From 407b407be9a2db7df575f059284025e44528d451 Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Mon, 25 Aug 2025 17:07:39 +0800 Subject: [PATCH] =?UTF-8?q?add:=E7=A7=91=E5=86=B2=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=E6=96=B0=E5=A2=9E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/org/nl/acs/agv/QueryAGVStatus.java | 45 +- .../nl/acs/agv/rest/KeCongAgvController.java | 44 ++ .../nl/acs/agv/server/KeCongAgvService.java | 50 +++ .../org/nl/acs/agv/server/dao/AgvRequest.java | 4 + .../nl/acs/agv/server/dao/AgvResponse.java | 18 + .../agv/server/impl/KeCongAgvServiceImpl.java | 346 ++++++++++++++ .../agv/kc_agv/KcagvDefination.java | 46 ++ .../agv/kc_agv/KcagvDeviceDriver.java | 255 +++++++++++ .../service/impl/InstructionServiceImpl.java | 96 ++-- .../service/quartz/task/AutoCreateInst.java | 80 ++-- .../main/resources/config/application-dev.yml | 4 +- .../src/views/acs/device/config.vue | 4 +- .../views/acs/device/driver/agv/kc_agv.vue | 423 ++++++++++++++++++ 13 files changed, 1284 insertions(+), 131 deletions(-) create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/KeCongAgvController.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/KeCongAgvService.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvRequest.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvResponse.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/KeCongAgvServiceImpl.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDefination.java create mode 100644 acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDeviceDriver.java create mode 100644 acs2/nladmin-ui/src/views/acs/device/driver/agv/kc_agv.vue diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java index 366b286..ff43f3f 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/QueryAGVStatus.java @@ -11,6 +11,7 @@ import com.fasterxml.jackson.databind.JsonNode; import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.dao.AgvResponse; import org.nl.acs.device.domain.Device; import org.nl.acs.device_driver.agv.xg_agv_car.XgAgvCarDeviceDriver; import org.nl.acs.instruction.domain.Instruction; @@ -45,23 +46,27 @@ public class QueryAGVStatus { TaskService taskService = SpringContextHolder.getBean(TaskService.class); ISysParamService paramService = SpringContextHolder.getBean(ISysParamService.class); List allInstFromCache = instructionService.findAllInstFromCache(); - List agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList()); - if (CollUtil.isEmpty(agvInstruction) || agvInstruction.size() < 1) { +// List agvInstruction = allInstFromCache.stream().filter(item -> AgvSystemTypeEnum.One_NDC_System_Type.getIndex().equals(item.getAgv_system_type()) || AgvSystemTypeEnum.XG_System_Type.getIndex().equals(item.getAgv_system_type())).collect(Collectors.toList()); + if (CollUtil.isEmpty(allInstFromCache) || allInstFromCache.size() < 1) { return; } - for (Instruction instruction : agvInstruction) { + for (Instruction instruction : allInstFromCache) { String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); JSONObject param = new JSONObject(); - agvurl = agvurl + ":" + agvport + "/orderDetails/" + instruction.getInstruction_code(); + agvurl = agvurl + ":" + agvport + "/api/fms/taskStatus "; + param.put("TaskNo", instruction.getInstruction_code()); log.info("根据运单号查询运单状态的请求:{}", agvurl); HttpResponse result = HttpRequest.get(agvurl) + .body(String.valueOf(param)) .timeout(20000)//超时，毫秒 .execute(); log.info("根据运单号查询运单状态的请求反馈:{}", result); String body = result.body(); JSONObject json = JSONObject.parseObject(body); - if (result.getStatus() == 200 && json.getString("id").equals(instruction.getInstruction_code())) { + JSONObject taskStatus = json.getJSONObject("TaskStatus"); + String taskNo = taskStatus.getString("TaskNo"); + if ("true".equals(json.getString("Result")) && taskNo.equals(instruction.getInstruction_code())) { // 已创建=CREATED， // 待分配=TOBEDISPATCHED， // 正在执行=RUNNING， @@ -71,10 +76,10 @@ public class QueryAGVStatus { // 无法执行=Error(参数错误)， // 等待=WAITING //执行中 - String state = json.getString("state"); - String carNo = json.getString("vehicle"); + String state = json.getString("Status"); + String carNo = json.getString("VehicleNo"); String instructionCode = json.getString("id"); - if ("RUNNING".equals(state) || "TOBEDISPATCHED".equals(state) || "WAITING".equals(state)) { + if ("running".equals(state)) { if ("1".equals(instruction.getInstruction_status())) { instruction.setCarno(carNo); TaskDto task = new TaskDto(); @@ -83,19 +88,19 @@ public class QueryAGVStatus { task.setTask_id(instruction.getTask_id()); instructionService.update(instruction); taskService.update(task); - if (StrUtil.isNotEmpty(instructionCode)) { - Device carCode = deviceAppService.findDeviceByCode(instructionCode); - XgAgvCarDeviceDriver xgAgvCarDeviceDriver; - if (null != carCode) { - if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) { - xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver(); - xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type())); - } - } - } +// if (StrUtil.isNotEmpty(instructionCode)) { +// Device carCode = deviceAppService.findDeviceByCode(instructionCode); +// XgAgvCarDeviceDriver xgAgvCarDeviceDriver; +// if (null != carCode) { +// if (carCode.getDeviceDriver() instanceof XgAgvCarDeviceDriver) { +// xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) carCode.getDeviceDriver(); +// xgAgvCarDeviceDriver.setTaskType(AgvActionTypeEnum.getStatus(instruction.getAgv_action_type())); +// } +// } +// } } - } else if ("FINISHED".equals(state)) { + } else if ("finish".equals(state)) { if (!"2".equals(instruction.getInstruction_status())) { instruction.setInstruction_status("2"); try { @@ -105,7 +110,7 @@ public class QueryAGVStatus { e.printStackTrace(); } } - } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) { + } else if ("paused".equals(state) || "aborted".equals(state) || "Error".equals(state)) { if (!"1".equals(instruction.getInstruction_status())) { instruction.setInstruction_status("1"); instructionService.update(instruction); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/KeCongAgvController.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/KeCongAgvController.java new file mode 100644 index 0000000..ce57ff7 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/KeCongAgvController.java @@ -0,0 +1,44 @@ +package org.nl.acs.agv.rest; + +import cn.dev33.satoken.annotation.SaIgnore; +import com.alibaba.fastjson.JSONObject; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.KeCongAgvService; +import org.nl.acs.agv.server.dao.AgvResponse; +import org.nl.common.logging.annotation.Log; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; +import org.springframework.web.bind.annotation.*; + +@RestController +@RequiredArgsConstructor + +@RequestMapping("/api/fms") +@Slf4j +public class KeCongAgvController { + private final KeCongAgvService keCongAgvService; + + @PostMapping("/waitPointRequest") + @Log("等待点请求") + @SaIgnore + public ResponseEntity waitPointRequest(@RequestBody JSONObject requestParam) { + return new ResponseEntity<>(keCongAgvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK); + } + + + @PostMapping("/requestResource") + @Log("请求资源") + @SaIgnore + public ResponseEntity requestResource(@RequestBody JSONObject requestParam) { + return new ResponseEntity<>(keCongAgvService.requestResource(requestParam), HttpStatus.OK); + } + + @PostMapping("/releaseResource") + @Log("释放资源") + @SaIgnore + public ResponseEntity releaseResource(@RequestBody JSONObject requestParam) { + return new ResponseEntity<>(keCongAgvService.releaseResource(requestParam), HttpStatus.OK); + } + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/KeCongAgvService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/KeCongAgvService.java new file mode 100644 index 0000000..82d69e8 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/KeCongAgvService.java @@ -0,0 +1,50 @@ +package org.nl.acs.agv.server; + +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONObject; +import org.nl.acs.agv.server.dao.AgvResponse; +import org.nl.acs.instruction.domain.Instruction; + +public interface KeCongAgvService { + + /** + * 下发运单序列 + * + * @param inst + * @return + * @throws Exception + */ + public HttpResponse addTask(Instruction inst) throws Exception; + + + /** + * 查询AGV任务状态 + * @param instCode + * @return + */ + public HttpResponse queryKZAgvInstStatus(String instCode); + + /** + * 查询AGV状态 + * @param vehicleCode + * @return + */ + public HttpResponse queryKZAgvStatus(String vehicleCode); + + AgvResponse xgAGVWaitPointRequest(JSONObject requestParam); + + public AgvResponse updateKZAgvInst(JSONObject requestParam); + + AgvResponse requestResource(JSONObject requestParam); + + AgvResponse releaseResource(JSONObject requestParam); + + HttpResponse getRobotInfo(String robotCode); + + /** + * 更新任务状态 + * @param instCode + * @return + */ +// public JSONObject updateKZAgvInstStatus(String instCode); +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvRequest.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvRequest.java new file mode 100644 index 0000000..ec0a27f --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvRequest.java @@ -0,0 +1,4 @@ +package org.nl.acs.agv.server.dao; + +public class AgvRequest { +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvResponse.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvResponse.java new file mode 100644 index 0000000..f3e64fc --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dao/AgvResponse.java @@ -0,0 +1,18 @@ +package org.nl.acs.agv.server.dao; + +import lombok.AllArgsConstructor; +import lombok.Builder; +import lombok.Data; +import lombok.NoArgsConstructor; + +@Data +@Builder +@NoArgsConstructor +@AllArgsConstructor +public class AgvResponse { + private int ErrCode; + + private String ErrMsg; + + private String result;//Result: true; +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/KeCongAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/KeCongAgvServiceImpl.java new file mode 100644 index 0000000..f451dd1 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/KeCongAgvServiceImpl.java @@ -0,0 +1,346 @@ +package org.nl.acs.agv.server.impl; + +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; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.KeCongAgvService; +import org.nl.acs.agv.server.MagicAgvService; +import org.nl.acs.agv.server.dao.AgvResponse; +import org.nl.acs.common.base.CommonFinalParam; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.common.exception.BadRequestException; +import org.nl.config.lucene.service.LuceneExecuteLogService; +import org.nl.config.lucene.service.dto.LuceneLogDto; +import org.nl.system.service.param.ISysParamService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; + +@Slf4j +@Service +@RequiredArgsConstructor +public class KeCongAgvServiceImpl implements KeCongAgvService { + + @Autowired + private LuceneExecuteLogService luceneExecuteLogService; + @Autowired + private InstructionService instructionService; + private final ISysParamService paramService; + + @Override + public HttpResponse addTask(Instruction inst) throws Exception { + JSONObject jo = new JSONObject(); + JSONArray arr = new JSONArray(); + jo.put("TaskType", inst.getInstruction_type()); + JSONObject json1 = new JSONObject(); + json1.put("Key", "TaskId"); + json1.put("Value", inst.getInstruction_code()); + arr.add(json1); + JSONObject json2 = new JSONObject(); + json2.put("Key", "VehicleNo"); + json2.put("Value", "3"); + arr.add(json2); + JSONObject json3 = new JSONObject(); + json3.put("Key", "point1"); + json3.put("Value", inst.getStart_device_code()); + arr.add(json3); + JSONObject json4 = new JSONObject(); + json4.put("Key", "point2"); + json4.put("Value", inst.getNext_device_code()); + arr.add(json4); + if ("任务1" .equals(inst.getInstruction_type())) { + JSONObject json5 = new JSONObject(); + json5.put("Key", "point3"); + json5.put("Value", inst.getStart_device_code2()); + arr.add(json5); + JSONObject json6 = new JSONObject(); + json6.put("Key", "point4"); + json6.put("Value", inst.getNext_device_code2()); + arr.add(json6); + } else if ("任务11" .equals(inst.getInstruction_type())) { + JSONObject json5 = new JSONObject(); + json5.put("Key", "isget"); + json5.put("Value", "0"); + arr.add(json5); + } else if ("任务12" .equals(inst.getInstruction_type())) { + JSONObject json6 = new JSONObject(); + json6.put("Key", "isput"); + json6.put("Value", "0"); + arr.add(json6); + } else if ("任务13" .equals(inst.getInstruction_type())) { + JSONObject json5 = new JSONObject(); + json5.put("Key", "isget"); + json5.put("Value", "0"); + arr.add(json5); + JSONObject json6 = new JSONObject(); + json6.put("Key", "isput"); + json6.put("Value", "0"); + arr.add(json6); + } + jo.put("Params", arr); + System.out.println(jo); + LuceneLogDto logDto = LuceneLogDto.builder() + .device_code("下发科聪任务") + .content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发agv任务序列参数:" + jo) + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto); + log.info("任务号：{},指令号{},下发科聪任务序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo); + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV). + + getValue(), CommonFinalParam.ONE)) { + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + + agvurl = agvurl + ":" + agvport + "/api/fms/addTaskV2"; + + log.info(agvurl); + HttpResponse result = HttpRequest.post(agvurl) + //表单内容 + .body(String.valueOf(jo)) + //超时，毫秒 + .timeout(20000) + .execute(); + LuceneLogDto logDto1 = LuceneLogDto.builder() + .device_code("下发科聪任务") + .content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发科聪任务序列反馈参数:" + jo) + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto1); + log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body()); + + return result; + } else { + return null; + } + + } + + + @Override + public HttpResponse queryKZAgvInstStatus(String instCode) { + + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + + agvurl = agvurl + ":" + agvport + "/api/fms/taskStatus/" + instCode; + + HttpResponse result = HttpRequest.get(agvurl) + //超时，毫秒 + .timeout(20000) + .execute(); + System.out.println("查询agv指令数据:" + result.body()); + + return result; + } else { + + return null; + } + } + + @Override + public HttpResponse queryKZAgvStatus(String vehicleCode) { + + if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + + agvurl = agvurl + ":" + agvport + "/api/fms/vehicleStatus/" + vehicleCode; + + HttpResponse result = HttpRequest.get(agvurl) + //超时，毫秒 + .timeout(20000) + .execute(); + System.out.println("查询agv数据:" + result.body()); + + return result; + } else { + + return null; + } + } + + @Override + public AgvResponse xgAGVWaitPointRequest(JSONObject requestParam) { + System.out.println("请求kc参数:" + requestParam); + String taskId = requestParam.getString("TaskId"); + String type = requestParam.getString("type"); // 1 取货点等待 2 放货点等待 + Instruction inst = instructionService.findByCodeFromCache(taskId); + if (ObjectUtil.isEmpty(inst)) { + throw new BadRequestException("请求失败，未找到指令！"); + } + JSONObject jo = new JSONObject(); + JSONArray arr = new JSONArray(); + jo.put("TaskNo", taskId); + if ("任务11" .equals(inst.getInstruction_type())) { + //todo :需要跟上位申请新的点位 + JSONObject json1 = new JSONObject(); + json1.put("Name", "point1"); + json1.put("Value", "3"); + arr.add(json1); + } else if ("任务12" .equals(inst.getInstruction_type())) { + //todo :需要跟上位申请新的点位 + JSONObject json1 = new JSONObject(); + json1.put("Name", "point2"); + json1.put("Value", "4"); + arr.add(json1); + } else if ("任务13" .equals(inst.getInstruction_type())) { + if ("1" .equals(type)) { + //todo :需要跟上位申请新的点位 + JSONObject json1 = new JSONObject(); + json1.put("Name", "point1"); + json1.put("Value", "1"); + arr.add(json1); + } else if ("2" .equals(type)) { + //todo :需要跟上位申请新的点位 + JSONObject json1 = new JSONObject(); + json1.put("Name", "point2"); + json1.put("Value", "1"); + arr.add(json1); + } + } + if ("任务11" .equals(inst.getInstruction_type())) { + JSONObject json2 = new JSONObject(); + json2.put("Name", "isget"); + json2.put("Value", "1"); + arr.add(json2); + } else if ("任务12" .equals(inst.getInstruction_type())) { + JSONObject json2 = new JSONObject(); + json2.put("Name", "isput"); + json2.put("Value", "1"); + arr.add(json2); + } else if ("任务13" .equals(inst.getInstruction_type())) { + if ("1" .equals(type)) { + JSONObject json3 = new JSONObject(); + json3.put("Name", "isget"); + json3.put("Value", "1"); + arr.add(json3); + } else if ("2" .equals(type)) { + JSONObject json2 = new JSONObject(); + json2.put("Name", "isput"); + json2.put("Value", "1"); + arr.add(json2); + } + } + jo.put("Params", arr); + String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); + + //更新任务参数 + agvurl = agvurl + ":" + agvport + "/api/fms/updateTaskParam"; + + log.info(agvurl); + HttpResponse result = HttpRequest.post(agvurl) + //表单内容 + .body(String.valueOf(jo)) + //超时，毫秒 + .timeout(20000) + .execute(); + LuceneLogDto logDto1 = LuceneLogDto.builder() + .device_code("下发科聪任务") + .content("任务号:" + inst.getTask_code() + ",指令号:" + inst.getInstruction_code() + ",下发科聪任务序列反馈参数:" + jo) + .build(); + logDto1.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto1); + log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body()); + JSONObject jsonObject = null; + if (ObjectUtil.isNotEmpty(result)) { + String body = result.body(); + jsonObject = JSONObject.parseObject(body); + if (ObjectUtil.isNotNull(jsonObject) && "true" .equals(jsonObject.getString("Result"))) { + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("true"); + agvResponse.setErrMsg(""); + return agvResponse; + } else { + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("false"); + agvResponse.setErrMsg(""); + return agvResponse; + } + } else { + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("false"); + agvResponse.setErrMsg(""); + return agvResponse; + } + } + + @Override + public AgvResponse updateKZAgvInst(JSONObject requestParam) { +// JSONObject ja = new JSONObject(); +// ja.put("Key","Result"); +// ja.put("Value","true"); + + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("true"); + agvResponse.setErrMsg(""); + return agvResponse; + } + + @Override + public AgvResponse requestResource(JSONObject requestParam) { + //todo: 延迟十秒 + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("true"); + agvResponse.setErrMsg("请求失败"); + return agvResponse; + } + + @Override + public AgvResponse releaseResource(JSONObject requestParam) { + AgvResponse agvResponse = new AgvResponse(); + agvResponse.setResult("true"); + agvResponse.setErrMsg("请求失败"); + return agvResponse; + } + + @Override + public HttpResponse getRobotInfo(String robotCode) { + 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 + "/" + "robotsStatus?vehicles=" + robotCode; + log.info("根据指定机器人查询状态的请求:{}", agvurl); + JSONObject param = new JSONObject(); + param.put("VehicleNo", robotCode); + HttpResponse result = HttpRequest.get(agvurl) + .body(String.valueOf(param)) + .timeout(20000)//超时，毫秒 + .execute(); + log.info("根据指定机器人查询状态的请求反馈:{}", result); + return result; + } else { + return null; + } + } + +// @Override +// public JSONObject updateKZAgvInstStatus(String instCode) { +// if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { +// String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); +// String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); +// +// agvurl = agvurl + ":" + agvport + "/api/fms/updateTaskParam"; +// +// HttpResponse result = HttpRequest.get(agvurl) +// //超时，毫秒 +// .timeout(20000) +// .execute(); +// System.out.println("查询agv数据:" + result.body()); +// +// return result; +// } else { +// +// return null; +// } +// } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDefination.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDefination.java new file mode 100644 index 0000000..cc1fb56 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDefination.java @@ -0,0 +1,46 @@ +package org.nl.acs.device_driver.agv.kc_agv; + +import org.nl.acs.device.domain.Device; +import org.nl.acs.device.enums.DeviceType; +import org.nl.acs.device_driver.DeviceDriver; +import org.nl.acs.device_driver.DeviceDriverDefination; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +@Service +public class KcagvDefination implements DeviceDriverDefination { + @Override + public String getDriverCode() { + return "kc_agv"; + } + + @Override + public String getDriverName() { + return "科聪AGV车"; + } + + @Override + public String getDriverDescription() { + return "科聪AGV车"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new KcagvDeviceDriver()).setDevice(device).setDriverDefination(this); + } + + @Override + public Class getDeviceDriverType() { + return KcagvDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.agv); + return types; + } + +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDeviceDriver.java new file mode 100644 index 0000000..01a458d --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/kc_agv/KcagvDeviceDriver.java @@ -0,0 +1,255 @@ +package org.nl.acs.device_driver.agv.kc_agv; + +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +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.device_driver.DeviceDriver; +import org.nl.acs.device_driver.RouteableDeviceDriver; +import org.nl.acs.device_driver.driver.AbstractDeviceDriver; +import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.log.service.DeviceExecuteLogService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.route.service.RouteLineService; +import org.nl.acs.task.service.TaskService; +import org.nl.config.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; + +import java.util.Date; +import java.util.LinkedHashMap; +import java.util.Map; + +@Slf4j +@Data +@RequiredArgsConstructor +public class KcagvDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + @Autowired + DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class); + @Autowired + InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); + @Autowired + DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); + @Autowired + RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); + @Autowired + TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); + @Autowired + RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class); + @Autowired + AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); + @Autowired + DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); + @Autowired + NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class); + + Integer hasGoods = 0; + int error = 0; + Boolean iserror = false; + Boolean islock = false; + + int branchProtocol = 0; + int last_branchProtocol = 0; + /** + * 是否需要输入物料 + */ + String input_material = "0"; + /** + * 备注 + */ + String remark = ""; + /** + * 数量 + */ + String qty = ""; + /** + * 批次 + */ + String batch = ""; + /** + * 物料 + */ + String material = ""; + /** + * 目标点位 + */ + String purpose = ""; + /** + * 当前指令 + */ + Instruction inst = null; + /** + * 上次指令 + */ + Instruction last_inst = null; + + boolean requireSucess = false; + + /** + * 触摸屏手动触发任务 + */ + private Boolean is_has_task = false; + + /** + * 申请搬运任务 + */ + private Boolean apply_handling = false; + /** + * 申请物料 + */ + private Boolean apply_material = false; + + /** + * 1取货完成 2放货完成 3进入区域 4离开区域 + */ + private int flag; + + /** + * 人工确认信号 默认0 agv到达后请求置1 等人工确认后变为2 反馈agv后继续为0 + */ + private int manua_confirm = 0; + + /** + * 是否推送场景的状态 0=可推送 1=正在更新场景 2=正在执行运单 + */ + private String upload_scene_status = ""; + /** + * 机器人当前运单 + */ + private String current_order = ""; + /** + * 机器人连接状态 0表示断连 1表示连接上 + */ + private String connection_status = ""; + /** + * 机器人可接单状态 true=可接单 false=不可接单 + */ + private boolean dispatchable = false; + /** + * core出错标识 + */ + private boolean is_error = false; + /** + * 是否正在执行用户下发的运单 + */ + private boolean procBusiness = false; + /** + * 机器人当前地图不在场景中 + */ + private boolean current_map_invalid = false; + /** + * 机器人是否断连 + */ + private boolean disconnect = false; + /** + * 1 = api 设置可接单，2 = api 设置不可接单(小车占用资源)， 3 = api 设置不可接单(小车不占用资源) + */ + private int dispatchable_status = 0; + /** + * 低电量 + */ + private boolean low_battery = false; + /** + * 暂停运单 + */ + private boolean suspended = false; + /** + * 未确认定位 + */ + private boolean unconfirmed_reloc = false; + /** + * 0: 控制权在core手上 1; 控制权被其他人抢走; 2: 控制权没有被抢占 + */ + private int unlock = 0; + + /** + * agv二次分配类型（1、普通任务 2、取货二次分配 3、防货二次分配 4、取放货二次分配） + */ + private String taskType = ""; + + + String device_code = null; + String container; + String container_type_desc; + String last_container_type_desc; + String last_container; + private Date instruction_require_time = new Date(); + private Date instruction_finished_time = new Date(); + + private int instruction_require_time_out; + + String message; + + // 1 上位系统允许进入 2 上位系统允许离开 + int status = 0; + + int agvphase = 0; + int index = 0; + + int mode = 2; + + int move; + + @Override + public void execute() { + try { +// getAgvStatus(); + } catch (Exception e) { + message = "获取机器人状态报错"; + } + } + + @Override + public JSONObject getDeviceStatusName() { + Map map = new LinkedHashMap<>(); +// try { +// getAgvStatus(); +// } catch (Exception e) { +// message = "获取机器人状态报错"; +// } + String isError; + if (is_error) { + isError = "出错,不执行任何运单"; + } else { + isError = "正常"; + } + if (CommonFinalParam.ONE.equals(upload_scene_status)) { + upload_scene_status = "正在更新场景"; + } else if (CommonFinalParam.TWO.equals(upload_scene_status)) { + upload_scene_status = "正在执行运单"; + } else if (CommonFinalParam.DELETE.equals(upload_scene_status)) { + upload_scene_status = "可推送"; + } + map.put("errors", isError); + map.put("upload_scene_status", upload_scene_status); + map.put("procBusiness", procBusiness ? "是": "否"); + // map.put("current_order", current_order); + map.put("connection_status", "1".equals(connection_status) ? "连接上" : "断连"); + map.put("dispatchable", dispatchable ? "可接单" : "不可接单"); + map.put("dispatchable_status", dispatchable_status == 1?"设置可接单" : dispatchable_status == 2?"设置不可接单(小车占用资源)" : dispatchable_status == 3?"设置不可接单(小车不占用资源)" : "未知"); + map.put("current_map_invalid", current_map_invalid ? "机器人不在地图场景中": "机器人在地图场景中"); + map.put("disconnect", disconnect ? "机器人断连" : "机器人连接上"); + map.put("low_battery", low_battery ? "低电量": "正常"); + map.put("suspended", suspended ? "订单被暂停,需要人工手动恢复": "正常"); + map.put("message", message); + map.put("agv_task_type", taskType); + map.put("unconfirmed_reloc", unconfirmed_reloc ? "未确认定位" : "正常"); + map.put("unlock", unlock == 0 ? "控制权在core手上" : unlock == 1 ? "控制权被其他人抢走" : unlock == 2 ? "控制权没有被抢占" : "未知"); + map.put("move_2","有货"); + JSONObject jo = new JSONObject(map); + return jo; + } + + + @Override + public void setDeviceStatus(JSONObject data) { + + } +} diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index e3a5d79..c7014e7 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -20,6 +20,7 @@ import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapp import lombok.extern.slf4j.Slf4j; import org.apache.commons.lang3.ObjectUtils; import org.nl.acs.AcsConfig; +import org.nl.acs.agv.server.KeCongAgvService; import org.nl.acs.agv.server.MagicAgvService; import org.nl.acs.agv.server.NDCAgvService; import org.nl.acs.agv.server.XianGongAgvService; @@ -121,6 +122,8 @@ public class InstructionServiceImpl extends CommonServiceImpl instructions = new CopyOnWriteArrayList(); @@ -456,37 +459,24 @@ public class InstructionServiceImpl extends CommonServiceImpl" + dto.getNext_device_code() + "路由不通"); } - if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { - throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型"); - } +// if (StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { +// throw new BadRequestException(dto.getStart_device_code() + "->" + dto.getNext_device_code() + "路由类型不是agv类型"); +// } if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "2")) { NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); } - //判断是否是仙工AGV - if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) { - - if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) { - String interactionJson = task.getInteraction_json(); - if (StrUtil.isEmpty(interactionJson)) { - throw new BadRequestException("agv叉车调整长宽参数为空"); - } - InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class); - //仙工叉车 - HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto, interactionJsonDTO); - if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) { - dto.setSend_status("2"); - } else { - dto.setSend_status("1"); - } - } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) { - //一楼agv任务创建运单序列 - HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto); - if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) { - dto.setSend_status("2"); - } else { - dto.setSend_status("1"); - } + if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "5")) { + HttpResponse response = keCongAgvService.addTask(dto); + JSONObject jsonObject = null; + if (ObjectUtil.isNotEmpty(response)) { + String body = response.body(); + jsonObject = JSONObject.parseObject(body); + } + if (ObjectUtil.isNotNull(jsonObject) && "true" .equals(jsonObject.getString("Result"))) { + dto.setSend_status("1"); + } else { + dto.setSend_status("2"); } } } catch (Exception e) { @@ -620,47 +610,17 @@ public class InstructionServiceImpl extends CommonServiceImpl 0 && StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { - Device deviceByCode = deviceAppService.findDeviceByCode(dto.getStart_device_code()); - if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) { - String interactionJson = task.getInteraction_json(); - if (StrUtil.isEmpty(interactionJson)) { - throw new BadRequestException("agv叉车调整长宽参数为空"); - } - InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class); - //仙工叉车 - HttpResponse response = xiangGongAgvService.sendOrderSequencesToForklift(dto, interactionJsonDTO); - if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) { - dto.setSend_status("2"); - } else { - dto.setSend_status("1"); - } - } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) { - //一楼agv任务创建运单序列 - HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto); - if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) { - dto.setSend_status("2"); - } else { - dto.setSend_status("1"); - } - } else if (dto.getAgv_system_type().equals(AgvSystemTypeEnum.Two_NDC_System_Type.getIndex())) { - NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class); - log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type()); - try { - ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto); - dto.setSend_status("1"); - } catch (Exception e) { - dto.setSend_status("2"); - dto.setRemark(e.getMessage()); - e.printStackTrace(); - log.warn("下发AGV指令异常:" + e); - LuceneLogDto logDto1 = LuceneLogDto.builder() - .device_code(start_device_code) - .content("下发AGV指令异常") - .build(); - logDto1.setLog_level(4); - luceneExecuteLogService.deviceExecuteLog(logDto1); - } + if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue(), "5")) { + HttpResponse response = keCongAgvService.addTask(dto); + JSONObject jsonObject = null; + if(ObjectUtil.isNotEmpty(response)){ + String body = response.body(); + jsonObject = JSONObject.parseObject(body); + } + if (ObjectUtil.isNotNull(jsonObject) && "true".equals(jsonObject.getString("Result"))) { + dto.setSend_status("1"); + } else { + dto.setSend_status("2"); } } } catch (Exception e) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java index bc5b062..4bac297 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java @@ -101,47 +101,47 @@ public class AutoCreateInst { } //校验路由关系 - List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); - if (ObjectUtils.isEmpty(shortPathsList)) { - acsTask.setRemark("路由不通无法生成指令"); - taskserver.updateByCodeFromCache(acsTask); - continue; - } +// List shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code); +// if (ObjectUtils.isEmpty(shortPathsList)) { +// acsTask.setRemark("路由不通无法生成指令"); +// taskserver.updateByCodeFromCache(acsTask); +// continue; +// } +// +// if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { +// continue; +// } - if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE)) { - continue; - } - - RouteLineDto routeLineDto = shortPathsList.get(0); - String path = routeLineDto.getPath(); - String type = routeLineDto.getType(); - String[] str = path.split("->"); - List pathlist = Arrays.asList(str); - int index = 0; - boolean flag = false; - for (int m = 0; m < pathlist.size(); m++) { - if (pathlist.get(m).equals(start_device_code)) { - if("1".equals(acsTask.getTask_type()) && !pathlist.get(m+1).equals(next_device_code)){ - flag = true; - break; - } - index = m + 1; - break; - } - } - if (flag) { - acsTask.setRemark("路由不通无法生成指令"); - taskserver.update(acsTask); - taskserver.updateByCodeFromCache(acsTask); - continue; - } - next_device_code = pathlist.get(index); - - if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) { - next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z(); - } else { - next_point_code = next_device_code; - } +// RouteLineDto routeLineDto = shortPathsList.get(0); +// String path = routeLineDto.getPath(); +// String type = routeLineDto.getType(); +// String[] str = path.split("->"); +// List pathlist = Arrays.asList(str); +// int index = 0; +// boolean flag = false; +// for (int m = 0; m < pathlist.size(); m++) { +// if (pathlist.get(m).equals(start_device_code)) { +// if("1".equals(acsTask.getTask_type()) && !pathlist.get(m+1).equals(next_device_code)){ +// flag = true; +// break; +// } +// index = m + 1; +// break; +// } +// } +// if (flag) { +// acsTask.setRemark("路由不通无法生成指令"); +// taskserver.update(acsTask); +// taskserver.updateByCodeFromCache(acsTask); +// continue; +// } +// next_device_code = pathlist.get(index); +// +// if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) { +// next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z(); +// } else { +// next_point_code = next_device_code; +// } Instruction instdto = new Instruction(); diff --git a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml index 661c255..3072951 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml +++ b/acs2/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml @@ -10,7 +10,7 @@ spring: driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy # url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:stand_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true # url: jdbc:log4jdbc:mysql://${DB_HOST:47.111.78.178}:${DB_PORT:3306}/${DB_NAME:lzhl_two_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true - url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:ynfj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true + url: jdbc:log4jdbc:mysql://${DB_HOST:localhost}:${DB_PORT:3306}/${DB_NAME:ynfj_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true username: ${DB_USER:root} # password: ${DB_PWD:Root.123456} @@ -76,7 +76,7 @@ spring: redis: #数据库索引 database: ${REDIS_DB:2} - host: ${REDIS_HOST:127.0.0.1} + host: ${REDIS_HOST:localhost} port: ${REDIS_PORT:6379} # password: ${REDIS_PWD:} diff --git a/acs2/nladmin-ui/src/views/acs/device/config.vue b/acs2/nladmin-ui/src/views/acs/device/config.vue index f957687..343ba7f 100644 --- a/acs2/nladmin-ui/src/views/acs/device/config.vue +++ b/acs2/nladmin-ui/src/views/acs/device/config.vue @@ -80,6 +80,7 @@ import belt_conveyor from '@/views/acs/device/driver/belt_conveyor' import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one' import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two' import xg_agv from '@/views/acs/device/driver/agv/xg_agv' +import kc_agv from '@/views/acs/device/driver/agv/kc_agv' import xg_agv_car from '@/views/acs/device/driver/agv/xg_agv_car.vue' import standard_manipulator from '@/views/acs/device/driver/one_manipulator/standard_manipulator.vue' import standard_storage from '@/views/acs/device/driver/standard_storage' @@ -95,7 +96,8 @@ export default { belt_conveyor, standard_manipulator, xg_agv_car, - standard_storage + standard_storage, + kc_agv }, dicts: ['device_type'], mixins: [crud], diff --git a/acs2/nladmin-ui/src/views/acs/device/driver/agv/kc_agv.vue b/acs2/nladmin-ui/src/views/acs/device/driver/agv/kc_agv.vue new file mode 100644 index 0000000..3faf772 --- /dev/null +++ b/acs2/nladmin-ui/src/views/acs/device/driver/agv/kc_agv.vue @@ -0,0 +1,423 @@ + + + + +