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add：新增查询设备状态接口，点位角度管理

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This commit is contained in:
tuqiang
2023-12-15 18:05:07 +08:00
parent 3101c2c8f9
commit 779650407b
21 changed files with 865 additions and 111 deletions
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5
hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java
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@@ -9,6 +9,7 @@ import org.apache.commons.lang3.StringUtils;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.device.service.DeviceService;
import org.nl.annotation.Log;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.*;
@@ -22,7 +23,9 @@ import java.util.Enumeration;
@RequestMapping("/api")
@Slf4j
public class AgvController {
private final AgvService agvService;
@Autowired
AgvService agvService;
@Autowired
private final DeviceService deviceService;

7
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java
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@@ -11,6 +11,7 @@ import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.log.service.LogServer;
import org.nl.exception.BadRequestException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
/**
@@ -20,7 +21,11 @@ import org.springframework.stereotype.Service;
@RequiredArgsConstructor
@Slf4j
public class AgvWaitUtil {
private final AcsToWmsService acsToWmsService;
@Lazy
@Autowired
AcsToWmsService acsToWmsService;
@Autowired
LogServer logServer;

18
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
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@@ -57,17 +57,17 @@ 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
@@ -79,6 +79,11 @@ public class AgvDto implements Serializable {
*/
private String battery_temp;
/**
* 电池电量
*/
private float battery_level;
/**
* 是否阻挡
*/
@@ -92,7 +97,12 @@ public class AgvDto implements Serializable {
/**
* 是否充电
*/
private String charging;
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

193
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
View File

@@ -12,6 +12,8 @@ import net.sf.json.JSONObject;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.AgvWaitUtil;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.angle.service.AcsPointAngleService;
import org.nl.acs.angle.service.dto.AcsPointAngleDto;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.device.service.DeviceService;
@@ -47,10 +49,14 @@ import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Lazy;
import org.springframework.http.HttpStatus;
import org.springframework.stereotype.Service;
import java.math.BigDecimal;
import java.math.RoundingMode;
import java.text.DateFormat;
import java.text.DecimalFormat;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.function.Function;
@@ -62,10 +68,13 @@ import java.util.stream.Stream;
@RequiredArgsConstructor
public class AgvServiceImpl implements AgvService {
protected BusinessLogger execute_log;
@Autowired
DeviceAppService deviceAppService;
@Lazy
@Autowired
TaskService taskService;
@Autowired
@@ -78,6 +87,8 @@ public class AgvServiceImpl implements AgvService {
AcsToWmsService acsToWmsService;
@Autowired
DeviceService deviceService;
@Autowired
private static AcsPointAngleService acsPointAngleService;
private final LogServer logServer;
@@ -220,7 +231,7 @@ public class AgvServiceImpl implements AgvService {
* demo:destination("cz14", "JackUnload", "3", "")
* @return
*/
public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro) {
public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro,Instruction dto) {
//新增业务订单
JSONObject destinationOrder = new JSONObject();
//目标工作站
@@ -235,10 +246,16 @@ public class AgvServiceImpl implements AgvService {
properties.add(pro2);
destinationOrder.put("properties", properties);
} else if (propertiesType.equals("2")) {//Spin转动
AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto();
acsPointAngleDto = getAcsPointAngleDto(dto);
if (ObjectUtil.isEmpty(acsPointAngleDto)){
throw new RuntimeException("沒有找到内容，无法下发");
}
BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系
pro1.put("value", pro);//弧度值，如3.14
pro1.put("value", next_point_angle);//弧度值，如3.14
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "spin_direction");//固定值
@@ -272,6 +289,21 @@ public class AgvServiceImpl implements AgvService {
return destinationOrder;
}
private static AcsPointAngleDto getAcsPointAngleDto(Instruction dto) {
List<AcsPointAngleDto> list = acsPointAngleService.queryAll(new HashMap());
AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto();
for (int i = 0; i < list.size(); i++) {
acsPointAngleDto = list.get(i);
String start_device_code = acsPointAngleDto.getStart_device_code();
String next_device_code = acsPointAngleDto.getNext_device_code();
String is_active = acsPointAngleDto.getIs_active();
if (!(dto.getStart_device_code().equals(start_device_code) && dto.getNext_device_code().equals(next_device_code) && is_active == "1")) {
break;
}
}
return acsPointAngleDto;
}
@Override
public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception {
JSONArray ja = new JSONArray();
@@ -539,14 +571,16 @@ public class AgvServiceImpl implements AgvService {
String positionAngle = jo.getString("positionAngle");
String positionX = jo.getString("positionX");
String positionY = jo.getString("positionY");
String current_map = jo.getString("current_map");
AgvDto dto = new AgvDto();
dto.setName(name);
dto.setEnergyLevel(energyLevel);
dto.setState(state);
dto.setPositionAngle(positionAngle);
dto.setPositionX(positionX);
dto.setPositionY(positionY);
// dto.setPositionAngle(positionAngle);
// dto.setPositionX(positionX);
// dto.setPositionY(positionY);
dto.setTransportOrder(transportOrder);
dto.setCurrent_map(current_map);
if (AGVDeviceStatus.containsKey(name)) {
AGVDeviceStatus.remove(name);
@@ -599,52 +633,61 @@ public class AgvServiceImpl implements AgvService {
@Override
public HttpResponse queryXZAgvDeviceStatus() {
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(acsConfigService.findByCode(AcsConfig.FORKAGV).getValue().toString(), "1")) {
String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/robotsStatus";
String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
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) {
com.alibaba.fastjson.JSONArray ja = (com.alibaba.fastjson.JSONArray) com.alibaba.fastjson.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++) {
com.alibaba.fastjson.JSONObject jo = (com.alibaba.fastjson.JSONObject) ja.get(i);
String name = jo.getString("name");
String state = jo.getString("state");
String energyLevel = jo.getString("energyLevel");
String transportOrder = jo.getString("transportOrder");
com.alibaba.fastjson.JSONObject detailjo = (com.alibaba.fastjson.JSONObject) com.alibaba.fastjson.JSONObject.parse(result2.body());
com.alibaba.fastjson.JSONObject item = (com.alibaba.fastjson.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_level = rbk_report.getFloatValue("battery_level");
//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");
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.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);
AGVDeviceStatus.put(agv_code, dto);
}
}
return result;
@@ -1773,18 +1816,18 @@ public class AgvServiceImpl implements AgvService {
MachinesSiteDeviceDriver machinesSiteDeviceDriver;
if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) {
ja.add(destination2(device_code + "IN", "Wait", "1", device_code + "IN"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(device_code, "Wait", "1", device_code
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(device_code + "OUT", "Wait", "1", device_code + "OUT"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
} else {
ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01"));
ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01",inst));
}
}
ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01"));
ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01",inst));
} else {
String startAddress = inst.getStart_device_code();
@@ -1795,25 +1838,25 @@ public class AgvServiceImpl implements AgvService {
MachinesSiteDeviceDriver machinesSiteDeviceDriver;
if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) {
ja.add(destination2(startAddress, "Wait", "5", startAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress, "Wait", "1", nextAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
} else {
ja.add(destination2(startAddress, "Wait", "1", startAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress, "Wait", "1", nextAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
}
} else {
ja.add(destination2(startAddress, "Wait", "1", startAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress, "Wait", "1", nextAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
}
}
break;
@@ -1830,33 +1873,33 @@ public class AgvServiceImpl implements AgvService {
if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"), "true") &&
ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin"))) {
ja.add(destination2(startAddress + "IQ", "Spin", "2",
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString()));
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString(),inst));
}
ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ"
+ "-" + inst_code + "-" + "07"));
+ "-" + inst_code + "-" + "07",inst));
ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(startAddress, "JackLoad", "3", startAddress
+ "-" + inst_code + "-" + "02"));
+ "-" + inst_code + "-" + "02",inst));
ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT"
+ "-" + inst_code + "-" + "05"));
+ "-" + inst_code + "-" + "05",inst));
ja.add(destination2(startAddress + "OQ", "Wait", "1", startAddress + "OQ"
+ "-" + inst_code + "-" + "08"));
+ "-" + inst_code + "-" + "08",inst));
} else if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN"
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(startAddress, "JackLoad", "3", startAddress
+ "-" + inst_code + "-" + "02"));
+ "-" + inst_code + "-" + "02",inst));
ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT"
+ "-" + inst_code + "-" + "05"));
+ "-" + inst_code + "-" + "05",inst));
} else {
ja.add(destination2(nextAddress, "Wait", "1", startAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(startAddress, "JackLoad", "3", startAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
}
//终点
@@ -1865,31 +1908,31 @@ public class AgvServiceImpl implements AgvService {
if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"), "true") &&
ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin"))) {
ja.add(destination2(nextAddress + "IQ", "Spin", "2",
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString()));
standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString(),inst));
}
ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ"
+ "-" + inst_code + "-" + "07"));
+ "-" + inst_code + "-" + "07",inst));
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
+ "-" + inst_code + "-" + "03"));
+ "-" + inst_code + "-" + "03",inst));
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
+ "-" + inst_code + "-" + "04"));
+ "-" + inst_code + "-" + "04",inst));
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
+ "-" + inst_code + "-" + "06"));
+ "-" + inst_code + "-" + "06",inst));
ja.add(destination2(nextAddress + "OQ", "Wait", "1", nextAddress + "OQ"
+ "-" + inst_code + "-" + "08"));
+ "-" + inst_code + "-" + "08",inst));
} else if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN"
+ "-" + inst_code + "-" + "03"));
+ "-" + inst_code + "-" + "03",inst));
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
+ "-" + inst_code + "-" + "04"));
+ "-" + inst_code + "-" + "04",inst));
ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT"
+ "-" + inst_code + "-" + "06"));
+ "-" + inst_code + "-" + "06",inst));
} else {
ja.add(destination2(nextAddress, "Wait", "1", nextAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress
+ "-" + inst_code + "-" + "01"));
+ "-" + inst_code + "-" + "01",inst));
}
break;
}

87
hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java Normal file
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@@ -0,0 +1,87 @@
package org.nl.acs.angle.rest;
import org.nl.acs.angle.service.dto.AcsPointAngleDto;
import org.nl.acs.angle.service.AcsPointAngleService;
import org.springframework.data.domain.Pageable;
import lombok.RequiredArgsConstructor;
import org.nl.annotation.Log;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.*;
import io.swagger.annotations.*;
import java.io.IOException;
import javax.servlet.http.HttpServletResponse;
import java.util.Map;
import lombok.extern.slf4j.Slf4j;
/**
* @author tuq
* @date 2023-12-11
**/
@RestController
@RequiredArgsConstructor
@Api(tags = "点位角度管理")
@RequestMapping("/api/acsPointAngle")
@Slf4j
public class AcsPointAngleController {
private final AcsPointAngleService acsPointAngleService;
@GetMapping
@Log("查询点位角度")
@ApiOperation("查询点位角度")
//@PreAuthorize("@el.check('acsPointAngle:list')")
public ResponseEntity
<Object> query(@RequestParam Map whereJson, Pageable page) {
return new ResponseEntity<>(acsPointAngleService.queryAll(whereJson, page), HttpStatus.OK);
}
@PostMapping
@Log("新增点位角度")
@ApiOperation("新增点位角度")
//@PreAuthorize("@el.check('acsPointAngle:add')")
public ResponseEntity
<Object> create(@Validated @RequestBody AcsPointAngleDto dto) {
acsPointAngleService.create(dto);
return new ResponseEntity<>(HttpStatus.CREATED);
}
@PutMapping
@Log("修改点位角度")
@ApiOperation("修改点位角度")
//@PreAuthorize("@el.check('acsPointAngle:edit')")
public ResponseEntity
<Object> update(@Validated @RequestBody AcsPointAngleDto dto) {
acsPointAngleService.update(dto);
return new ResponseEntity<>(HttpStatus.NO_CONTENT);
}
@Log("删除点位角度")
@ApiOperation("删除点位角度")
//@PreAuthorize("@el.check('acsPointAngle:del')")
@DeleteMapping
public ResponseEntity<Object> delete(@RequestBody String[] ids) {
acsPointAngleService.deleteAll(ids);
return new ResponseEntity<>(HttpStatus.OK);
}
@Log("导出点位角度")
@ApiOperation("导出点位角度")
@GetMapping(value = "/download")
//@PreAuthorize("@el.check('acsPointAngle:list')")
public void download(HttpServletResponse response, @RequestParam Map whereJson) throws IOException {
acsPointAngleService.download(acsPointAngleService.queryAll(whereJson), response);
}
@GetMapping("/updateActive")
@Log("是否启用")
@ApiOperation("是否启用")
public ResponseEntity<Object> updateOn(@RequestParam String id, @RequestParam String is_active) {
acsPointAngleService.updateOn(id, is_active);
return new ResponseEntity<>(HttpStatus.OK);
}
}

86
hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java Normal file
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@@ -0,0 +1,86 @@
package org.nl.acs.angle.service;
import org.nl.acs.angle.service.dto.AcsPointAngleDto;
import org.springframework.data.domain.Pageable;
import java.util.Map;
import java.util.List;
import java.io.IOException;
import javax.servlet.http.HttpServletResponse;
/**
* @author tuq
* @description 服务接口
* @date 2023-12-11
**/
public interface AcsPointAngleService {
/**
* 查询数据分页
*
* @param whereJson 条件
* @param page 分页参数
* @return Map
* <String,Object>
*/
Map<String, Object> queryAll(Map whereJson, Pageable page);
/**
* 查询所有数据不分页
*
* @param whereJson 条件参数
* @return List
* <AcsPointAngleDto>
*/
List<AcsPointAngleDto> queryAll(Map whereJson);
/**
* 根据ID查询
*
* @param id ID
* @return AcsPointAngle
*/
AcsPointAngleDto findById(String id);
/**
* 根据编码查询
*
* @param code code
* @return AcsPointAngle
*/
AcsPointAngleDto findByCode(String code);
/**
* 创建
*
* @param dto /
*/
void create(AcsPointAngleDto dto);
/**
* 编辑
*
* @param dto /
*/
void update(AcsPointAngleDto dto);
/**
* 多选删除
*
* @param ids /
*/
void deleteAll(String[] ids);
/**
* 导出数据
*
* @param dtos 待导出的数据
* @param response /
* @throws IOException /
*/
void download(List<AcsPointAngleDto> dtos, HttpServletResponse response) throws IOException;
void updateOn(String id, String is_active);
}

61
hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java Normal file
View File

@@ -0,0 +1,61 @@
package org.nl.acs.angle.service.dto;
import lombok.Data;
import java.math.BigDecimal;
import java.io.Serializable;
/**
* @author tuq
* @description /
* @date 2023-12-11
**/
@Data
public class AcsPointAngleDto implements Serializable {
/**
* id标识
*/
private String id;
/**
* 起始设备编码
*/
private String start_device_code;
/**
* 目标设备编码
*/
private String next_device_code;
/**
* 目标点位角度
*/
private BigDecimal next_point_angle;
/**
* 是否启用
*/
private String is_active;
/**
* 创建者
*/
private String create_by;
/**
* 创建时间
*/
private String create_time;
/**
* 修改者
*/
private String update_by;
/**
* 修改时间
*/
private String update_time;
}

149
hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java Normal file
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@@ -0,0 +1,149 @@
package org.nl.acs.angle.service.impl;
import lombok.RequiredArgsConstructor;
import org.nl.acs.angle.service.AcsPointAngleService;
import org.nl.acs.angle.service.dto.AcsPointAngleDto;
import org.nl.exception.BadRequestException;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.data.domain.Pageable;
import java.util.List;
import java.util.Map;
import java.io.IOException;
import javax.servlet.http.HttpServletResponse;
import java.util.ArrayList;
import java.util.LinkedHashMap;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.bean.BeanUtil;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.nl.utils.SecurityUtils;
import org.nl.wql.core.bean.ResultBean;
import org.nl.wql.core.bean.WQLObject;
import org.nl.wql.util.WqlUtil;
import org.nl.utils.FileUtil;
import lombok.extern.slf4j.Slf4j;
/**
* @author tuq
* @description 服务实现
* @date 2023-12-11
**/
@Service
@RequiredArgsConstructor
@Slf4j
public class AcsPointAngleServiceImpl implements AcsPointAngleService {
@Override
public Map<String, Object> queryAll(Map whereJson, Pageable page) {
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
ResultBean rb = wo.pagequery(WqlUtil.getHttpContext(page), "", "update_time desc");
final JSONObject json = rb.pageResult();
return json;
}
@Override
public List<AcsPointAngleDto> queryAll(Map whereJson) {
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONArray arr = wo.query().getResultJSONArray(0);
List<AcsPointAngleDto> list = JSONArray.toList(arr, AcsPointAngleDto.class);
return list;
}
@Override
public AcsPointAngleDto findById(String id) {
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONObject json = wo.query("id ='" + id + "'").uniqueResult(0);
final AcsPointAngleDto obj = (AcsPointAngleDto) JSONObject.toBean(json, AcsPointAngleDto.class);
return obj;
}
@Override
public AcsPointAngleDto findByCode(String code) {
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONObject json = wo.query("code ='" + code + "'").uniqueResult(0);
final AcsPointAngleDto obj = (AcsPointAngleDto) JSONObject.toBean(json, AcsPointAngleDto.class);
return obj;
}
@Override
@Transactional(rollbackFor = Exception.class)
public void create(AcsPointAngleDto dto) {
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
dto.setId(IdUtil.simpleUUID());
dto.setCreate_by(currentUsername);
dto.setUpdate_by(currentUsername);
dto.setUpdate_time(now);
dto.setCreate_time(now);
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONObject json = JSONObject.fromObject(dto);
wo.insert(json);
}
@Override
@Transactional(rollbackFor = Exception.class)
public void update(AcsPointAngleDto dto) {
AcsPointAngleDto entity = this.findById(dto.getId());
if (entity == null) {
throw new BadRequestException("被删除或无权限，操作失败!");
}
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
dto.setUpdate_time(now);
dto.setUpdate_by(currentUsername);
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONObject json = JSONObject.fromObject(dto);
wo.update(json);
}
@Override
@Transactional(rollbackFor = Exception.class)
public void deleteAll(String[] ids) {
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
for (String id : ids) {
wo.delete("id = '" + id + "'");
}
}
@Override
public void download(List<AcsPointAngleDto> all, HttpServletResponse response) throws IOException {
List<Map<String, Object>> list = new ArrayList<>();
for (AcsPointAngleDto acsPointAngle : all) {
Map<String, Object> map = new LinkedHashMap<>();
map.put("起始设备编码", acsPointAngle.getStart_device_code());
map.put("目标设备编码", acsPointAngle.getNext_device_code());
map.put("目标点位角度", acsPointAngle.getNext_point_angle());
map.put("是否启用", acsPointAngle.getIs_active());
map.put("创建者", acsPointAngle.getCreate_by());
map.put("创建时间", acsPointAngle.getCreate_time());
map.put("修改者", acsPointAngle.getUpdate_by());
map.put("修改时间", acsPointAngle.getUpdate_time());
list.add(map);
}
FileUtil.downloadExcel(list, response);
}
@Override
public void updateOn(String id, String is_active) {
AcsPointAngleDto entity = this.findById(id);
entity.setIs_active(is_active);
String currentUsername = SecurityUtils.getCurrentUsername();
String now = DateUtil.now();
entity.setUpdate_by(currentUsername);
entity.setUpdate_time(now);
WQLObject wo = WQLObject.getWQLObject("acs_point_angle");
JSONObject json = JSONObject.fromObject(entity);
wo.update(json);
}
}

27
hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
View File

@@ -66,13 +66,26 @@ import java.util.*;
@RequiredArgsConstructor
@Slf4j
public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial {
private final DeviceExtraService deviceExtraService;
private final OpcService opcService;
private final RedisUtils redisUtils;
private final OpcPlcService opcPlcService;
private final DeviceDriverDefinationAppService deviceDriverDefinationAppService;
private final DeviceAppService deviceAppService;
private final AcsConfigService acsConfigService;
@Autowired
DeviceExtraService deviceExtraService;
@Autowired
OpcService opcService;
@Autowired
RedisUtils redisUtils;
@Autowired
OpcPlcService opcPlcService;
@Autowired
DeviceDriverDefinationAppService deviceDriverDefinationAppService;
@Autowired
DeviceAppService deviceAppService;
@Autowired
AcsConfigService acsConfigService;
@Autowired
TaskService taskService;

BIN
hd/nladmin-system/src/main/java/org/nl/acs/device/wql/device.xls
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hd/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls
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5
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java
View File

@@ -10,6 +10,7 @@ import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.annotation.Log;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
@@ -29,7 +30,9 @@ import java.util.Map;
@RequestMapping("/api/wms")
@Slf4j
public class AcsToWmsController {
private final AcsToWmsService acstowmsService;
@Autowired
AcsToWmsService acstowmsService;
@PostMapping("/applyTask")
@Log("向WMS申请任务")

7
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java
View File

@@ -76,4 +76,11 @@ public class WmsToAcsController {
public ResponseEntity<Object> gccCancelTask(@RequestBody String whereJson) {
return new ResponseEntity<>(wmstoacsService.gccCancelTask(whereJson), HttpStatus.OK);
}
@PostMapping("/queryAgvDeviceStatus")
@Log("查询XZAGV设备状态")
@ApiOperation("查询XZAGV设备状态")
public ResponseEntity<Object> queryAgvDeviceStatus() {
return new ResponseEntity<>(wmstoacsService.queryAgvDeviceStatus(), HttpStatus.OK);
}
}

3
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java
View File

@@ -1,5 +1,6 @@
package org.nl.acs.ext.wms.service;
import com.alibaba.fastjson.JSONArray;
import net.sf.json.JSONObject;
import java.util.Map;
@@ -54,4 +55,6 @@ public interface WmsToAcsService {
Map<String, Object> queryDevice(String jsonObject) throws Exception;
Map<String, Object> gccCancelTask(String whereJson);
JSONArray queryAgvDeviceStatus();
}

32
hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -7,6 +7,8 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.device.service.DeviceService;
@@ -65,6 +67,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
private final RouteLineService RouteLineService;
@Autowired
LogServer logServer;
@Autowired
AgvService agvService;
@Override
public Map<String, Object> createFromWms(String param) {
@@ -997,4 +1002,31 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
log.info("gccCancelTask 响应参数：{}", resultJson);
return resultJson;
}
@Override
public com.alibaba.fastjson.JSONArray queryAgvDeviceStatus() {
JSONObject json = new JSONObject();
Map<String, AgvDto> agv_map = agvService.findAllAgvFromCache();
if(ObjectUtil.isEmpty(agv_map)){
System.out.println("AGV设备数据为空，无法反馈");
return new com.alibaba.fastjson.JSONArray();
}
// JSONArray agv_rows = new JSONArray();
com.alibaba.fastjson.JSONArray agv_rows = new com.alibaba.fastjson.JSONArray();
JSONObject row = new JSONObject();
for (AgvDto agvDto : agv_map.values()) {
row.put("device_code", agvDto.getName());
row.put("battery_level", agvDto.getBattery_level());
row.put("device_status",agvDto.getConnection_status());
row.put("transportOrder", agvDto.getTransportOrder());
row.put("positionX", agvDto.getPositionX());
row.put("positionY", agvDto.getPositionY());
row.put("positionAngle", agvDto.getPositionAngle());
row.put("current_map", agvDto.getCurrent_map());
agv_rows.add(row);
}
log.info("queryAgvDeviceStatus--------------:输出参数" + agv_rows.toString());
return agv_rows;
}
}

16
hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -4,6 +4,7 @@ package org.nl.acs.instruction.service.impl;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import lombok.RequiredArgsConstructor;
@@ -12,6 +13,8 @@ import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.apache.commons.lang3.ObjectUtils;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.angle.service.AcsPointAngleService;
import org.nl.acs.angle.service.dto.AcsPointAngleDto;
import org.nl.acs.config.AcsConfig;
import org.nl.acs.config.server.AcsConfigService;
import org.nl.acs.device.service.DeviceService;
@@ -51,6 +54,7 @@ import org.springframework.transaction.annotation.Transactional;
import javax.servlet.http.HttpServletResponse;
import java.io.IOException;
import java.math.BigDecimal;
import java.util.*;
import java.util.regex.Pattern;
import java.util.stream.Collectors;
@@ -79,6 +83,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
TaskService taskService;
@Override
public void autoInitial() {
this.reload();
@@ -465,6 +470,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
}
@Override
@Transactional(rollbackFor = Exception.class)
public void createAgain(Instruction dto) throws Exception {
@@ -669,7 +676,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
} else {
jo1.put("hasGoodStatus", "2");
}
jo1.put("put_goods_time",DateUtil.now());
jo1.put("put_goods_time", DateUtil.now());
jo1.put("material_type", startdevice.getMaterial_type());
jo1.put("quantity", startdevice.getQuantity());
jo1.put("remark", startdevice.getRemark());
@@ -871,7 +878,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
// != 0 为agv任务 1=magic 2=NDC 3=XZ
if (!StrUtil.equals(type, "0")) {
if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1")
&& !StrUtil.equals(entity.getSend_status(),"2")) {
&& !StrUtil.equals(entity.getSend_status(), "2")) {
agvService.deleteAgvInst(entity.getInstruction_code());
flag = true;
@@ -883,7 +890,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
flag = true;
}
} else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")
&& !StrUtil.equals(entity.getSend_status(),"2")) {
&& !StrUtil.equals(entity.getSend_status(), "2")) {
agvService.deleteXZAgvInst(entity.getInstruction_code());
flag = true;
} else {
@@ -1037,7 +1044,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
return inst;
}
}
return null; }
return null;
}
@Override
public Instruction findByIdFromCache(String id) {

14
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java
View File

@@ -1,13 +1,16 @@
package org.nl.modules.quartz.task;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.device_driver.electric_fence.ElectricFenceDeviceDriver;
import org.nl.acs.device_driver.feedback_agv_status_site.FeedbackAGVStatusSiteDeviceDriver;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.nl.acs.opc.Device;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
@@ -15,6 +18,9 @@ import org.nl.utils.SpringContextHolder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.math.RoundingMode;
import java.text.DecimalFormat;
/**
* 查询先工AGV设备状态
*/
@@ -28,9 +34,11 @@ public class QueryXZAgvDeviceStatus {
@Autowired
AgvService agvService;
@Autowired
DeviceAppService deviceAppService;
public void run() throws Exception {
HttpResponse response = agvService.queryXZAgvDeviceStatus();
}
}

1
hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java
View File

@@ -45,6 +45,7 @@ public class ToAgvDevice {
row.put("positionX", agvDto.getPositionX());
row.put("positionY", agvDto.getPositionY());
row.put("positionAngle", agvDto.getPositionAngle());
row.put("current_map", agvDto.getCurrent_map());
agv_rows.add(row);
}
// json.put("agv_rows", agv_rows);

33
hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java
View File

@@ -83,14 +83,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
}
@Override
public String getCode() {
return NDCSocketConnectionAutoRun.class.getSimpleName();
}
@Override
public String getName() {
return "NDC在线连接";
}
@Override
public void autoRun() {
try {
@@ -780,7 +783,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
dto.setPositionX(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//Y坐标
@@ -794,7 +797,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
dto.setPositionY(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//角度
@@ -808,7 +811,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
dto.setPositionAngle(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//电量
@@ -1407,7 +1410,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
dto.setPositionX(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//Y坐标
@@ -1420,7 +1423,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
dto.setPositionY(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//角度
@@ -1434,7 +1437,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
dto.setPositionAngle(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
@@ -1826,7 +1829,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
dto.setPositionX(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//Y坐标
@@ -1839,7 +1842,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
dto.setPositionY(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//角度
@@ -1853,7 +1856,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
dto.setPositionAngle(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
@@ -2946,7 +2949,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
dto.setPositionX(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//Y坐标
@@ -2959,7 +2962,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
dto.setPositionY(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//角度
@@ -2973,7 +2976,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
dto.setPositionAngle(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
@@ -3596,7 +3599,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionX(String.valueOf(ikey));
dto.setPositionX(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//Y坐标
@@ -3610,7 +3613,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionY(String.valueOf(ikey));
dto.setPositionY(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//角度
@@ -3624,7 +3627,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
dto = new AgvDto();
}
dto.setName(String.valueOf(carno));
dto.setPositionAngle(String.valueOf(ikey));
dto.setPositionAngle(Float.valueOf(ikey));
AgvService.updateAgvFromCache(dto);
}
//电量