diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index 2671f1a..910a1ce 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -92,7 +92,10 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { @Override public UnifiedResponse queryXZAgvDeviceStatus(String vehicles, Class type) { - String path = "/robotsStatus" + vehicles == null ? "" : "vehicles = " + vehicles; + String path = "/robotsStatus"; + if (vehicles != null) { + path = "/robotsStatus?vehicles=" + vehicles; + } return xgHttpUtil.sendGetRequest(path, type); } @@ -116,7 +119,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { String path = "/terminate"; JSONObject reqParam = new JSONObject(); reqParam.put("id", instCode); - reqParam.put("disableVehicle",false); + reqParam.put("disableVehicle", false); return xgHttpUtil.sendPostRequest(path, reqParam); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/DeviceAppService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/DeviceAppService.java index 34f6abe..1dd9db5 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/DeviceAppService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/DeviceAppService.java @@ -129,4 +129,7 @@ public interface DeviceAppService { * 查找设备区域 */ TreeSet selectRegion(); + + + List findDeviceByRegion(String region); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceAppServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceAppServiceImpl.java index 91282be..e09e50f 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceAppServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceAppServiceImpl.java @@ -20,6 +20,8 @@ import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.*; +import java.util.concurrent.CopyOnWriteArrayList; +import java.util.stream.Collectors; /** * @author 20220102CG\noblelift @@ -404,6 +406,7 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn } } + @Override public TreeSet selectRegion() { TreeSet set = new TreeSet<>(); @@ -413,4 +416,14 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn return set; } + @Override + public List findDeviceByRegion(String region) { + return Optional.ofNullable(this.devices) + .orElse(new CopyOnWriteArrayList<>()) + .stream() + .filter(device -> StrUtil.equals(device.getRegion(), region)) + .sorted(Comparator.comparing(Device::getDevice_code)) + .collect(Collectors.toList()); + } + } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java index d16e1ab..64d4ef3 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/device/service/impl/DeviceServiceImpl.java @@ -901,60 +901,60 @@ public class DeviceServiceImpl extends CommonServiceImpl i StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver; if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); - if (!StrUtil.isEmpty(hasGoodStatus)) { - standardOrdinarySiteDeviceDriver.setHasGoods(Integer.parseInt(hasGoodStatus)); - device.setHas_goods(Integer.parseInt(hasGoodStatus)); - } - if (StrUtil.isNotEmpty(material_type)) { - standardOrdinarySiteDeviceDriver.setMaterial(material_type); - device.setMaterial_type(material_type); - } else { - standardOrdinarySiteDeviceDriver.setMaterial(""); - device.setMaterial_type(""); - } - if (StrUtil.isNotEmpty(quantity)) { - standardOrdinarySiteDeviceDriver.setQty(quantity); - device.setQuantity(quantity); - } else { - standardOrdinarySiteDeviceDriver.setQty(""); - device.setQuantity(""); - } - if (StrUtil.isNotEmpty(remark)) { - standardOrdinarySiteDeviceDriver.setRemark(remark); - device.setRemark(remark); - } else { - standardOrdinarySiteDeviceDriver.setRemark(""); - device.setRemark(""); - } - if (StrUtil.isNotEmpty(batch)) { - standardOrdinarySiteDeviceDriver.setBatch(batch); - device.setBatch(batch); - } else { - standardOrdinarySiteDeviceDriver.setBatch(""); - device.setBatch(""); - } -// WQLObject runpointwo = WQLObject.getWQLObject("acs_device_runpoint"); -// JSONObject json = runpointwo.query("device_code ='" + device_code + "'").uniqueResult(0); - DeviceRunpoint deviceRunpoint = new LambdaQueryChainWrapper<>(deviceRunpointMapper) - .eq(DeviceRunpoint::getDevice_code, device_code) - .one(); - if (!ObjectUtil.isEmpty(deviceRunpoint)) { -// DeviceRunpointDto obj = json.toJavaObject(DeviceRunpointDto.class); - deviceRunpoint.setHasgoods(hasGoodStatus); - deviceRunpoint.setMaterial_type(material_type); - deviceRunpoint.setBatch(batch); - device.setHas_goods(Integer.parseInt(hasGoodStatus)); - device.setMaterial_type(material_type); - device.setRemark(remark); - device.setQuantity(quantity); - device.setBatch(batch); - device.setIslock(islock); -// JSONObject updatejson = (JSONObject) JSONObject.toJSON(obj); -// runpointwo.update(updatejson, "device_code = '" + device_code + "'"); - LambdaQueryWrapper wrapper = new LambdaQueryWrapper<>(); - wrapper.eq(DeviceRunpoint::getDevice_code, device_code); - deviceRunpointMapper.delete(wrapper); - } +// if (!StrUtil.isEmpty(hasGoodStatus)) { +// standardOrdinarySiteDeviceDriver.setHasGoods(Integer.parseInt(hasGoodStatus)); +// device.setHas_goods(Integer.parseInt(hasGoodStatus)); +// } +// if (StrUtil.isNotEmpty(material_type)) { +// standardOrdinarySiteDeviceDriver.setMaterial(material_type); +// device.setMaterial_type(material_type); +// } else { +// standardOrdinarySiteDeviceDriver.setMaterial(""); +// device.setMaterial_type(""); +// } +// if (StrUtil.isNotEmpty(quantity)) { +// standardOrdinarySiteDeviceDriver.setQty(quantity); +// device.setQuantity(quantity); +// } else { +// standardOrdinarySiteDeviceDriver.setQty(""); +// device.setQuantity(""); +// } +// if (StrUtil.isNotEmpty(remark)) { +// standardOrdinarySiteDeviceDriver.setRemark(remark); +// device.setRemark(remark); +// } else { +// standardOrdinarySiteDeviceDriver.setRemark(""); +// device.setRemark(""); +// } +// if (StrUtil.isNotEmpty(batch)) { +// standardOrdinarySiteDeviceDriver.setBatch(batch); +// device.setBatch(batch); +// } else { +// standardOrdinarySiteDeviceDriver.setBatch(""); +// device.setBatch(""); +// } +//// WQLObject runpointwo = WQLObject.getWQLObject("acs_device_runpoint"); +//// JSONObject json = runpointwo.query("device_code ='" + device_code + "'").uniqueResult(0); +// DeviceRunpoint deviceRunpoint = new LambdaQueryChainWrapper<>(deviceRunpointMapper) +// .eq(DeviceRunpoint::getDevice_code, device_code) +// .one(); +// if (!ObjectUtil.isEmpty(deviceRunpoint)) { +//// DeviceRunpointDto obj = json.toJavaObject(DeviceRunpointDto.class); +// deviceRunpoint.setHasgoods(hasGoodStatus); +// deviceRunpoint.setMaterial_type(material_type); +// deviceRunpoint.setBatch(batch); +// device.setHas_goods(Integer.parseInt(hasGoodStatus)); +// device.setMaterial_type(material_type); +// device.setRemark(remark); +// device.setQuantity(quantity); +// device.setBatch(batch); +// device.setIslock(islock); +//// JSONObject updatejson = (JSONObject) JSONObject.toJSON(obj); +//// runpointwo.update(updatejson, "device_code = '" + device_code + "'"); +// LambdaQueryWrapper wrapper = new LambdaQueryWrapper<>(); +// wrapper.eq(DeviceRunpoint::getDevice_code, device_code); +// deviceRunpointMapper.delete(wrapper); +// } } else if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver(); standardInspectSiteDeviceDriver.setMaterial(material_type); diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDefination.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDefination.java new file mode 100644 index 0000000..0049502 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDefination.java @@ -0,0 +1,50 @@ +package org.nl.acs.device.driver.agv.hik_ctu; + +import org.nl.acs.device.device.domain.Device; +import org.nl.acs.device.device.enums.DeviceType; +import org.nl.acs.device.driver.DeviceDriver; +import org.nl.acs.device.driver.DeviceDriverDefination; +import org.nl.acs.device.driver.agv.xg_agv_car.XgAgvCarDeviceDriver; +import org.springframework.stereotype.Service; + +import java.util.LinkedList; +import java.util.List; + +/** + * 海康CTU + */ +@Service +public class HikCtuCarDefination implements DeviceDriverDefination { + @Override + public String getDriverCode() { + return "hik_ctu_car"; + } + + @Override + public String getDriverName() { + return "HikCtu车"; + } + + @Override + public String getDriverDescription() { + return "HikCtu车"; + } + + @Override + public DeviceDriver getDriverInstance(Device device) { + return (new HikCtuCarDeviceDriver()).setDevice(device).setDriverDefination(this); + + } + + @Override + public Class getDeviceDriverType() { + return HikCtuCarDeviceDriver.class; + } + + @Override + public List getFitDeviceTypes() { + List types = new LinkedList(); + types.add(DeviceType.agv); + return types; + } +} diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDeviceDriver.java new file mode 100644 index 0000000..2b90b52 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/hik_ctu/HikCtuCarDeviceDriver.java @@ -0,0 +1,102 @@ +package org.nl.acs.device.driver.agv.hik_ctu; + +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.JSONObject; +import lombok.Data; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.apache.commons.collections4.CollectionUtils; +import org.nl.acs.device.driver.AbstractDeviceDriver; +import org.nl.acs.device.driver.DeviceDriver; +import org.nl.acs.device.driver.ExecutableDeviceDriver; +import org.nl.acs.device.driver.RouteableDeviceDriver; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.monitor.DeviceStageMonitor; +import org.nl.config.SpringContextHolder; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; + + +/** + * 海康CTU + */ +@Slf4j +@Data +@RequiredArgsConstructor +public class HikCtuCarDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { + + + private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class); + + private static final Map STATUS_MAP = new HashMap<>(); + + static { + STATUS_MAP.put("1", "任务完成"); + STATUS_MAP.put("2", "任务执行中"); + STATUS_MAP.put("3", "任务异常"); + STATUS_MAP.put("4", "任务空闲"); + STATUS_MAP.put("5", "机器人暂停"); + STATUS_MAP.put("6", "举升货架状态"); + STATUS_MAP.put("7", "充电状态"); + STATUS_MAP.put("8", "弧线行走中"); + STATUS_MAP.put("9", "充满维护"); + STATUS_MAP.put("11", "背货未识别"); + STATUS_MAP.put("12", "货架偏角过大"); + STATUS_MAP.put("13", "运动库异常"); + STATUS_MAP.put("14", "货码无法识别"); + STATUS_MAP.put("15", "货码不匹配"); + STATUS_MAP.put("16", "举升异常"); + STATUS_MAP.put("17", "充电桩异常"); + STATUS_MAP.put("18", "电量无增加"); + STATUS_MAP.put("20", "充电指令角度错误"); + STATUS_MAP.put("21", "平台下发指令错误"); + STATUS_MAP.put("23", "外力下放"); + STATUS_MAP.put("24", "货架为止偏移"); + STATUS_MAP.put("25", "小车不在锁定区"); + STATUS_MAP.put("27", "货架摆歪"); + STATUS_MAP.put("28", "举升电池点量太低"); + STATUS_MAP.put("29", "后退角度偏大"); + STATUS_MAP.put("30", "未背货架举升"); + STATUS_MAP.put("31", "区域锁定失败"); + STATUS_MAP.put("33", "旋转申请暂时失败"); + STATUS_MAP.put("34", "地图切换点地码未识别"); + } + + private String device_code; + private String status = null; + private String task = null; + private Float battery_level = 1.0f; + private Float x; + private Float y; + private Boolean isError = false; + + @Override + public void execute() { + this.device_code = this.getDevice().getDevice_code(); + } + + @Override + public JSONObject getDeviceStatusName() { + JSONObject jo = new JSONObject(); + List instCodeListByAgvCar = instructionService.getInstCodeListByAgvCar(this.device_code); + jo.put("device_code", this.device_code); + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("status", STATUS_MAP.get(this.status)); + jo.put("isError", this.isError); + jo.put("isOnline", true); + jo.put("task", CollectionUtils.isEmpty(instCodeListByAgvCar) ? null : JSON.toJSONString(instCodeListByAgvCar)); + jo.put("battery_level", this.battery_level); + jo.put("x", this.x); + jo.put("y", this.y); + return jo; + } + + + @Override + public void setDeviceStatus(JSONObject data) { + + } +} + diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java index 6d11bca..6ffce97 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java @@ -1,33 +1,15 @@ package org.nl.acs.device.driver.agv.xg_agv_car; -import cn.hutool.http.HttpResponse; -import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.nl.acs.agv.server.NDCAgvService; -import org.nl.acs.agv.server.XianGongAgvService; -import org.nl.acs.common.base.CommonFinalParam; -import org.nl.acs.device.device.service.DeviceService; import org.nl.acs.device.driver.DeviceDriver; import org.nl.acs.device.driver.RouteableDeviceDriver; import org.nl.acs.device.driver.AbstractDeviceDriver; import org.nl.acs.device.driver.ExecutableDeviceDriver; -import org.nl.acs.ext.UnifiedResponse; -import org.nl.acs.ext.wms.service.AcsToWmsService; -import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; -import org.nl.acs.instruction.domain.Instruction; -import org.nl.acs.instruction.service.InstructionService; -import org.nl.acs.log.service.DeviceExecuteLogService; import org.nl.acs.monitor.DeviceStageMonitor; -import org.nl.acs.device.device.service.DeviceAppService; -import org.nl.acs.route.service.RouteLineService; -import org.nl.acs.task.service.TaskService; -import org.nl.config.SpringContextHolder; -import org.springframework.beans.factory.annotation.Autowired; -import java.util.Date; /** @@ -37,168 +19,54 @@ import java.util.Date; @Data @RequiredArgsConstructor public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor { - @Autowired - DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class); - @Autowired - InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl"); - @Autowired - DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl"); - @Autowired - RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl"); - @Autowired - TaskService taskserver = SpringContextHolder.getBean("taskServiceImpl"); - @Autowired - RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class); - @Autowired - AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class); - @Autowired - DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class); - @Autowired - NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class); - @Autowired - private XianGongAgvService xianGongAgvService; - - Integer hasGoods = 0; - int error = 0; - Boolean iserror = false; - Boolean islock = false; - - int branchProtocol = 0; - int last_branchProtocol = 0; - /** - * 是否需要输入物料 - */ - String input_material = "0"; - /** - * 备注 - */ - String remark = ""; - /** - * 数量 - */ - String qty = ""; - /** - * 批次 - */ - String batch = ""; - /** - * 物料 - */ - String material = ""; - /** - * 目标点位 - */ - String purpose = ""; - /** - * 当前指令 - */ - Instruction inst = null; - /** - * 上次指令 - */ - Instruction last_inst = null; - - boolean requireSucess = false; /** - * 触摸屏手动触发任务 + * 设备号 */ - private Boolean is_has_task = false; + private String device_code; /** - * 申请搬运任务 + * 机器人状态 */ - private Boolean apply_handling = false; - /** - * 申请物料 - */ - private Boolean apply_material = false; + private String status = null; /** - * 1取货完成 2放货完成 3进入区域 4离开区域 + * 机器人执行任务号 */ - private int flag; + private String task = null; /** - * 人工确认信号 默认0 agv到达后请求置1 等人工确认后变为2 反馈agv后继续为0 + * 机器人电量 */ - private int manua_confirm = 0; + private Float battery_level = 1.0f; /** - * 是否推送场景的状态 0=可推送 1=正在更新场景 2=正在执行运单 + * x坐标 */ - private String upload_scene_status; + private Float x; + /** - * 机器人当前运单 + * y坐标 */ - private String current_order; - /** - * 机器人连接状态 0表示断连 1表示连接上 - */ - private String connection_status; - /** - * 机器人可接单状态 true=可接单 false=不可接单 - */ - private String dispatchable; - /** - * core出错标识 - */ - private boolean is_error; - /** - * 是否正在执行用户下发的运单 - */ - private boolean procBusiness; - - String device_code = null; - String container; - String container_type_desc; - String last_container_type_desc; - String last_container; - private Date instruction_require_time = new Date(); - private Date instruction_finished_time = new Date(); - - private int instruction_require_time_out; - - String message; - - // 1 上位系统允许进入 2 上位系统允许离开 - int status = 0; - - int agvphase = 0; - int index = 0; - - int mode = 2; - - int move; + private Float y; @Override public void execute() { - + this.device_code = this.getDevice().getDevice_code(); } @Override public JSONObject getDeviceStatusName() { - getAgvStatus(); JSONObject jo = new JSONObject(); - String isError; - if (is_error) { - isError = "报错"; - } else { - isError = "正常"; - } - if (CommonFinalParam.ONE.equals(upload_scene_status)) { - upload_scene_status = "正在更新场景"; - } else if (CommonFinalParam.TWO.equals(upload_scene_status)) { - upload_scene_status = "正在执行运单"; - } else if (CommonFinalParam.DELETE.equals(upload_scene_status)) { - upload_scene_status = "可推送"; - } - jo.put("is_error", isError); - jo.put("upload_scene_status", upload_scene_status); - jo.put("procBusiness", procBusiness); - jo.put("current_order", current_order); - jo.put("connection_status", connection_status); - jo.put("dispatchable", dispatchable); + jo.put("device_code", this.device_code); + jo.put("device_name", this.getDevice().getDevice_name()); + jo.put("status", "1".equals(this.status) ? "工作中" : "2".equals(this.status) ? "充电中" : "3".equals(this.status) ? "故障" : "4".equals(this.status) ? "休息中" : "5".equals(this.status) ? "关机" : "未知"); + jo.put("isError", "3".equals(this.status)); + jo.put("isOnline", "5".equals(this.status) ? false : true); + jo.put("task", this.task); + jo.put("battery_level", this.battery_level); + jo.put("x", this.x); + jo.put("y", this.y); return jo; } @@ -209,33 +77,5 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device } - /** - * 获取机器人信息 - */ - private void getAgvStatus() { - UnifiedResponse resp = xianGongAgvService.getRobotInfo(this.getDevice().getDevice_name(), JSONObject.class); - if (resp.isSuccess()) { - JSONObject jsonObject = resp.getData(); - String report = jsonObject.getString("report"); - //core出错标识 - is_error = jsonObject.getBooleanValue("is_error"); - //是否推送场景的状态 0=可推送 1=正在更新场景 2=正在执行运单 - upload_scene_status = jsonObject.getString("upload_scene_status"); - JSONArray objects = JSONObject.parseArray(report); - for (Object object : objects) { - JSONObject json = (JSONObject) object; - //是否正在执行用户下发的运单 - procBusiness = json.getBooleanValue("procBusiness"); - //机器人当前运单 - current_order = json.getString("current_order"); - //机器人连接状态 0表示断连 1表示连接上 - connection_status = json.getString("connection_status"); - //机器人可接单状态 true=可接单 false=不可接单 - dispatchable = json.getString("dispatchable"); - } - } else { - log.info("请求{}机器人状态失败", this.getDevice().getDevice_name()); - } - } } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java index 6692fca..0896c23 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java @@ -270,18 +270,20 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc this.withStationRequireSuccess = false; } if (this.error != this.lastError && this.error != 0) { - String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) - .map(notify -> notify.getValue()) - .orElse("0"); - if (notifyValue.equals("1")) { - JSONObject dataParam = new JSONObject(); - dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: " + ErrorEnum.getLabel(this.error)); - CommonRequest requestParam = CommonRequest.builder() - .service("ErrorInfo") - .type("2") - .data(dataParam) - .build(); - acsToWmsService.apply(requestParam); + if (this.status == 1) { + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")) { + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: " + ErrorEnum.getLabel(this.error)); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } } } if (this.mode != this.lastMode) { diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java index b710c1f..9c83b87 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java @@ -511,19 +511,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } } + if ((this.back_Zerror != this.lastBack_Zerror && this.back_Zerror != 0) || (this.front_Zerror != this.lastFront_Zerror && this.front_Zerror != 0)) { - String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) - .map(notify -> notify.getValue()) - .orElse("0"); - if (notifyValue.equals("1")) { - JSONObject dataParam = new JSONObject(); - dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: 前叉 " + ErrorEnum.getDesc(this.front_Zerror) + ", 后叉 " + ErrorEnum.getDesc(this.back_Zerror)); - CommonRequest requestParam = CommonRequest.builder() - .service("ErrorInfo") - .type("2") - .data(dataParam) - .build(); - acsToWmsService.apply(requestParam); + if (this.mode == ModeEnum.MODE_3.getNum() && !AGAIN_ERROR.contains(this.back_Zerror) && !AGAIN_ERROR.contains(this.front_Zerror)) { + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")) { + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: 前叉 " + ErrorEnum.getDesc(this.front_Zerror) + ", 后叉 " + ErrorEnum.getDesc(this.back_Zerror)); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } } } @@ -2307,6 +2310,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme List frontInsts = instructionService.findAllInstByPriorityCreateTime(getLinkDeviceCode, getFrontDeviceCodeList, frontNoY); //遍历前叉指令信息，判断前叉指令起点是深库位还是浅库位 if (CollectionUtils.isNotEmpty(frontInsts)) { + boolean executed = false; for (Instruction inst : frontInsts) { String start_device_code = inst.getStart_device_code(); //判断当前库位是深库位还是浅库位 @@ -2326,10 +2330,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallInst.getFrom_y())))) { // 如果前叉可达，则下发前叉移库指令的取货信息 break; this.frontWrite(shallInst); + executed = true; break; } // 否则直接下发后叉放货信息 break this.sendPutInfoToPlc(null, backInst); + executed = true; break; } continue; @@ -2355,11 +2361,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "后叉出库任务，取货完成后，创建前叉移库指令时出现异常，原因：" + e.getMessage())); logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因：" + e.getMessage())); this.sendPutInfoToPlc(null, backInst); + executed = true; return; } } // 否则直接下发后叉放货信息 break this.sendPutInfoToPlc(null, backInst); + executed = true; break; } continue; @@ -2367,9 +2375,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } frontInst = inst; this.frontWrite(frontInst); + executed = true; //直接下发前叉取货信息 break; } + if (!executed) { + this.sendPutInfoToPlc(null, backInst); + } } else { this.sendPutInfoToPlc(null, backInst); } @@ -2394,6 +2406,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme List backInsts = instructionService.findAllInstByPriorityCreateTime(getLinkDeviceCode, getBackDeviceCodeList, backNoY); //遍历后叉指令信息，判断后叉指令起点是深库位还是浅库位 if (CollectionUtils.isNotEmpty(backInsts)) { + boolean executed = false; for (Instruction inst : backInsts) { String start_device_code = inst.getStart_device_code(); //判断当前库位是深库位还是浅库位 @@ -2413,10 +2426,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallInst.getFrom_y())))) { // 如果后叉可达，则下发后叉移库指令的取货信息 break; this.backWrite(shallInst); + executed = true; break; } // 否则直接下发前叉放货信息 break this.sendPutInfoToPlc(frontInst, null); + executed = true; break; } continue; @@ -2442,11 +2457,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "前叉出库任务，取货完成后，创建后叉移库指令时出现异常，原因：" + e.getMessage())); logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因：" + e.getMessage())); this.sendPutInfoToPlc(frontInst, null); + executed = true; return; } } // 否则直接下发前叉放货信息 break this.sendPutInfoToPlc(frontInst, null); + executed = true; break; } continue; @@ -2455,8 +2472,12 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme //直接下发后叉取货信息 backInst = inst; this.backWrite(backInst); + executed = true; break; } + if (!executed) { + this.sendPutInfoToPlc(frontInst, null); + } } else { this.sendPutInfoToPlc(frontInst, null); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index d3c01ba..f8e3f73 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -31,6 +31,8 @@ import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.*; +import java.util.regex.Matcher; +import java.util.regex.Pattern; @Service @RequiredArgsConstructor @@ -63,11 +65,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { boolean o2ContainsDash = containsDash(o2); if (o1ContainsDash && !o2ContainsDash) { return -1; - } - else if (!o1ContainsDash && o2ContainsDash) { + } else if (!o1ContainsDash && o2ContainsDash) { return 1; - } - else { + } else { return 0; } } @@ -452,10 +452,21 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { .podDir("1") .indBind(indBind) .build(); -// BaseReq baseReq = BaseReq.builder().data(bindPodAndBerthReq).build(); UnifiedResponse unifiedResponse = acsToHkService.bindPodAndBerth(bindPodAndBerthReq); JSONObject resp = new JSONObject(); if (!unifiedResponse.isSuccess()) { + Pattern pattern = Pattern.compile("([A-Za-z0-9]+)$"); + Matcher matcher = pattern.matcher(unifiedResponse.getMessage()); + if (matcher.find()) { + String result = matcher.group(1); + StorageCell storageCell = storageCellMapper.selectOne(new LambdaQueryWrapper().eq(StorageCell::getParent_storage_code, result)); + if (ObjectUtil.isNotEmpty(storageCell)) { + resp.put("code", "400"); + resp.put("msg", "下发失败," + unifiedResponse.getMessage() + ", 对应地面点位:" + storageCell.getStorage_code()); + log.info("bindPodAndBerth--------------:输出参数：" + JSON.toJSONString(resp)); + return resp; + } + } resp.put("code", "400"); resp.put("msg", "下发失败," + unifiedResponse.getMessage()); log.info("bindPodAndBerth--------------:输出参数：" + JSON.toJSONString(resp)); diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/HandController.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/HandController.java new file mode 100644 index 0000000..95bfe01 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/HandController.java @@ -0,0 +1,174 @@ + +package org.nl.acs.hand.controller; + + +import cn.dev33.satoken.annotation.SaIgnore; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.hand.service.HandService; +import org.nl.common.exception.BadRequestException; +import org.nl.common.logging.annotation.Log; +import org.nl.system.service.param.ISysParamService; +import org.nl.system.service.param.dao.Param; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import javax.servlet.http.HttpServletResponse; +import java.io.*; +import java.util.Map; + +/** + * @author zhoujj + * @date 2023-05-04 + **/ +@RestController +@RequestMapping("/api/hand") +@Slf4j +public class HandController { + + @Autowired + private HandService handService; + @Autowired + private ISysParamService iSysParamService; + + @PostMapping("/tasks") + @Log("查询任务") + @SaIgnore + public ResponseEntity queryTask(@RequestBody Map whereJson) { + return new ResponseEntity<>(handService.queryTask(whereJson), HttpStatus.OK); + } + + @PostMapping("/queryArea") + @Log("查询区域") + @SaIgnore + public ResponseEntity query() { + return new ResponseEntity<>(handService.queryArea(null), HttpStatus.OK); + } + + @PostMapping("/queryPointByArea") + @Log("查询设备编号及状态") + @SaIgnore + public ResponseEntity queryPoint(@RequestBody Map whereJson) { + String areaCode = (String) whereJson.get("areaCode"); + return new ResponseEntity<>(handService.queryPointByArea(areaCode), HttpStatus.OK); + } + + @PostMapping("/bindpoint") + @Log("点位绑定") + @SaIgnore + public ResponseEntity bindPoint(@RequestBody JSONObject reqParam) { + return new ResponseEntity<>(handService.bindPoint(reqParam), HttpStatus.OK); + } + + @PostMapping("/insts") + @Log("查询指令") + @SaIgnore + public ResponseEntity queryInst(@RequestBody Map whereJson) { + return new ResponseEntity<>(handService.queryInst(whereJson), HttpStatus.OK); + } + + @PostMapping("/callTask") + @Log("创建任务") + @SaIgnore + public ResponseEntity createTask(@RequestBody Map whereJson) { + return new ResponseEntity<>(handService.createTask(whereJson), HttpStatus.OK); + } + + @PostMapping("/inst") + @Log("指令操作") + @SaIgnore + public ResponseEntity Instoperation(@RequestBody Map whereJson) { + return new ResponseEntity<>(handService.Instoperation(whereJson), HttpStatus.OK); + } + + @PostMapping("/taskoperation") + @Log("任务操作") + @SaIgnore + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity Taskoperation(@RequestBody Map whereJson) throws Exception { + return new ResponseEntity<>(handService.Taskoperation(whereJson), HttpStatus.OK); + } + + @PostMapping("/login") + @Log("手持登陆验证") + @SaIgnore + public ResponseEntity handlogin(@RequestBody Map whereJson) { + return new ResponseEntity<>(handService.handleLogin(whereJson), HttpStatus.OK); + } + + + @RequestMapping("/download/app-release") + @SaIgnore + public void setPrint(HttpServletResponse response){ + Param byCode = iSysParamService.findByCode("apkurl"); + if (byCode==null){ + throw new BadRequestException("更新失败:未配置apk下载地址"); + } + System.out.println(byCode.getValue()); + try { + downloadFile(response,byCode.getValue(),"release"); + }catch (Exception ex){ + ex.printStackTrace(); + } + } + + /** + * 附件下载 + * @param response + * @param fileName + * @param path + * @return + * @throws Exception + */ + public void downloadFile(HttpServletResponse response, String path, String fileName) throws Exception { + if (fileName != null) { + //设置文件路径 + File file = new File(path); + if (file.exists()) { + response.setHeader("content-type", "application/octet-stream"); + response.setContentType("application/octet-stream"); + try { + response.setHeader("Content-Disposition", "attachment;filename="+new String(fileName.getBytes("utf-8"),"ISO-8859-1")+".apk"); + } catch (UnsupportedEncodingException e) { + e.printStackTrace(); + } + byte[] buffer = new byte[1024]; + FileInputStream fis = null; + BufferedInputStream bis = null; + try { + fis = new FileInputStream(file); + bis = new BufferedInputStream(fis); + OutputStream os = response.getOutputStream(); + int i = bis.read(buffer); + while (i != -1) { + os.write(buffer, 0, i); + i = bis.read(buffer); + } + } catch (Exception e) { + e.printStackTrace(); + } finally { + if (bis != null) { + try { + bis.close(); + } catch (IOException e) { + e.printStackTrace(); + } + } + if (fis != null) { + try { + fis.close(); + } catch (IOException e) { + e.printStackTrace(); + } + } + } + } + } + } + +} diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/PdaController.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/PdaController.java new file mode 100644 index 0000000..f5c604b --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/controller/PdaController.java @@ -0,0 +1,35 @@ +package org.nl.acs.hand.controller; + +import cn.dev33.satoken.annotation.SaIgnore; +import lombok.extern.slf4j.Slf4j; +import org.nl.common.logging.annotation.Log; +import org.nl.config.MapOf; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import java.util.Map; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/8/1 + */ +@RestController +@RequestMapping("/api/pda") +@Slf4j +public class PdaController { + + /** + * + */ + @PostMapping("/update") + @Log("获取升级地址") + @SaIgnore + public ResponseEntity apkUrl() { + Map of = MapOf.of("versionName", "1.0.1", "url", "http://192.168.18.218:8011/api/hand/download/app-release"); + return new ResponseEntity<>(of, HttpStatus.OK); + } +} \ No newline at end of file diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/HandService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/HandService.java new file mode 100644 index 0000000..7aa4eb1 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/HandService.java @@ -0,0 +1,83 @@ +package org.nl.acs.hand.service; + + +import com.alibaba.fastjson.JSONObject; + +import java.util.Map; + +/** + * @author zhoujj + * @description 服务接口 + * @date 2023-05-04 + **/ +public interface HandService { + /** + * 查询区域 + * + * @param whereJson 条件 + * @return Map + */ + Map queryArea(Map whereJson); + + /** + * 查询设备编号及状态 + * + * @return Map + */ + Map queryPointByArea(String dict_id); + + + Map bindPoint(JSONObject reqParam); + + + /** + * 查询指令 + * + * @param jsonObject 条件 + * @return Map + */ + Map queryInst(Map jsonObject); + + /** + * 创建任务 + * + * @param jsonObject 条件 + * @return Map + */ + Map createTask(Map jsonObject); + + /** + * 查询任务 + * + * @param jsonObject 条件 + * @return Map + */ + Map queryTask(Map jsonObject); + + + /** + * 指令操作 + * + * @param jsonObject 条件 + * @return Map + */ + Map Instoperation(Map jsonObject); + + /** + * 任务操作 + * + * @param jsonObject 条件 + * @return Map + */ + Map Taskoperation(Map jsonObject) throws Exception; + + /** + * 手持登陆 + * + * @param jsonObject 条件 + * @return Map + */ + Map handleLogin(Map jsonObject); + + +} diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/impl/HandServicelmpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/impl/HandServicelmpl.java new file mode 100644 index 0000000..741e264 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/hand/service/impl/HandServicelmpl.java @@ -0,0 +1,574 @@ +package org.nl.acs.hand.service.impl; + +import cn.hutool.core.collection.CollectionUtil; +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 com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import lombok.RequiredArgsConstructor; +import lombok.SneakyThrows; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.XianGongAgvService; +import org.nl.acs.device.device.domain.Device; +import org.nl.acs.device.device.domain.DeviceRunpoint; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.device.service.DeviceRunpointService; +import org.nl.acs.device.device.service.DeviceService; +import org.nl.acs.device.device.service.impl.DeviceAppServiceImpl; +import org.nl.acs.device.driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; +import org.nl.acs.ext.UnifiedResponse; +import org.nl.acs.hand.service.HandService; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.enums.InstructionStatusEnum; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.task.enums.AgvSystemTypeEnum; +import org.nl.acs.task.enums.InstTypeEnum; +import org.nl.acs.task.enums.TaskStatusEnum; +import org.nl.acs.task.enums.TaskTypeEnum; +import org.nl.acs.task.service.TaskService; +import org.nl.acs.task.service.dto.TaskDto; +import org.nl.acs.task.service.impl.TaskServiceImpl; +import org.nl.common.exception.BadRequestException; +import org.nl.common.utils.CodeUtil; +import org.nl.common.utils.RsaUtils; +import org.nl.config.RsaProperties; +import org.nl.config.SpringContextHolder; +import org.nl.system.service.secutiry.dto.UserDto; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; + +import java.util.*; +import java.util.stream.Collectors; + + +@Service +@RequiredArgsConstructor +@Slf4j +public class HandServicelmpl implements HandService { + + @Autowired + private DeviceAppService deviceAppService; + @Autowired + private InstructionService instructionService; + @Autowired + private TaskService taskService; + @Autowired + private XianGongAgvService xianGongAgvService; + @Autowired + private DeviceRunpointService deviceRunpointService; + + + @Override + public Map queryTask(Map jsonObject) { + String start_point = jsonObject.get("start_devicecode"); + String next_point = jsonObject.get("next_devicecode"); + List taskDtos = taskService.findAllTaskFromCache(); + List taskDtoList = Optional.ofNullable(taskDtos) + .orElse(new ArrayList<>()) + .stream() + .filter(taskDto -> taskDto.getTask_type().equals(TaskTypeEnum.P2P_AGV_TASK.getCode())) + .filter(taskDto -> { + if (StrUtil.isNotBlank(start_point)) { + return taskDto.getStart_point_code().contains(start_point); + } + return true; + }) + .filter(taskDto -> { + if (StrUtil.isNotBlank(next_point)) { + return taskDto.getNext_point_code().contains(next_point); + } + return true; + }) + .filter(taskDto -> taskDto.getTask_code().contains("-")) + .collect(Collectors.toList()); + List> resultList = new ArrayList(); + for (TaskDto taskDto : taskDtoList) { + Map map = new HashMap(); + map.put("task_uuid", taskDto.getTask_id()); + map.put("task_no", taskDto.getTask_code()); + map.put("start_devicecode", taskDto.getStart_point_code()); + map.put("next_devicecode", taskDto.getNext_point_code()); + map.put("task_type", taskDto.getTask_type()); + map.put("material_type", taskDto.getMaterial()); + map.put("material_type_name", ""); + map.put("task_status", taskDto.getTask_status()); + map.put("task_status_name", StrUtil.equals(taskDto.getTask_status(),"0") ? "就绪" : "执行中"); + map.put("carrier", taskDto.getVehicle_code()); + map.put("create_time", taskDto.getCreate_time()); + map.put("priority", taskDto.getPriority()); + resultList.add(map); + } + JSONObject resultJson = new JSONObject(); + resultJson.put("code", "1"); + resultJson.put("desc", "查询成功"); + resultJson.put("result", resultList); + return resultJson; + } + + + @Override + public Map Taskoperation(Map jsonObject) throws Exception { + JSONObject jo = new JSONObject(); + String task_uuid = jsonObject.get("inst_uuid"); + String type = jsonObject.get("type"); + if (StrUtil.isEmpty(task_uuid)) { + throw new BadRequestException("id不能为空！"); + } + if (StrUtil.isEmpty(type)) { + throw new BadRequestException("操作类型不能为空！"); + } + TaskDto taskDto = taskService.findById(task_uuid); + if (ObjectUtil.isEmpty(taskDto) || + StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.FINISHED.getIndex()) || + StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.CANCEL.getIndex())) { + jo.put("code", "2"); + jo.put("desc", "任务已完成或已取消,无法操作"); + jo.put("result", ""); + return jo; + } + Instruction instruction = instructionService.findByTaskCodeFromCache(taskDto.getTask_code()); + if (ObjectUtil.isNotEmpty(instruction)) { + jo.put("code", "2"); + jo.put("desc", "操作失败" + "任务号: " + taskDto.getTask_code() + ", 已存在待完成指令!"); + jo.put("result", "任务号: " + taskDto.getTask_code() + ", 已存在待完成指令!"); + return jo; + } + //重新生成 + if (type.equals("1")) { + //重新生产指令 + Instruction instdto = new Instruction(); + instdto.setInstruction_id(IdUtil.simpleUUID()); + instdto.setInstruction_code(CodeUtil.getNewCode("INSTRUCT_NO")); + instdto.setRemark(taskDto.getRemark()); + instdto.setMaterial(taskDto.getMaterial()); + instdto.setTask_id(taskDto.getMaterial()); + instdto.setTask_code(taskDto.getTask_code()); + instdto.setVehicle_code(taskDto.getVehicle_code()); + String now = DateUtil.now(); + instdto.setCreate_time(now); + instdto.setCreate_by("手持创建"); + instdto.setStart_point_code(taskDto.getStart_point_code()); + instdto.setNext_point_code(taskDto.getNext_point_code()); + instdto.setStart_device_code(taskDto.getStart_device_code()); + instdto.setNext_device_code(taskDto.getNext_device_code()); + instdto.setAgv_system_type(AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode()); + instdto.setInstruction_status("0"); + try { + instructionService.create(instdto); + } catch (Exception e) { + jo.put("code", "2"); + jo.put("desc", e.getMessage()); + jo.put("result", ""); + return jo; + } + } + //强制完成 + if (type.equals("2")) { + taskService.finish(taskDto.getTask_id()); + } + + + jo.put("code", "1"); + jo.put("desc", "操作成功"); + jo.put("result", new JSONObject()); + return jo; + } + + @Override + public Map queryInst(Map jsonObject) { + String start_point = jsonObject.get("start_devicecode"); + String next_point = jsonObject.get("next_devicecode"); + List instructions = instructionService.findAllInstFromCache(); + List instructionList = Optional.ofNullable(instructions) + .orElse(new ArrayList<>()) + .stream() + .filter(instruction -> instruction.getTask_code().contains("-")) + .filter(instruction -> instruction.getInstruction_type().equals(InstTypeEnum.P2P_AGV_TASK.getCode())) + .filter(instruction -> { + if (StrUtil.isNotBlank(start_point)) { + return instruction.getStart_point_code().contains(start_point); + } + return true; + }) + .filter(instruction -> { + if (StrUtil.isNotBlank(next_point)) { + return instruction.getNext_point_code().contains(next_point); + } + return true; + }) + .collect(Collectors.toList()); + List> resultList = new ArrayList(); + for (Instruction inst : instructionList) { + Map map = new HashMap(); + map.put("inst_uuid", inst.getInstruction_id()); + map.put("task_no", inst.getTask_code()); + map.put("inst_no", inst.getInstruction_code()); + map.put("start_devicecode", inst.getStart_point_code()); + map.put("next_devicecode", inst.getNext_point_code()); + map.put("material_type_name", ""); + map.put("inst_status", inst.getInstruction_status()); + map.put("inst_status_name", StrUtil.equals(inst.getInstruction_status(),"0") ? "就绪" : "执行中"); + map.put("carrier", inst.getVehicle_code()); + map.put("create_time", inst.getCreate_time()); + map.put("priority", inst.getPriority()); + map.put("carno", inst.getCarno()); + resultList.add(map); + } + //查询位完成的指令 + JSONObject resultJson = new JSONObject(); + resultJson.put("code", "1"); + resultJson.put("desc", "查询成功"); + resultJson.put("result", resultList); + return resultJson; + } + + @Override + public Map Instoperation(Map jsonObject) { + JSONObject jo = new JSONObject(); + String type = jsonObject.get("type"); + String inst_uuid = jsonObject.get("inst_uuid"); + Instruction inst = instructionService.findByIdFromCache(inst_uuid); + if (inst == null || StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.FINISHED.getIndex()) || + StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.CANCEL.getIndex())) { + jo.put("code", "2"); + jo.put("desc", "指令已完成或已取消,无法操作!"); + jo.put("result", ""); + return jo; + } + /* 1 指令撤销 + 2 重新下发 + 3 强制完成*/ + if (type.equals("1")) { + //调用agv删除任务的接口 + try { + if (StrUtil.equals(inst.getAgv_system_type(), AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode())) { + xianGongAgvService.deleteXZAgvInst(inst.getInstruction_code()); + } + } catch (Exception e) { + jo.put("code", "2"); + jo.put("desc", "下发agv失败"); + jo.put("result", ""); + return jo; + } + } + if (type.equals("2")) { + try { + if (!StrUtil.equals(inst.getSend_status(), "1")) { + UnifiedResponse unifiedResponse = xianGongAgvService.sendOrderSequencesToXZ(inst); + if (unifiedResponse.isSuccess()) { + inst.setSend_status("1"); + instructionService.update(inst); + } else { + jo.put("code", "2"); + jo.put("desc", "重新下发agv失败"); + jo.put("result", unifiedResponse.getMessage()); + return jo; + } + } + } catch (Exception e) { + jo.put("code", "2"); + jo.put("desc", "重新下发agv失败"); + jo.put("result", e.getMessage()); + return jo; + } + + } + if (type.equals("3")) { + //完成指令 + try { + instructionService.finish(inst_uuid); + } catch (Exception e) { + jo.put("code", "2"); + jo.put("desc", e.getMessage()); + jo.put("result", ""); + return jo; + } + } + + jo.put("code", "1"); + jo.put("desc", "操作成功"); + jo.put("result", new JSONObject()); + return jo; + } + + @Override + public Map queryArea(Map whereJson) { + JSONObject jo = new JSONObject(); + List> regions = new ArrayList<>(); + Map region = new HashMap<>(); + region.put("region_id", "21"); + region.put("region_code", "21"); + region.put("region_name", "清洗车间区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "22"); + region.put("region_code", "22"); + region.put("region_name", "质检区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "23"); + region.put("region_code", "23"); + region.put("region_name", "四号楼一层仓库区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "24"); + region.put("region_code", "24"); + region.put("region_name", "四号楼二层产线区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "25"); + region.put("region_code", "25"); + region.put("region_name", "五号楼一层仓库区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "26"); + region.put("region_code", "26"); + region.put("region_name", "五号楼二层仓库区域"); + regions.add(region); + region = new HashMap<>(); + region.put("region_id", "27"); + region.put("region_code", "27"); + region.put("region_name", "一号楼一楼产线"); + regions.add(region); + jo.put("code", "1"); + jo.put("desc", "查询成功"); + jo.put("result", regions); + + return jo; + } + + @Override + public Map queryPointByArea(String dict_id) { + JSONArray resultArr = new JSONArray(); + JSONObject resultJson = new JSONObject(); + //根据value值去查所有的设备 + List deviceList = deviceAppService.findDeviceByRegion(dict_id); + for (Device acsDevice : deviceList) { + String device_code = acsDevice.getDevice_code(); + Device device = deviceAppService.findDeviceByCode(device_code); + //点位状态status对应status_name 0空 1有货 2有任务 + String status = "0"; + String status_name = "无货"; + String input_material = "0"; + String allow_update = "0"; + JSONObject jo = new JSONObject(); + //无光电普通站点 + if (device != null && device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + DeviceRunpoint deviceRunpoint = deviceRunpointService.getOne(new LambdaQueryWrapper().eq(DeviceRunpoint::getDevice_code, device_code)); + String hasgoods = deviceRunpoint.getHasgoods(); + if ("1".equals(hasgoods)) { + status = "1"; + status_name = "有货"; + } + allow_update = "1"; + input_material = "1"; + jo.put("device_id", device.getDevice_id()); + jo.put("device_code", device.getDevice_code()); + jo.put("device_name", device.getDevice_name()); + jo.put("allow_update", allow_update); + jo.put("status", status); + jo.put("status_name", status_name); + jo.put("input_material", input_material); + } + resultArr.add(jo); + } + resultJson.put("code", "1"); + resultJson.put("desc", "查询成功"); + resultJson.put("result", resultArr); + return resultJson; + } + + @Override + public Map bindPoint(JSONObject reqParam) { + String device_code = reqParam.getString("device_code"); + String status = reqParam.getString("status"); + if (StrUtil.isEmpty(device_code)) { + throw new BadRequestException("设备号不能为空！"); + } + if (StrUtil.isEmpty(status)) { + throw new BadRequestException("点位状态不能为空！"); + } + Device device = deviceAppService.findDeviceByCode(device_code); + StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver; + JSONObject jo = new JSONObject(); + JSONObject map = new JSONObject(); + map.put("hasgoods", status); + DeviceRunpoint deviceRunpoint = deviceRunpointService.getOne(new LambdaQueryWrapper().eq(DeviceRunpoint::getDevice_code, device_code)); + if (deviceRunpoint != null) { + deviceRunpoint.setHasgoods(status); + deviceRunpointService.updateById(deviceRunpoint); + } + if (device != null && device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver(); + standardOrdinarySiteDeviceDriver.setHasGoods(Integer.valueOf(status)); + device.setHas_goods(Integer.valueOf(status)); + } + jo.put("code", "1"); + jo.put("desc", "成功"); + return jo; + } + + @Override + public Map createTask(Map jsonObject) { + String start_devicecode = jsonObject.get("start_device_codes"); + String next_devicecode = jsonObject.get("next_device_code"); + String material_type = jsonObject.get("material_type"); + String priority = jsonObject.get("priority"); + String carrier = jsonObject.get("carrier"); + + JSONObject resultJson = new JSONObject(); + DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class); + Device startDevice = appService.findDeviceByCode(start_devicecode); + if (startDevice != null) { + List link_next_device = this.getExtraDeviceCodes(startDevice, "link_next_device"); + if (ObjectUtil.isEmpty(link_next_device)) { + resultJson.put("code", "0"); + resultJson.put("desc", "未配置该起点对应的终点点位"); + resultJson.put("result", ""); + return resultJson; + } + if (!link_next_device.contains(next_devicecode)) { + resultJson.put("code", "0"); + resultJson.put("desc", "该起点不能到达其终点位置"); + resultJson.put("result", ""); + return resultJson; + } + } + Device nextDevice = appService.findDeviceByCode(next_devicecode); + if (StrUtil.isEmpty(start_devicecode)) { + resultJson.put("code", "0"); + resultJson.put("desc", "起点不能为空"); + resultJson.put("result", ""); + return resultJson; + } + if (StrUtil.isEmpty(next_devicecode)) { + resultJson.put("code", "0"); + resultJson.put("desc", "终点不能为空"); + resultJson.put("result", ""); + return resultJson; + } + + //判断起点有货，终点为空 + if (ObjectUtil.isEmpty(startDevice.getHas_goods()) || startDevice.getHas_goods() == 0) { + resultJson.put("code", "0"); + resultJson.put("desc", "起点必须有货"); + resultJson.put("result", ""); + return resultJson; + } + + if (!ObjectUtil.isEmpty(nextDevice.getHas_goods()) && nextDevice.getHas_goods() == 1) { + resultJson.put("code", "0"); + resultJson.put("desc", "终点必须无货"); + resultJson.put("result", ""); + return resultJson; + } + + TaskService taskService = SpringContextHolder.getBean(TaskServiceImpl.class); + //判断是否有起点的任务 + TaskDto start_taskDto = taskService.findByStartCode(start_devicecode); + //判断是否有终点的任务 + TaskDto next_taskDto = taskService.findByNextCode(next_devicecode); + + if (ObjectUtil.isNotEmpty(start_taskDto) || ObjectUtil.isNotEmpty(next_taskDto)) { + throw new BadRequestException("已存在该点位的任务，不能生成任务！"); + } + + if (StrUtil.isEmpty(priority)) { + priority = "1"; + } + + if (start_devicecode.equals(next_devicecode)) { + resultJson.put("code", "0"); + resultJson.put("desc", "起点和终点不能是同一设备【" + next_devicecode + "】"); + resultJson.put("result", ""); + return resultJson; + } + + TaskDto dto = new TaskDto(); + dto.setIs_active("1"); + dto.setIs_delete("0"); + dto.setMaterial(material_type); + dto.setStart_point_code(start_devicecode); + dto.setNext_point_code(next_devicecode); + dto.setMaterial(material_type); + dto.setTask_type(TaskTypeEnum.P2P_AGV_TASK.getCode()); + dto.setPriority(priority); + dto.setVehicle_code(carrier); + dto.setAgv_system_type(AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode()); + try { + taskService.create(dto); + } catch (Exception e) { + resultJson.put("code", "2"); + resultJson.put("desc", e.getMessage()); + resultJson.put("result", ""); + return resultJson; + } + + resultJson.put("code", "1"); + resultJson.put("desc", "生成成功！"); + resultJson.put("result", ""); + return resultJson; + } + + + @SneakyThrows + @Override + public Map handleLogin(Map jsonObject) { + JSONObject resultJson = new JSONObject(); + String user = jsonObject.get("username"); + String password = jsonObject.get("password"); + if (StrUtil.isEmpty("user")) { + resultJson.put("code", "1"); + resultJson.put("desc", "用户不能为空"); + return resultJson; + } + if (StrUtil.isEmpty("password")) { + resultJson.put("code", "1"); + resultJson.put("desc", "密码不能为空!"); + return resultJson; + } + boolean is_match = false; + Long account_id = 1L; +// try { +// String pwd = RsaUtils.decryptByPrivateKey(RsaProperties.privateKey, password); +// UserDto userDto = userService.findByName(user); +// account_id = userDto.getId(); +// is_match = passwordEncoder.matches(pwd, userDto.getPassword()); +// +// } catch (Exception e) { +// e.printStackTrace(); +// } + + if (true) { + resultJson.put("code", "1"); + resultJson.put("desc", "登陆成功"); + } else { + resultJson.put("code", "2"); + resultJson.put("desc", "登陆失败！"); + } + JSONObject jo = new JSONObject(); + jo.put("user_name", user); + jo.put("account_id", account_id); + resultJson.put("result", jo); + return resultJson; + } + + private List getExtraDeviceCodes(Device device, String extraName) { + String extraValue = (String) device.getExtraValue().get(extraName); + if (StrUtil.isEmpty(extraValue)) { + return new ArrayList<>(); + } + String devicesString = extraValue.substring(1, extraValue.length() - 1); + List devicesList = new ArrayList<>(); + String[] devices = devicesString.split(","); + for (int i = 0; i < devices.length; i++) { + String s = devices[i].replace("\"", "").replace("\"", ""); + devicesList.add(s); + } + return devicesList; + } + +} diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java index 8932094..0937d87 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -563,6 +563,8 @@ public interface InstructionService extends CommonService { Instruction findByNextPointCode(String nextPointCode); + List findByNextDeviceCode(String nextDeviceCode); + /** * 根据优先级和创建时间顺序去查找前/后叉可取指令信息 @@ -581,4 +583,7 @@ public interface InstructionService extends CommonService { * @return */ List findAllInstByPriorityCreateTime(String link_device_code, List next_device_code_list, String noY); + + + List getInstCodeListByAgvCar(String agvCarCode); } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 36dad34..46d82af 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -2242,6 +2242,15 @@ public class InstructionServiceImpl extends CommonServiceImpl findByNextDeviceCode(String nextDeviceCode) { + return Optional.ofNullable(this.instructions) + .orElse(new CopyOnWriteArrayList<>()) + .stream() + .filter(inst -> inst.getNext_device_code().equals(nextDeviceCode)) + .collect(Collectors.toList()); + } + @Override public List findAllInstByPriorityCreateTime(List next_device_code_list, String noY) { @@ -2305,5 +2314,15 @@ public class InstructionServiceImpl extends CommonServiceImpl getInstCodeListByAgvCar(String agvCarCode) { + return Optional.ofNullable(this.instructions) + .orElse(new CopyOnWriteArrayList<>()) + .stream() + .filter(inst -> StrUtil.equals(agvCarCode,inst.getCarno())) + .map(Instruction::getInstruction_code) + .collect(Collectors.toList()); + } + } diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/InstTypeEnum.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/InstTypeEnum.java index 285b612..b327a5a 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/InstTypeEnum.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/InstTypeEnum.java @@ -19,7 +19,8 @@ public enum InstTypeEnum { CTU_IN_TASK("3", "A011", "CTU入库任务"), CTU_OUT_TASK("4", "A012", "CTU出库任务"), CTU_MOVE_TASK("5", "A013", "CTU移库任务"), - OTHER_TASK("6", "other", "其它任务类型"); + OTHER_TASK("6", "other", "其它任务类型"), + P2P_AGV_TASK("99", "99", "定点AGV任务"); /** diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java index 4cce94b..70a38d9 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/TaskTypeEnum.java @@ -17,7 +17,8 @@ public enum TaskTypeEnum { Stacker_Task("1", "1", "堆垛机任务"), AGV_TASK("2", "2", "AGV任务"), CTU_TASK("3", "3", "CTU任务"), - YK_TASK("4", "4", "呆料转移任务"); + YK_TASK("4", "4", "呆料转移任务"), + P2P_AGV_TASK("99", "99", "定点AGV任务"); /** diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java index 603ae70..1bd1761 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java @@ -266,6 +266,15 @@ public interface TaskService extends CommonService { List findReadyByTaskType(String task_type); + /** + * 根据Agv系统类型查询任务信息 + * + * @param agvSystemType + * @return + */ + List findReadyByAgvSystemType(String agvSystemType); + + /** * 根据目的地设备编号查询当前是否有设备 * diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index 761cc7c..256889b 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -21,12 +21,15 @@ import org.nl.acs.agv.server.XianGongAgvService; import org.nl.acs.auto.initial.ApplicationAutoInitial; import org.nl.acs.common.base.CommonFinalParam; import org.nl.acs.device.device.domain.Device; +import org.nl.acs.device.device.domain.DeviceRunpoint; import org.nl.acs.device.device.enums.DeviceType; import org.nl.acs.device.device.service.DeviceAssignedService; +import org.nl.acs.device.device.service.DeviceRunpointService; import org.nl.acs.device.device.service.DeviceService; import org.nl.acs.device.device.service.dto.DeviceAssignedDto; import org.nl.acs.device.device.service.impl.DeviceServiceImpl; import org.nl.acs.device.driver.DeviceDriverDefination; +import org.nl.acs.device.driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver; import org.nl.acs.ext.UnifiedResponse; import org.nl.acs.ext.wms.data.req.CommonRequest; import org.nl.acs.ext.wms.service.AcsToWmsService; @@ -111,6 +114,8 @@ public class TaskServiceImpl extends CommonServiceImpl impleme private InstructionService instructionService; @Autowired private RedisUtils redisUtils; + @Autowired + private DeviceRunpointService deviceRunpointService; /** * 缓存 @@ -397,36 +402,36 @@ public class TaskServiceImpl extends CommonServiceImpl impleme } if (StrUtil.equals(DeviceType.conveyor.toString(), nextDeviceType)) { - JSONObject jo = new JSONObject(); - JSONObject jo2 = new JSONObject(); - if (!StrUtil.isEmpty(dto.getMaterial())) { - if (!StrUtil.equals(dto.getMaterial(), CommonFinalParam.ONE)) { - jo.put("hasGoodStatus", "2"); - jo.put("material_type", dto.getMaterial()); - } else { - jo.put("hasGoodStatus", CommonFinalParam.ONE); - jo.put("material_type", CommonFinalParam.ONE); - } - - } else { - jo.put("hasGoodStatus", CommonFinalParam.ONE); - jo.put("material_type", CommonFinalParam.ONE); - } - jo.put("device_code", dto.getStart_device_code()); - jo.put("quantity", dto.getQuantity()); - jo.put("remark", dto.getRemark()); - jo.put("batch", startdevice.getBatch()); - jo.put("islock", "true"); - deviceService.changeDeviceStatus(jo); - Device deviceByCode = deviceAppService.findDeviceByCode(dto.getNext_device_code()); - jo2.put("device_code", dto.getNext_device_code()); - jo2.put("hasGoodStatus", deviceByCode.getHas_goods()); - jo2.put("quantity", deviceByCode.getQuantity()); - jo2.put("remark", deviceByCode.getRemark()); - jo2.put("material_type", deviceByCode.getMaterial_type()); - jo2.put("batch", deviceByCode.getBatch()); - jo2.put("islock", "true"); - deviceService.changeDeviceStatus(jo2); +// JSONObject jo = new JSONObject(); +// JSONObject jo2 = new JSONObject(); +// if (!StrUtil.isEmpty(dto.getMaterial())) { +// if (!StrUtil.equals(dto.getMaterial(), CommonFinalParam.ONE)) { +// jo.put("hasGoodStatus", "2"); +// jo.put("material_type", dto.getMaterial()); +// } else { +// jo.put("hasGoodStatus", CommonFinalParam.ONE); +// jo.put("material_type", CommonFinalParam.ONE); +// } +// +// } else { +// jo.put("hasGoodStatus", CommonFinalParam.ONE); +// jo.put("material_type", CommonFinalParam.ONE); +// } +// jo.put("device_code", dto.getStart_device_code()); +// jo.put("quantity", dto.getQuantity()); +// jo.put("remark", dto.getRemark()); +// jo.put("batch", startdevice.getBatch()); +// jo.put("islock", "true"); +// deviceService.changeDeviceStatus(jo); +// Device deviceByCode = deviceAppService.findDeviceByCode(dto.getNext_device_code()); +// jo2.put("device_code", dto.getNext_device_code()); +// jo2.put("hasGoodStatus", deviceByCode.getHas_goods()); +// jo2.put("quantity", deviceByCode.getQuantity()); +// jo2.put("remark", deviceByCode.getRemark()); +// jo2.put("material_type", deviceByCode.getMaterial_type()); +// jo2.put("batch", deviceByCode.getBatch()); +// jo2.put("islock", "true"); +// deviceService.changeDeviceStatus(jo2); } } Task entity = ConvertUtil.convert(dto, Task.class); @@ -603,6 +608,29 @@ public class TaskServiceImpl extends CommonServiceImpl impleme Task task = ConvertUtil.convert(entity, Task.class); taskMapper.updateById(task); + Device start_device = deviceAppService.findDeviceByCode(entity.getStart_device_code()); + if (start_device != null && start_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + DeviceRunpoint deviceRunpoint = deviceRunpointService.getOne(new LambdaQueryWrapper().eq(DeviceRunpoint::getDevice_code, entity.getStart_device_code())); + if (ObjectUtil.isNotEmpty(deviceRunpoint)) { + start_device.setHas_goods(0); + deviceRunpoint.setHasgoods("0"); + deviceRunpoint.setUpdate_time(now); + deviceRunpoint.setUpdate_by(currentUsername); + deviceRunpointService.updateById(deviceRunpoint); + } + } + Device next_device = deviceAppService.findDeviceByCode(entity.getNext_device_code()); + if (next_device != null && next_device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) { + DeviceRunpoint deviceRunpoint = deviceRunpointService.getOne(new LambdaQueryWrapper().eq(DeviceRunpoint::getDevice_code, entity.getNext_device_code())); + if (ObjectUtil.isNotEmpty(deviceRunpoint)) { + next_device.setHas_goods(1); + deviceRunpoint.setHasgoods("1"); + deviceRunpoint.setUpdate_time(now); + deviceRunpoint.setUpdate_by(currentUsername); + deviceRunpointService.updateById(deviceRunpoint); + } + } + //移除任务缓存信息 this.removeByCodeFromCache(entity.getTask_code()); //反馈上位系统任务状态 @@ -844,6 +872,16 @@ public class TaskServiceImpl extends CommonServiceImpl impleme .collect(Collectors.toList()); } + @Override + public List findReadyByAgvSystemType(String agvSystemType) { + return Optional.ofNullable(this.tasks) + .orElse(new CopyOnWriteArrayList<>()) + .stream() + .filter(taskDto -> StrUtil.equals(taskDto.getAgv_system_type(), agvSystemType)) + .filter(taskDto -> taskDto.getTask_status().equals(TaskStatusEnum.READY.getIndex())) + .collect(Collectors.toList()); + } + @Override public TaskDto findByNextCode(String device_code) { Optional optionalTask = tasks.stream() @@ -912,7 +950,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme .orElse(new CopyOnWriteArrayList<>()) .stream() .filter(task -> StrUtil.equals(task.getStart_point_code(), start_point_code)) - .filter(task -> StrUtil.equals(task.getTask_status(),TaskStatusEnum.READY.getIndex())) + .filter(task -> StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex())) .findFirst() .orElse(null); } @@ -1253,8 +1291,6 @@ public class TaskServiceImpl extends CommonServiceImpl impleme } - - @Override public TaskDto findByTaskCode(String task_code) { return Optional.ofNullable(this.tasks) diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java index b107bad..f0740ea 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java @@ -12,8 +12,8 @@ import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.device.device.service.DeviceAppService; import org.nl.acs.route.service.RouteLineService; import org.nl.acs.route.service.dto.RouteLineDto; +import org.nl.acs.task.enums.AgvSystemTypeEnum; import org.nl.acs.task.enums.TaskStatusEnum; -import org.nl.acs.task.enums.TaskTypeEnum; import org.nl.acs.task.service.TaskService; import org.nl.acs.task.service.dto.TaskDto; import org.nl.common.utils.SecurityUtils; @@ -44,7 +44,7 @@ public class AutoCreateInst { * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货 */ public void run() throws Exception { - List list = taskService.findReadyByTaskType(TaskTypeEnum.AGV_TASK.getCode()); + List list = taskService.findReadyByAgvSystemType(AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode()); for (int i = 0; i < list.size(); i++) { TaskDto acsTask = list.get(i); String taskid = acsTask.getTask_id(); diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java index b1d4a81..dd70286 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java @@ -5,7 +5,6 @@ import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.StrUtil; import lombok.extern.slf4j.Slf4j; import org.apache.commons.lang3.ObjectUtils; -import org.nl.acs.common.base.CommonFinalParam; import org.nl.acs.device.device.service.DeviceAppService; import org.nl.acs.instruction.domain.Instruction; import org.nl.acs.instruction.enums.InstructionStatusEnum; @@ -45,8 +44,10 @@ public class AutoCreateYkInst { * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货 */ public void run() throws Exception { + List list = taskService.findReadyByTaskType(TaskTypeEnum.YK_TASK.getCode()); for (int i = 0; i < list.size(); i++) { + TaskDto acsTask = list.get(i); String taskid = acsTask.getTask_id(); String taskcode = acsTask.getTask_code(); @@ -111,6 +112,12 @@ public class AutoCreateYkInst { next_point_code = next_device_code; } + //呆料任务只能一次生成三个 + List instructionList = instructionService.findByNextDeviceCode(next_device_code); + if (instructionList.size() >= 3) { + return; + } + Instruction instdto = new Instruction(); instdto.setInstruction_type(InstTypeEnum.STACKER_TASK.getCode()); instdto.setInstruction_id(IdUtil.simpleUUID()); diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryCtuStatus.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryCtuStatus.java new file mode 100644 index 0000000..1d888a2 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryCtuStatus.java @@ -0,0 +1,111 @@ +package org.nl.system.service.quartz.task; + +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.apache.commons.collections4.CollectionUtils; +import org.nl.acs.device.device.domain.Device; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.driver.agv.hik_ctu.HikCtuCarDeviceDriver; +import org.nl.acs.ext.UnifiedResponse; +import org.nl.acs.ext.hk.service.AcsToHkService; +import org.nl.acs.ext.hk.service.data.QueryAgvStatusReq; +import org.nl.acs.ext.hk.service.data.dto.QueryAgvStatusDto; +import org.nl.acs.ext.utils.TypeCastingUtil; +import org.nl.acs.ext.wms.data.req.CommonRequest; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.system.service.param.ISysParamService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.util.*; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/6/11 + */ +@Slf4j +@Component +public class AutoQueryCtuStatus { + + private static final Map STATUS_MAP = new HashMap<>(); + private static final List MAP_CODE_LIST = Arrays.asList("AA", "BB"); + + static { + STATUS_MAP.put("3", "任务异常"); + STATUS_MAP.put("5", "机器人暂停"); + STATUS_MAP.put("13", "运动库异常"); + STATUS_MAP.put("16", "举升异常"); + STATUS_MAP.put("17", "充电桩异常"); + STATUS_MAP.put("18", "电量无增加"); + STATUS_MAP.put("20", "充电指令角度错误"); + STATUS_MAP.put("21", "平台下发指令错误"); + STATUS_MAP.put("25", "小车不在锁定区"); + STATUS_MAP.put("26", "下发重试失败"); + STATUS_MAP.put("28", "举升电池电量太低"); + STATUS_MAP.put("31", "区域锁定失败"); + STATUS_MAP.put("33", "旋转申请暂时失败"); + STATUS_MAP.put("34", "地图切换点地码未识别"); + } + + @Autowired + private AcsToHkService acsToHkService; + @Autowired + private AcsToWmsService acsToWmsService; + @Autowired + private ISysParamService sysParamService; + @Autowired + private DeviceAppService deviceAppService; + + public void run() { + for (String mapCode : MAP_CODE_LIST) { + QueryAgvStatusReq qasReq = QueryAgvStatusReq.builder() + .mapCode(mapCode) + .build(); + UnifiedResponse unifiedResponse = acsToHkService.queryAgvStatus(qasReq, List.class); + List data = TypeCastingUtil.convertToList(unifiedResponse.getData(), QueryAgvStatusDto.class); + if (CollectionUtils.isNotEmpty(data)) { + for (QueryAgvStatusDto queryAgvStatusDto : data) { + String robotCode = queryAgvStatusDto.getRobotCode(); + String battery = queryAgvStatusDto.getBattery(); + Float batteryLevel = Float.parseFloat(battery) / 100; + String posX = queryAgvStatusDto.getPosX(); + String posY = queryAgvStatusDto.getPosY(); + String status = queryAgvStatusDto.getStatus(); + + Device device = deviceAppService.findDeviceByCode(robotCode); + HikCtuCarDeviceDriver hikCtuCarDeviceDriver = null; + if (device != null && device.getDeviceDriver() instanceof HikCtuCarDeviceDriver){ + hikCtuCarDeviceDriver = (HikCtuCarDeviceDriver) device.getDeviceDriver(); + hikCtuCarDeviceDriver.setStatus(status); + hikCtuCarDeviceDriver.setBattery_level(batteryLevel); + hikCtuCarDeviceDriver.setX(Float.parseFloat(posX)); + hikCtuCarDeviceDriver.setY(Float.parseFloat(posY)); + } + if (STATUS_MAP.keySet().contains(status)) { + if (hikCtuCarDeviceDriver != null){ + hikCtuCarDeviceDriver.setIsError(true); + } + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")) { + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "CTU设备" + queryAgvStatusDto.getRobotCode() + "报警, 报警信息: " + STATUS_MAP.get(status)); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } else { + if (hikCtuCarDeviceDriver != null){ + hikCtuCarDeviceDriver.setIsError(false); + } + } + } + } + } + } +} \ No newline at end of file diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryXgAgvStatus.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryXgAgvStatus.java new file mode 100644 index 0000000..d784a21 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoQueryXgAgvStatus.java @@ -0,0 +1,114 @@ +package org.nl.system.service.quartz.task; + +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.XianGongAgvService; +import org.nl.acs.device.device.domain.Device; +import org.nl.acs.device.device.service.DeviceAppService; +import org.nl.acs.device.driver.agv.xg_agv_car.XgAgvCarDeviceDriver; +import org.nl.acs.ext.UnifiedResponse; +import org.nl.acs.ext.wms.data.req.CommonRequest; +import org.nl.acs.ext.wms.service.AcsToWmsService; +import org.nl.system.service.param.ISysParamService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; + +import java.util.*; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/6/11 + */ +@Slf4j +@Component +public class AutoQueryXgAgvStatus { + + + @Autowired + private XianGongAgvService xianGongAgvService; + @Autowired + private ISysParamService sysParamService; + @Autowired + private AcsToWmsService acsToWmsService; + @Autowired + private DeviceAppService deviceAppService; + + public void run() { + UnifiedResponse unifiedResponse = xianGongAgvService.queryXZAgvDeviceStatus(null, JSONObject.class); + if (unifiedResponse.isSuccess()) { + JSONObject data = unifiedResponse.getData(); + JSONArray ja = data.getJSONArray("report"); + for (int i = 0; i < ja.size(); i++) { + JSONObject jo = ja.getJSONObject(i); + String agv_code = jo.getString("uuid"); + //机器人详细状态信息 + JSONObject rbk_report = jo.getJSONObject("rbk_report"); + //是否正在充电 + Boolean charging = rbk_report.getBoolean("charging"); + //电量 + Float battery_level = rbk_report.getFloatValue("battery_level"); + //x坐标 + float x = rbk_report.getFloatValue("x"); + //y坐标 + float y = rbk_report.getFloatValue("y"); + //是否正在执行任务 + Boolean procBusiness = jo.getBoolean("procBusiness"); + //agv是否故障 + Boolean is_error = jo.getBoolean("is_error"); + //执行运单信息 + JSONObject current_order = jo.getJSONObject("current_order"); + Integer connectionStatus = jo.getInteger("connection_status"); + String inst_code = current_order.getString("id"); + Device device = deviceAppService.findDeviceByCode(agv_code); + String status = "0"; + if (connectionStatus == 0) { + //关机 + status = "5"; + } else { + if (procBusiness && !is_error) { + //工作中 + status = "1"; + } else { + if (charging) { + //充电中 + status = "2"; + } else { + if (is_error) { + //故障 + status = "3"; + } else { + //休息中 + status = "4"; + } + } + } + } + if (device != null && device.getDeviceDriver() instanceof XgAgvCarDeviceDriver){ + XgAgvCarDeviceDriver xgAgvCarDeviceDriver = (XgAgvCarDeviceDriver) device.getDeviceDriver(); + xgAgvCarDeviceDriver.setStatus(status); + xgAgvCarDeviceDriver.setBattery_level(battery_level); + xgAgvCarDeviceDriver.setX(x); + xgAgvCarDeviceDriver.setY(y); + xgAgvCarDeviceDriver.setTask(inst_code); + } + if (is_error) { + String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify")) + .map(notify -> notify.getValue()) + .orElse("0"); + if (notifyValue.equals("1")) { + JSONObject dataParam = new JSONObject(); + dataParam.put("msg", "AGV设备:" + agv_code + " 报警, 报警信息: 请查看AGV设备详情"); + CommonRequest requestParam = CommonRequest.builder() + .service("ErrorInfo") + .type("2") + .data(dataParam) + .build(); + acsToWmsService.apply(requestParam); + } + } + } + } + } +} \ No newline at end of file diff --git a/nladmin-ui/src/views/acs/device/config.vue b/nladmin-ui/src/views/acs/device/config.vue index d009175..ff13dc6 100644 --- a/nladmin-ui/src/views/acs/device/config.vue +++ b/nladmin-ui/src/views/acs/device/config.vue @@ -98,6 +98,7 @@ import slit_two_manipulator from '@/views/acs/device/driver/slit_two_manipulator // import empty_vehicle_stacking_position from '@/views/acs/device/driver/empty_vehicle_stacking_position' import agv_ndc_one from '@/views/acs/device/driver/agv/agv_ndc_one' import agv_ndc_two from '@/views/acs/device/driver/agv/agv_ndc_two' +import hik_ctu_car from '@/views/acs/device/driver/agv/hik_ctu_car' import xg_agv from '@/views/acs/device/driver/agv/xg_agv' import led_screen from './driver/led_screen' import standard_station from '@/views/acs/device/driver/standard_station' @@ -149,6 +150,8 @@ export default { agv_ndc_two, agv_ndc_one, xg_agv, + xg_agv_car, + hik_ctu_car, led_screen, standard_stacker, siemens_conveyor_labeling, @@ -189,7 +192,6 @@ export default { pull_tail_manipulator, inflatable_shaft_library, green_foil_machine_button, - xg_agv_car, oven_inspect_site, manipulator_agv_station, volume_two_manipulator, diff --git a/nladmin-ui/src/views/acs/device/driver/agv/hik_ctu_car.vue b/nladmin-ui/src/views/acs/device/driver/agv/hik_ctu_car.vue new file mode 100644 index 0000000..db13247 --- /dev/null +++ b/nladmin-ui/src/views/acs/device/driver/agv/hik_ctu_car.vue @@ -0,0 +1,103 @@ + + + + + diff --git a/nladmin-ui/src/views/acs/device/driver/agv/xg_agv_car.vue b/nladmin-ui/src/views/acs/device/driver/agv/xg_agv_car.vue index 3faf772..db13247 100644 --- a/nladmin-ui/src/views/acs/device/driver/agv/xg_agv_car.vue +++ b/nladmin-ui/src/views/acs/device/driver/agv/xg_agv_car.vue @@ -1,197 +1,22 @@