add:科冲接口新增

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<Instruction> allInstFromCache = instructionService.findAllInstFromCache();
-        List<Instruction> 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<Instruction> 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);

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<AgvResponse> waitPointRequest(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(keCongAgvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
+    }
+
+
+    @PostMapping("/requestResource")
+    @Log("请求资源")
+    @SaIgnore
+    public ResponseEntity<AgvResponse> requestResource(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(keCongAgvService.requestResource(requestParam), HttpStatus.OK);
+    }
+
+    @PostMapping("/releaseResource")
+    @Log("释放资源")
+    @SaIgnore
+    public ResponseEntity<AgvResponse> releaseResource(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(keCongAgvService.releaseResource(requestParam), HttpStatus.OK);
+    }
+
+}

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);
+}

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 {
+}

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;
+}

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;
+//        }
+//    }
+}

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<? extends DeviceDriver> getDeviceDriverType() {
+        return KcagvDeviceDriver.class;
+    }
+
+    @Override
+    public List<DeviceType> getFitDeviceTypes() {
+        List<DeviceType> types = new LinkedList();
+        types.add(DeviceType.agv);
+        return types;
+    }
+
+}

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<String, Object> 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) {
+
+    }
+}

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<InstructionMapper,
     private LimitRegionalService limitRegionalService;
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
+    @Autowired
+    private KeCongAgvService keCongAgvService;
 
     private List<Instruction> instructions = new CopyOnWriteArrayList();
 
@@ -456,37 +459,24 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
             if (ObjectUtils.isEmpty(shortPathsList)) {
                 throw new Exception(dto.getStart_device_code() + "->" + 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<InstructionMapper,
             }
 
             //判断是否是仙工AGV
-            if (shortPathsList.size() > 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) {

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<RouteLineDto> 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<RouteLineDto> 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<String> 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<String> 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();

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:}