add：新增查询设备状态接口，点位角度管理

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

@@ -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;
 
 

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

@@ -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;
 

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

@@ -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

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

@@ -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.setPositionAngle(positionAngle);
-                    dto.setPositionX(positionX);
+//                    dto.setPositionX(positionX);
-                    dto.setPositionY(positionY);
+//                    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")) {
+        if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.FORKAGV).getValue().toString(), "1")) {
-            String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
+            String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue();
-            String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
+            String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue();
 
+            agvurl = agvurl + ":" + agvport + "/robotsStatus";
 
-            String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
+            HttpResponse result = HttpRequest.get(agvurl)
-            String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
-
-            HttpResponse result = HttpRequest.get(agvurl1)
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-
-
-            HttpResponse result2 = HttpRequest.get(agvurl2)
                     .timeout(20000)//超时，毫秒
                     .execute();
 
             System.out.println("查询agv状态数据:" + result.body());
             if (result.getStatus() == 200) {
-                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);
+                    com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i);
-                    String name = jo.getString("name");
+                    //机器人编码
-                    String state = jo.getString("state");
+                    String agv_code = jo.getString("uuid");
-                    String energyLevel = jo.getString("energyLevel");
+                    //机器人详细状态信息
-                    String transportOrder = jo.getString("transportOrder");
+                    com.alibaba.fastjson.JSONObject rbk_report = jo.getJSONObject("rbk_report");
-                    com.alibaba.fastjson.JSONObject detailjo = (com.alibaba.fastjson.JSONObject) com.alibaba.fastjson.JSONObject.parse(result2.body());
+                    //是否正在充电
-                    com.alibaba.fastjson.JSONObject item = (com.alibaba.fastjson.JSONObject) detailjo.get(name);
+                    Boolean charging = rbk_report.getBoolean("charging");
-                    String x = item.getString("x");
+                    //电池电量
-                    String y = item.getString("y");
+                    float battery_level = rbk_report.getFloatValue("battery_level");
-                    String angle = item.getString("angle");
+                    //当前地图
+                    String current_map = rbk_report.getString("current_map");
+                    //角度
+                    float angle = rbk_report.getFloatValue("angle");
+                    //执行运单信息
+                    com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order");
+                    Integer connectionStatus = jo.getInteger("connection_status");
+                    String inst_code = current_order.getString("id");
+                    String taskNo= "0";
+                    if (StrUtil.isNotEmpty(inst_code)) {
+                        Instruction inst = instructionService.findByCodeFromCache(inst_code);
+                        if (ObjectUtil.isNotEmpty(inst)) {
+                            //任务号
+                            taskNo  = inst.getTask_code();
+                        }
+                    }
+                    //x坐标
+                    float x = rbk_report.getFloatValue("x");
+                    //y坐标
+                    float y = rbk_report.getFloatValue("y");
                     AgvDto dto = new AgvDto();
-                    dto.setName(name);
+                    dto.setName(agv_code);
-                    dto.setEnergyLevel(energyLevel);
+                    dto.setCurrent_map(current_map);
-                    dto.setState(state);
+                    dto.setCharging(charging);
-                    dto.setTransportOrder(transportOrder);
+                    dto.setBattery_level(battery_level);
-                    dto.setPositionAngle(angle);
+                    dto.setTransportOrder(taskNo);
                     dto.setPositionX(x);
                     dto.setPositionY(y);
-                    if (AGVDeviceStatus.containsKey(name)) {
+                    dto.setPositionAngle(angle);
-                        AGVDeviceStatus.remove(name);
+                    dto.setConnection_status(connectionStatus);
-                        AGVDeviceStatus.put(name, dto);
+                    AGVDeviceStatus.put(agv_code, dto);
-                    } else {
-                        AGVDeviceStatus.put(name, 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;
         }

hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java

@@ -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);
+    }
+}

hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java

@@ -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);
+}

hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java

@@ -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;
+}

hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java

@@ -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);
+    }
+}

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

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

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

@@ -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")

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

@@ -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);
+    }
 }

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

@@ -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();
 }

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

@@ -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;
+    }
 }

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

@@ -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) {

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

@@ -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();
     }
-
 }

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

@@ -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);

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

@@ -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

qd/src/api/acs/angle/acsPointAngle.js

@@ -0,0 +1,35 @@
+import request from '@/utils/request'
+
+export function add(data) {
+  return request({
+    url: 'api/acsPointAngle',
+    method: 'post',
+    data
+  })
+}
+
+export function del(ids) {
+  return request({
+    url: 'api/acsPointAngle/',
+    method: 'delete',
+    data: ids
+  })
+}
+
+export function edit(data) {
+  return request({
+    url: 'api/acsPointAngle',
+    method: 'put',
+    data
+  })
+}
+
+export function updateOn(id, is_active) {
+  console.log(is_active)
+  return request({
+    url: '/api/acsPointAngle/updateActive?id=' + id + '&is_active=' + is_active,
+    method: 'get'
+  })
+}
+
+export default { add, edit, del, updateOn }

qd/src/views/acs/angle/index.vue

@@ -0,0 +1,197 @@
+<template>
+  <div class="app-container">
+    <!--工具栏-->
+    <div class="head-container">
+      <!--如果想在工具栏加入更多按钮，可以使用插槽方式， slot = 'left' or 'right'-->
+      <crudOperation :permission="permission" />
+      <!--表单组件-->
+      <el-dialog
+        :close-on-click-modal="false"
+        :before-close="crud.cancelCU"
+        :visible.sync="crud.status.cu > 0"
+        :title="crud.status.title"
+        width="650px"
+      >
+        <el-form
+          ref="form"
+          :model="form"
+          :rules="rules"
+          size="small"
+          label-width="160px"
+        >
+          <el-form-item
+            v-if="false"
+            label="id标识"
+          >
+            <el-input v-model="form.id" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item
+            label="起始设备编码"
+          >
+            <el-input v-model="form.start_device_code" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item
+            label="目标设备编码"
+          >
+            <el-input v-model="form.next_device_code" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item
+            label="目标点位角度"
+          >
+            <el-input v-model="form.next_point_angle" style="width: 370px;" />
+          </el-form-item>
+        </el-form>
+        <div slot="footer" class="dialog-footer">
+          <el-button type="text" @click="crud.cancelCU">取消</el-button>
+          <el-button :loading="crud.cu === 2" type="primary" @click="crud.submitCU">确认</el-button>
+        </div>
+      </el-dialog>
+      <!--表格渲染-->
+      <el-table
+        ref="table"
+        v-loading="crud.loading"
+        :data="crud.data"
+        size="small"
+        style="width: 100%;"
+        @selection-change="crud.selectionChangeHandler"
+      >
+        <el-table-column type="selection" width="55" />
+        <el-table-column
+          v-if="false"
+          prop="id"
+          label="id标识"
+        />
+        <el-table-column
+          prop="start_device_code"
+          label="起始设备编码"
+        />
+        <el-table-column
+          prop="next_device_code"
+          label="目标设备编码"
+        />
+        <el-table-column
+          prop="next_point_angle"
+          label="旋转角度"
+        />
+        <el-table-column
+          prop="is_active"
+          label="是否启用"
+        >
+          <template slot-scope="scope">
+            <el-switch
+              v-model="scope.row.is_active"
+              active-color="#13ce66"
+              inactive-color="#ff4949"
+              active-value="1"
+              inactive-value="0"
+              @change="updateIsOn(scope.row.id,scope.row.is_active)"
+            />
+          </template>
+        </el-table-column>
+        <el-table-column
+          prop="create_by"
+          label="创建者"
+        />
+        <el-table-column
+          prop="create_time"
+          label="创建时间"
+        />
+        <el-table-column
+          prop="update_by"
+          label="修改者"
+        />
+        <el-table-column
+          prop="update_time"
+          label="修改时间"
+        />
+        <el-table-column
+          v-permission="['admin','acsPointAngle:edit','acsPointAngle:del']"
+          label="操作"
+          width="150px"
+          align="center"
+        >
+          <template slot-scope="scope">
+            <udOperation
+              :data="scope.row"
+              :permission="permission"
+            />
+          </template>
+        </el-table-column>
+      </el-table>
+      <!--分页组件-->
+      <pagination />
+    </div>
+  </div>
+</template>
+
+<script>
+import CRUD, { crud, form, header, presenter } from '@crud/crud'
+import crudOperation from '@crud/CRUD.operation'
+import udOperation from '@crud/UD.operation'
+import pagination from '@crud/Pagination'
+import crudAcsPointAngle from '@/api/acs/angle/acsPointAngle'
+
+const defaultForm = {
+  id: null,
+  start_point_code: null,
+  start_device_code: null,
+  next_point_code: null,
+  next_device_code: null,
+  start_point_angle: null,
+  next_point_angle: null,
+  is_active: null,
+  create_by: null,
+  create_time: null,
+  update_by: null,
+  update_time: null
+}
+export default {
+  name: 'AcsPointAngle',
+  components: { pagination, crudOperation, udOperation },
+  mixins: [presenter(), header(), form(defaultForm), crud()],
+  cruds() {
+    return CRUD({
+      title: '点位角度',
+      url: 'api/acsPointAngle',
+      idField: 'id',
+      sort: 'id,desc',
+      crudMethod: { ...crudAcsPointAngle }
+    })
+  },
+  data() {
+    return {
+      permission: {
+        add: ['admin', 'acsPointAngle:add'],
+        edit: ['admin', 'acsPointAngle:edit'],
+        del: ['admin', 'acsPointAngle:del']
+      },
+      rules: {
+        is_active: [
+          {
+            required: true,
+            message: '是否启用不能为空',
+            trigger: 'blur'
+          }
+        ]
+      }
+    }
+  },
+  methods: {
+    // 钩子：在获取表格数据之前执行，false 则代表不获取数据
+    [CRUD.HOOK.beforeRefresh]() {
+      return true
+    },
+    updateIsOn(id, is_active) {
+      crudAcsPointAngle.updateOn(id, is_active).then(res => {
+        this.notify('保存成功', 'success')
+      }).catch(err => {
+        console.log(err.response.data.message)
+      })
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>