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add 仙工叉车下发任务

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This commit is contained in:
周俊杰
2024-06-07 11:27:50 +08:00
parent e2b03e5ddf
commit aa83170dde
14 changed files with 310 additions and 283 deletions
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19
acs/nladmin-system/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java
View File

@@ -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")
@Log("agv等待点请求")
@ApiOperation("下发agv任务")
//@PreAuthorize("@el.check('routePlan:list')")
public ResponseEntity<Object> waitPointRequest(HttpServletRequest req) throws Exception {
String serviceName = req.getRequestURI();
String param = StringUtils.substringAfterLast(serviceName, "/");
return new ResponseEntity<>(xianGongAgvService.waitPointRequest(param), HttpStatus.OK);
@PostMapping("/api/agv/xg/waitPointRequest")
@Log("仙工AGV请求取放货")
@ApiOperation("仙工AGV请求取放货")
@SaIgnore
public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
return new ResponseEntity<>(xianGongAgvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
}
}

2
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java
View File

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

112
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
View File

@@ -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;
}

41
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/MagicAgvServiceImpl.java
View File

@@ -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) {

287
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
View File

@@ -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) {
log.info("收到AGV请求参数:{}", param);
String[] strs = param.split("-");
String address = strs[0];
String inst_code = strs[1];
String type = strs[2];
String newaddress = null;
// 前置点会加上p
if (address.endsWith("IN")) {
newaddress = address.substring(0, address.length() - 2);
} else if (address.endsWith("OUT")) {
newaddress = address.substring(0, address.length() - 3);
} else if (address.endsWith("P") || address.endsWith("L") || address.endsWith("R")) {
newaddress = address.substring(0, address.length() - 1);
} 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;
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
String instCode = requestParam.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(instCode);
if (ObjectUtil.isEmpty(inst)) {
throw new BadRequestException("请求失败，未找到指令！");
}
TaskDto task = taskService.findByCodeFromCache(inst.getTask_code());
if (ObjectUtil.isEmpty(task)) {
throw new BadRequestException("请求失败，未找到指令对应任务！");
}
String address = requestParam.getString("address");
if (StrUtil.isBlank(address)) {
throw new BadRequestException("请求失败，地址为空！");
}
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
else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
is_feedback = true;
}
// //取货完成离开
// else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
// 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);
}
}
//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");
return jo2;
}else{
jo.put("name", param);
jo.put("lastAction", "wait");
jo.put("lastActionStatus", "FAILED");
jo.put("status", "IDLE");
throw new BadRequestException("上位系统不允许放货完成离开");
}
is_feedback = false;
log.info("反馈AGV请求参数:{}", jo.toString());
return jo.toString();
}
throw new BadRequestException("请求失败，IN OUT 站点错误!");
}
@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";
String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
agvurl = agvurl + ":" + agvport + "/robotsStatus";
HttpResponse result = HttpRequest.get(agvurl1)
.timeout(20000)//超时，毫秒
.execute();
HttpResponse result2 = HttpRequest.get(agvurl2)
HttpResponse result = HttpRequest.get(agvurl)
.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);
String name = jo.getString("name");
String state = jo.getString("state");
String energyLevel = jo.getString("energyLevel");
String transportOrder = jo.getString("transportOrder");
String vehicle=jo.getString("getString");
JSONObject detailjo = (JSONObject) JSONObject.parse(result2.body());
JSONObject item = (JSONObject) detailjo.get(name);
String x = item.getString("x");
String y = item.getString("y");
String angle = item.getString("angle");
com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i);
//机器人编码
String agv_code = jo.getString("uuid");
//机器人详细状态信息
com.alibaba.fastjson.JSONObject rbk_report = jo.getJSONObject("rbk_report");
//是否正在充电
Boolean charging = rbk_report.getBoolean("charging");
//电池电量
float battery_level1 = rbk_report.getFloatValue("battery_level");
float battery_level=battery_level1*100;
//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.setEnergyLevel(energyLevel);
dto.setState(state);
dto.setTransportOrder(transportOrder);
dto.setVehicle(vehicle);
dto.setPositionAngle(angle);
dto.setName(agv_code);
dto.setCurrent_map(current_map);
dto.setCharging(charging);
dto.setBattery_level(battery_level);
dto.setTransportOrder(taskNo);
dto.setPositionX(x);
dto.setPositionY(y);
if (AGVDeviceStatus.containsKey(name)) {
AGVDeviceStatus.remove(name);
AGVDeviceStatus.put(name, dto);
} else {
AGVDeviceStatus.put(name, dto);
}
dto.setPositionAngle(angle);
dto.setConnection_status(connectionStatus);
dto.setState(state);
AGVDeviceStatus.put(agv_code, 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")) {
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
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 + "/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(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV), "1")) {
String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
log.info("准备下发");
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
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;
}

5
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsZDController.java
View File

@@ -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 {

2
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsZDToAcsController.java
View File

@@ -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

1
acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsZDToAcsServiceImpl.java
View File

@@ -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);

35
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -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();

2
acs/nladmin-system/src/main/java/org/nl/acs/route/service/impl/RouteLineServiceImpl.java
View File

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

33
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -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();
// ja.add(feed_jo);
// acstowmsService.feedbackTaskStatusToWms(ja);
HttpResponse result=acsToWmsZDService.taskDeprecate(feed_jo);
feed_jo.put("carId", instCode.getCarno());
feed_jo.put("taskType ", entity.getTask_type());
feed_jo.put("feedbackStatus", "deprecate");
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(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
agvService.markComplete(entity.getTask_code());
}
}
// if (!StrUtil.equals(type, "0")) {
// if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
// agvService.markComplete(entity.getTask_code());
// }
// }
}
@Override

2
acs/nladmin-system/src/main/resources/log/ZheDaAgv.xml → acs/nladmin-system/src/main/resources/log/XianGongAgvServiceImpl.xml
View File

@@ -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>

2
acs/nladmin-system/src/main/resources/logback-spring.xml
View File

@@ -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"/>