskcode + "/withdrawal";
-            HttpResponse result = HttpRequest.post(agvurl)
-                    .body(String.valueOf(requestjo))
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-            log.info("请求地址agvurl{},请求结果{}",agvurl,result.body());
-            if (StrUtil.equals(entity.getInstruction_type(), "7")) {
-                CancelTaskRequest cancelTaskRequest = new CancelTaskRequest();
-                cancelTaskRequest.setOrderId(entity.getInstruction_code());
-                cancelTaskRequest.setPalletCode(entity.getVehicle_code());
-                cancelTaskRequest.setSrcLocation(entity.getStart_point_code());
-                cancelTaskRequest.setDestLocation(entity.getNext_point_code());
-                // 1 入库，2 出库，3 移库，4 空托盘入库，5 空托盘出库
-                int type = 0;
-                if (StrUtil.equals(task.getStorage_task_type(), "1")) {
-                    type = 1;
-                } else if (StrUtil.equals(task.getStorage_task_type(), "2")) {
-                    type = 4;
-                } else if (StrUtil.equals(task.getStorage_task_type(), "3")) {
-                    type = 2;
-                } else if (StrUtil.equals(task.getStorage_task_type(), "4")) {
-                    type = 5;
-                } else if (StrUtil.equals(task.getStorage_task_type(), "5")) {
-                    type = 3;
-                }
-                cancelTaskRequest.setTaskType(type);
-                acsToLiKuService.cancelTask(cancelTaskRequest);
-            }
 
             String currentUsername = SecurityUtils.getCurrentUsername();
             String now = DateUtil.now();

acs/nladmin-system/src/main/java/org/nl/acs/route/service/impl/RouteLineServiceImpl.java

@@ -261,7 +261,7 @@ public class RouteLineServiceImpl implements RouteLineService, ApplicationAutoIn
                 }
             }
         }
-//        reload();
+        reload();
     }
 
     @Override

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

@@ -851,30 +851,21 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         WQLObject wo = WQLObject.getWQLObject("acs_task");
         JSONObject json = (JSONObject) JSONObject.toJSON(entity);
         wo.update(json);
-
-//    synchronized (TaskServiceImpl.class){
-//      Iterator<TaskDto> it = tasks.iterator();
-//      // 清理缓存
-//      while (it.hasNext()) {
-//        TaskDto taskDto = it.next();
-//        if (taskDto.getTask_id().equals(id)) {
-//          tasks.remove(taskDto);
-//        }
-//      }}
-
         removeByCodeFromCache(entity.getTask_code());
-
         // 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
         String hasWms = paramService.findByCode(AcsConfig.HASWMS).getValue();
         String Type1=entity.getTask_type();
         if (!StrUtil.startWith(entity.getTask_code(), "-") && StrUtil.equals(hasWms, "1")) {
+            log.info("取消中鼎任务");
             JSONObject feed_jo = new JSONObject();
+            Instruction instCode=instructionservice.findByTaskcode(entity.getTask_code());
             feed_jo.put("taskCode", entity.getTask_code());
-//            JSONArray ja = new JSONArray();
+            feed_jo.put("carId", instCode.getCarno());
-//            ja.add(feed_jo);
+            feed_jo.put("taskType ", entity.getTask_type());
-//            acstowmsService.feedbackTaskStatusToWms(ja);
+            feed_jo.put("feedbackStatus", "deprecate");
-            HttpResponse result=acsToWmsZDService.taskDeprecate(feed_jo);
+            HttpResponse result=acsToWmsZDService.taskFeedback(feed_jo);
             JSONObject response=JSONObject.parseObject(result.body());
+            log.info("任务取消 返回参数{}",response);
             int responseCode= response.getInteger("responseCode");
             if(responseCode == 0) {
                 log.info("请求ZDwcs成功，任务取消 请求结果{}",responseCode);
@@ -887,11 +878,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
                         entity.getRoute_plan_code());
         String type = shortPathsList.get(0).getType();
         // != 0 为agv任务
-        if (!StrUtil.equals(type, "0")) {
+//        if (!StrUtil.equals(type, "0")) {
-            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
+//            if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
-                agvService.markComplete(entity.getTask_code());
+//                agvService.markComplete(entity.getTask_code());
-            }
+//            }
-        }
+//        }
     }
 
     @Override

acs/nladmin-system/src/main/resources/log/XianGongAgvServiceImpl.xml

@@ -27,7 +27,7 @@
       </logger>-->
 
     <!-- 打印sql -->
-    <logger name="org.nl.acs.agv.server.impl.ZheDaAgvServiceImpl" level="info" additivity="false">
+    <logger name="org.nl.acs.agv.server.impl.XianGongAgvServiceImpl" level="info" additivity="false">
         <appender-ref ref="FILE13"/>
     </logger>
 </included>

acs/nladmin-system/src/main/resources/logback-spring.xml

@@ -27,7 +27,7 @@ https://juejin.cn/post/6844903775631572999
     <include resource="log/OneNDCSocketConnectionAutoRun.xml"/>
     <include resource="log/Lucene.xml"/>
     <include resource="log/OpcUtil.xml"/>
-    <include resource="log/ZheDaAgv.xml"/>
+    <include resource="log/XianGongAgvServiceImpl.xml"/>
     <include resource="log/AcsToZDWms.xml"/>
     <include resource="log/ZDToAcsWms.xml"/>
     <include resource="log/QueryZDAgvTaskStatus.xml"/>