rev:更新

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

@@ -27,6 +27,7 @@ import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -38,9 +39,12 @@ import java.util.Map;
 @Service
 @RequiredArgsConstructor
 public class MagicAgvServiceImpl implements MagicAgvService {
-    private final DeviceAppService deviceAppService;
+    @Autowired
-    private final ParamService paramService;
+    DeviceAppService deviceAppService;
-    private final AcsToWmsService acsToWmsService;
+    @Autowired
+    ParamService paramService;
+    @Autowired
+    AcsToWmsService acsToWmsService;
 
 
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();

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

@@ -19,6 +19,7 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
@@ -29,8 +30,10 @@ import java.util.Map;
 @RequiredArgsConstructor
 public class NDCAgvServiceImpl implements NDCAgvService {
 
-    private final DeviceAppService deviceAppService;
+    @Autowired
-    private final ParamService paramService;
+    DeviceAppService deviceAppService;
+    @Autowired
+    ParamService paramService;
     private final AcsToWmsService acsToWmsService;
 
     private final DeviceExecuteLogService logServer;

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

@@ -21,6 +21,8 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -32,9 +34,16 @@ import java.util.Map;
 @Service
 @RequiredArgsConstructor
 public class XianGongAgvServiceImpl implements XianGongAgvService {
-    private final DeviceAppService deviceAppService;
+    @Autowired
-    private final ParamService paramService;
+    DeviceAppService deviceAppService;
-    private final AcsToWmsService acsToWmsService;
+
+    @Autowired
+    ParamService paramService;
+
+    @Lazy
+    @Autowired
+    AcsToWmsService acsToWmsService;
+
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
     @LokiLog(type = LokiLogType.AGV)

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

@@ -27,13 +27,15 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 @Slf4j
 @Service
 @RequiredArgsConstructor
 public class ZheDaAgvServiceImpl implements ZheDaAgvService {
-    private final ParamService paramService;
+    @Autowired
+    ParamService paramService;
     @LokiLog(type = LokiLogType.AGV)
     @Override
     public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception {

acs/nladmin-system/src/main/java/org/nl/acs/device_driver/basedriver/agv/ndcone/AgvNdcOneDeviceDriver.java

@@ -193,6 +193,32 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             } else {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             }
+            if (ObjectUtil.isNotEmpty(inst)){
+                JSONArray req = new JSONArray();
+                JSONObject map = new JSONObject();
+                map.put("device_code", inst.getStart_point_code());
+                map.put("device_status",inst.getExecute_status());
+                map.put("energyLevel",electric_qty);
+                map.put("transportOrder",inst.getTask_code());
+                map.put("positionX",x);
+                map.put("positionY",y);
+                map.put("positionAngle",angle);
+                HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
+                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+                    JSONObject resp = JSONObject.parseObject(httpResponse.body());
+                    if (resp.getInteger("status") == 200) {
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
+                    } else {
+                        log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
+                    }
+                } else {
+                    log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
+                }
+            } else {
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            }
+
             //取货完毕
             //(需要WCS反馈)
         } else if (phase == 0x05) {
@@ -254,6 +280,32 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             } else {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             }
+
+            if (ObjectUtil.isNotEmpty(inst)){
+                JSONArray req = new JSONArray();
+                JSONObject map = new JSONObject();
+                map.put("device_code", inst.getStart_point_code());
+                map.put("device_status",inst.getExecute_status());
+                map.put("energyLevel",electric_qty);
+                map.put("transportOrder",inst.getTask_code());
+                map.put("positionX",x);
+                map.put("positionY",y);
+                map.put("positionAngle",angle);
+                HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
+                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+                    JSONObject resp = JSONObject.parseObject(httpResponse.body());
+                    if (resp.getInteger("status") == 200) {
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
+                    } else {
+                        log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
+                    }
+                } else {
+                    log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
+                }
+            } else {
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            }
             //到达放货点
             //(需要WCS反馈)
         } else if (phase == 0x07) {
@@ -311,6 +363,32 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             } else {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             }
+
+            if (ObjectUtil.isNotEmpty(inst)){
+                JSONArray req = new JSONArray();
+                JSONObject map = new JSONObject();
+                map.put("device_code", inst.getStart_point_code());
+                map.put("device_status",inst.getExecute_status());
+                map.put("energyLevel",electric_qty);
+                map.put("transportOrder",inst.getTask_code());
+                map.put("positionX",x);
+                map.put("positionY",y);
+                map.put("positionAngle",angle);
+                HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
+                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+                    JSONObject resp = JSONObject.parseObject(httpResponse.body());
+                    if (resp.getInteger("status") == 200) {
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
+                    } else {
+                        log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
+                    }
+                } else {
+                    log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
+                }
+            } else {
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            }
             //放货完毕
             //(需要WCS反馈)
         } else if (phase == 0x09) {
@@ -364,6 +442,31 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
             } else {
                 data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             }
+            if (ObjectUtil.isNotEmpty(inst)){
+                JSONArray req = new JSONArray();
+                JSONObject map = new JSONObject();
+                map.put("device_code", inst.getStart_point_code());
+                map.put("device_status",inst.getExecute_status());
+                map.put("energyLevel",electric_qty);
+                map.put("transportOrder",inst.getTask_code());
+                map.put("positionX",x);
+                map.put("positionY",y);
+                map.put("positionAngle",angle);
+                HttpResponse httpResponse = acsToWmsService.feedbackAgv(req);
+                if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
+                    JSONObject resp = JSONObject.parseObject(httpResponse.body());
+                    if (resp.getInteger("status") == 200) {
+                        data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+                        log.info("指令号:{},acs向wms反馈AGV设备信息,已反馈AGV设备信息", inst.getInstruction_code());
+                    } else {
+                        log.warn("指令号:{},acs向wms反馈AGV设备信息,未反馈AGV设备信息", inst.getInstruction_code());
+                    }
+                } else {
+                    log.warn("指令号:{},acs向wms反馈AGV设备信息失败，连接被拒绝,未反馈agv设备信息", inst.getInstruction_code());
+                }
+            } else {
+                data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
+            }
         }
         //到达位置点
         //(需要WCS反馈)
@@ -379,7 +482,22 @@ public class AgvNdcOneDeviceDriver extends AbstractDeviceDriver implements Devic
         } else if (phase == 0x51) {//离开交通灯区域
             data = NDCAgvService.sendAgvOneModeInst(phase, index, 0);
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
-        }
+        } else if (phase == 0x70) {
+           //x坐标
+            x = ikey;
+        } else if (phase == 0x71) {
+            //y坐标
+            y = ikey;
+        } else if (phase == 0x72) {
+        //车辆角度
+            angle = ikey;
+        } else if (phase == 0x73) {
+        //agv电量
+        electric_qty = ikey;
+        } else if (phase == 0x74) {
+        //三色灯状态
+        status = ikey;
+    }
         if (!ObjectUtil.isEmpty(data)) {
             logServer.deviceExecuteLog(this.device_code, "", "", "agvphase:" + phase + "反馈:" + data);
             OneNDCSocketConnectionAutoRun.write(data);

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

@@ -46,7 +46,6 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
     /*@Value("${acsTowms.token}")*/
     public String token;
 
-
     private String log_file_type="log_file_type";
     private String log_type="ACS请求LMS";
 

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

@@ -71,14 +71,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
 
     @Autowired
     DeviceAppService deviceAppService;
+
     @Autowired
     NDCAgvService ndcAgvService;
     @Autowired
     ParamService paramService;
     @Autowired
     RouteLineService routeLineService;
-    @Autowired
+
-    TaskService taskService;
+    private final TaskService taskService;
     @Autowired
     AcsToLiKuService acsToLiKuService;
 

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskFeedbackServiceImpl.java

@@ -105,7 +105,9 @@ public class TaskFeedbackServiceImpl implements TaskFeedbackService {
     @Transactional(rollbackFor = Exception.class)
     public void update(TaskFeedbackDto dto) {
         TaskFeedbackDto entity = this.findById(dto.getTaskback_id());
-        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        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();

acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -74,8 +74,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     DeviceAppService deviceAppService;
     @Autowired
     RouteLineService routelineserver;
+
     @Autowired
     AcsToWmsService acstowmsService;
+
     @Autowired
     TaskFeedbackService taskFeedbackService;
     @Autowired
@@ -86,8 +88,10 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     RouteLineService routeLineService;
     @Autowired
     DeviceAssignedService deviceAssignedService;
+
     @Autowired
     InstructionService instructionService;
+
     @Autowired
     StorageCellService storageCellService;
 
@@ -99,6 +103,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         }
     }
 
+    @Override
     public synchronized void reload() {
         List list = this.queryAll("task_status <2 and is_delete =0 order by create_time");
 
@@ -372,6 +377,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return list;
     }
 
+    @Override
     public List<TaskDto> queryTaskByStartAndIntStatus(String head_start_device_code) {
         List<TaskDto> list = new ArrayList<>();
         Iterator<TaskDto> iterator = tasks.iterator();
@@ -392,6 +398,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return list;
     }
 
+    @Override
     public List<TaskDto> queryTaskByNextAndIntStatus(String back_start_device_code) {
         List<TaskDto> list = new ArrayList<>();
         Iterator<TaskDto> iterator = tasks.iterator();
@@ -800,10 +807,14 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
     @Transactional(rollbackFor = Exception.class)
     public void finish(String id) {
         TaskDto entity = this.findById(id);
-        if (entity == null) throw new BadRequestException("被删除或无权限，操作失败!");
+        if (entity == null) {
+            throw new BadRequestException("被删除或无权限，操作失败!");
+        }
         InstructionService instructionservice = SpringContextHolder.getBean("instructionServiceImpl");
         InstructionDto instdto = instructionservice.findByTaskid(id, "instruction_status <2 ");
-        if (instdto != null) throw new BadRequestException("有指令未完成!");
+        if (instdto != null) {
+            throw new BadRequestException("有指令未完成!");
+        }
         String currentUsername = SecurityUtils.getCurrentUsername();
         String now = DateUtil.now();
         entity.setUpdate_time(now);
@@ -1327,6 +1338,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return tasks;
     }
 
+    @Override
     public TaskDto findByContainer(String container_code) {
         Iterator var3 = tasks.iterator();
 
@@ -1340,6 +1352,7 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         return null;
     }
 
+    @Override
     public TaskDto findByCodeFromCache(String task_code) {
         Iterator var3 = tasks.iterator();