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rev:更新

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tuqiang
2024-01-09 17:28:28 +08:00
parent 779650407b
commit 7f5e6d6e4e
5 changed files with 80 additions and 19 deletions
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29
hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
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@@ -88,7 +88,7 @@ public class AgvServiceImpl implements AgvService {
@Autowired
DeviceService deviceService;
@Autowired
private static AcsPointAngleService acsPointAngleService;
AcsPointAngleService acsPointAngleService;
private final LogServer logServer;
@@ -231,7 +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,Instruction dto) {
public 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
@@ -246,16 +246,13 @@ 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);
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", next_point_angle);//弧度值，如3.14
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "spin_direction");//固定值
@@ -289,7 +286,7 @@ public class AgvServiceImpl implements AgvService {
return destinationOrder;
}
private static AcsPointAngleDto getAcsPointAngleDto(Instruction dto) {
private AcsPointAngleDto getAcsPointAngleDto(Instruction dto) {
List<AcsPointAngleDto> list = acsPointAngleService.queryAll(new HashMap());
AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto();
for (int i = 0; i < list.size(); i++) {
@@ -2231,6 +2228,23 @@ public class AgvServiceImpl implements AgvService {
ja.add(jo3);
}
//放货前下发旋转角度
com.alibaba.fastjson.JSONObject json1 = new com.alibaba.fastjson.JSONObject();
AcsPointAngleDto acsPointAngleDto = getAcsPointAngleDto(inst);
if (ObjectUtil.isEmpty(acsPointAngleDto)){
throw new RuntimeException("沒有找到内容，无法下发");
}
com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
operation_args.put("move_angle",next_point_angle);//弧度值，如3.14
operation_args.put("skill_name","GoByOdometer");
operation_args.put("speed_w",1.57);
operation_args.put("loc_mode",1);
json1.put("blockId", IdUtil.simpleUUID());
json1.put("location", inst.getNext_point_code() + "INPUT");
json1.put("operation_args",operation_args);
ja.add(json1);
com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
jo4.put("blockId", IdUtil.simpleUUID());
jo4.put("location", inst.getNext_point_code());
@@ -2257,7 +2271,6 @@ public class AgvServiceImpl implements AgvService {
jo5.put("script_args", script_args5);
ja.add(jo5);
}
return ja;
}

13
hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java
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@@ -5,17 +5,15 @@ 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.nl.wql.WQL;
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.util.*;
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;
@@ -41,9 +39,9 @@ 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();
HashMap<String, String> map = new HashMap<>();
map.put("flag", "1");
JSONObject json = WQL.getWO("ST_VEHICLE_IN_01").addParamMap(map).pageQuery(WqlUtil.getHttpContext(page), "create_time DESC");
return json;
}
@@ -100,7 +98,6 @@ public class AcsPointAngleServiceImpl implements AcsPointAngleService {
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);

51
hd/nladmin-system/src/main/java/org/nl/acs/angle/service/wql/ST_VEHICLE_IN_01.wql Normal file
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@@ -0,0 +1,51 @@
[交易说明]
交易名： 空载具入库分页查询
所属模块：
功能简述：
版权所有：
表引用：
版本经历：
[数据库]
--指定数据库，为空采用默认值，默认为db.properties中列出的第一个库
[IO定义]
#################################################
## 表字段对应输入参数
#################################################
输入.flag TYPEAS s_string
输入.bill_code TYPEAS s_string
[临时表]
--这边列出来的临时表就会在运行期动态创建
[临时变量]
--所有中间过程变量均可在此处定义
[业务过程]
##########################################
# 1、输入输出检查 #
##########################################
##########################################
# 2、主过程前处理 #
##########################################
##########################################
# 3、业务主过程 #
##########################################
IF 输入.flag = "1"
PAGEQUERY
SELECT
*
FROM
acs_point_angle
WHERE
1=1
ENDSELECT
ENDPAGEQUERY
ENDIF

BIN
hd/nladmin-system/src/main/java/org/nl/acs/device/wql/task_inst.xls
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6
qd/src/views/acs/angle/index.vue
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@@ -23,17 +23,17 @@
v-if="false"
label="id标识"
>
<el-input v-model="form.id" style="width: 370px;" />
<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-input v-model="form.start_device_code" :disabled="crud.status.edit > 0" 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-input v-model="form.next_device_code" :disabled="crud.status.edit > 0" style="width: 370px;" />
</el-form-item>
<el-form-item
label="目标点位角度"