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add:新增一体机接口

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tuqiang
2024-10-12 09:25:57 +08:00
parent 2b56181fd6
commit 8aeca869f7
8 changed files with 789 additions and 38 deletions
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50
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/ToAgvDevice.java Normal file
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@@ -0,0 +1,50 @@
package org.nl.acs.agv;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AgvService;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
import org.nl.acs.opc.DeviceAppService;
import org.nl.hand.service.PdaService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
/**
* 查询AGV设备状态
*/
@Slf4j
@Component
public class ToAgvDevice {
@Autowired
AgvService agvService;
@Autowired
DeviceAppService deviceAppService;
@Autowired
PdaService pdaService;
public void run() throws Exception {
JSONArray agv_rows = new JSONArray();
AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
List<Device> deviceList = deviceAppService.findDeviceByType(DeviceType.agv);
for(Device device:deviceList) {
if (device.getDeviceDriver()instanceof AgvNdcTwoDeviceDriver){
JSONObject row = new JSONObject();
agvNdcTwoDeviceDriver= (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
row.put("device_code", String.valueOf(device.getDevice_code()));
row.put("positionX", String.valueOf(agvNdcTwoDeviceDriver.getX()));
row.put("positionY", String.valueOf(agvNdcTwoDeviceDriver.getY()));
row.put("positionAngle", String.valueOf(agvNdcTwoDeviceDriver.getAngle()));
agv_rows.add(row);
}
}
pdaService.feedbackAgv(agv_rows);
}
}

235
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/ndctwo/AgvNdcTwoDeviceDriver.java
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@@ -36,6 +36,8 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.monitor.DeviceStageMonitor;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.region.domain.Region;
import org.nl.acs.region.service.RegionService;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
import org.nl.acs.task.service.impl.TaskServiceImpl;
@@ -65,6 +67,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
RegionService regionService = SpringContextHolder.getBean(RegionService.class);
DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
DeviceErrorLogService deviceErrorLogService = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
@@ -234,15 +237,26 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
String task_code = standardOrdinarySiteDeviceDriver.getTask_code();
log.info("当前任务号{},创建任务号{}", task.getTask_code(), task_code);
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
//放货确认
if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
standardOrdinarySiteDeviceDriver.setOption(0);
} else {
log.info("等待一体机进行放货确认，设备号{},option值{}", standardOrdinarySiteDeviceDriver.getDevice_code(), standardOrdinarySiteDeviceDriver.getOption());
logServer.deviceExecuteLog(this.device_code, "", "", "等待一体机进行放货确认,设备号" + device.getDevice_code() + ",指令号" + ikey);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(standardOrdinarySiteDeviceDriver.getDevice_code())
.content("等待一体机进行放货确认,设备号" + standardOrdinarySiteDeviceDriver.getDevice_code() + ",option当前值" + standardOrdinarySiteDeviceDriver.getOption())
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
@@ -589,7 +603,6 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else if (device.getDeviceDriver() instanceof PaperTubePickSiteDeviceDriver) {
paperTubePickSiteDeviceDriver = (PaperTubePickSiteDeviceDriver) device.getDeviceDriver();
try {
@@ -729,7 +742,176 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else if (phase == 0x4D) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agv地址参数有误,phase:" + phase)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
return;
}
if (agvaddr != 0) {
CommonFinalParam commonFinalParam = new CommonFinalParam();
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
Region region = regionService.findByCode("1");
if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
&& StrUtil.equals("true", device.getExtraValue().get("wait").toString()) ) {
if (StrUtil.equals(region.getIs_charge(), CommonFinalParam.ZERO)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
if (standardOrdinarySiteDeviceDriver.getOpenCount() == 0) {
region.setIs_charge("1");
region.setHas_agv("0");
regionService.updateById(region);
standardOrdinarySiteDeviceDriver.setOpenCount(standardOrdinarySiteDeviceDriver.getOpenCount() + 1);
}
if (standardOrdinarySiteDeviceDriver.getOpenCount() == 1) {
region.setIs_charge("0");
region.setHas_agv("1");
regionService.updateById(region);
standardOrdinarySiteDeviceDriver.setOpenCount(0);
}
}else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(region.getRegion_name()+"被管制!")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
}
else if (phase == 0x4E) {
if (agvaddr == 0) {
agvaddr = agvaddr_copy;
}
if (agvaddr < 1) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(device_code)
.content("agv地址参数有误,phase:" + phase)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
return;
}
if (agvaddr != 0) {
CommonFinalParam commonFinalParam = new CommonFinalParam();
old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
if (StrUtil.contains(old_device_code, commonFinalParam.getBARRE())) {
String[] point = old_device_code.split(commonFinalParam.getBARRE());
device_code = point[0];
} else if (StrUtil.contains(old_device_code, commonFinalParam.getPOINT())) {
String[] point = old_device_code.split("\\.");
device_code = point[0];
emptyNum = point[1];
} else {
device_code = old_device_code;
}
}
device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device_code)) {
log.info(agvaddr + "对应设备号为空!");
return;
}
if (ObjectUtil.isEmpty(inst)) {
log.info("未找到指令号{}对应的指令", ikey);
return;
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
Region region = regionService.findByCode("1");
if (ObjectUtil.isNotEmpty(device.getExtraValue().get("reqWms"))
&& StrUtil.equals("true", device.getExtraValue().get("reqWms").toString())) {
if (StrUtil.equals(region.getIs_charge(), CommonFinalParam.ZERO)) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
if (standardOrdinarySiteDeviceDriver.getCloseCount() == 0) {
region.setIs_charge("0");
region.setHas_agv("1");
regionService.updateById(region);
standardOrdinarySiteDeviceDriver.setOpenCount(standardOrdinarySiteDeviceDriver.getOpenCount() + 1);
}
if (standardOrdinarySiteDeviceDriver.getCloseCount() == 1) {
region.setIs_charge("1");
region.setHas_agv("0");
regionService.updateById(region);
standardOrdinarySiteDeviceDriver.setCloseCount(0);
}
}else {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content(region.getRegion_name()+"被管制!")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
}
//放货完成
//(Itype=1/2/3,需要WCS反馈)
else if (phase == 0x09) {
@@ -771,22 +953,8 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
}
if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
log.info("日志检查!" + device.getExtraValue().get("wait") + standardOrdinarySiteDeviceDriver.getOption());
if (ObjectUtil.isNotEmpty(device.getExtraValue().get("wait"))
&& StrUtil.equals("true", device.getExtraValue().get("wait").toString())) {
if (standardOrdinarySiteDeviceDriver.getOption() == 1) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
.content("agvphase:" + phase + "反馈:" + data)
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
standardOrdinarySiteDeviceDriver.setAgvphase(phase);
standardOrdinarySiteDeviceDriver.setIndex(index);
standardOrdinarySiteDeviceDriver.setInst(inst);
}
} else {
//卸货确认
if (standardOrdinarySiteDeviceDriver.getOption() == 2) {
data = ndcAgvService.sendAgvTwoModeInst(phase, index, 0, 0, 0);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(this.getDeviceCode())
@@ -794,6 +962,16 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
standardOrdinarySiteDeviceDriver.setOption(0);
} else {
log.info("等待一体机进行卸货确认，设备号{},option值{}", standardOrdinarySiteDeviceDriver.getDevice_code(), standardOrdinarySiteDeviceDriver.getOption());
logServer.deviceExecuteLog(this.device_code, "", "", "等待一体机进行卸货确认,设备号" + device.getDevice_code() + ",指令号" + ikey);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(standardOrdinarySiteDeviceDriver.getDevice_code())
.content("等待一体机进行卸货确认,设备号" + standardOrdinarySiteDeviceDriver.getDevice_code() + ",option当前值" + standardOrdinarySiteDeviceDriver.getOption())
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
} else {
@@ -805,10 +983,7 @@ public class AgvNdcTwoDeviceDriver extends AbstractDeviceDriver implements Devic
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
}
}
//上传AGV电量
else if (phase == 0x70) {
} else if (phase == 0x70) {
//x坐标
x = ikey;
LuceneLogDto logDto = LuceneLogDto.builder()

10
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_ordinary_site/StandardOrdinarySiteDeviceDriver.java
View File

@@ -158,6 +158,10 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
int move;
int openCount = 0;
int closeCount = 0;
@Override
public void execute() {
hasGoods = this.getDevice().getHas_goods();
@@ -264,8 +268,8 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
jo.put("hasGoods", true);
}
DeviceDto dto = deviceservice.findByCode(this.getDevice().getDevice_code());
jo.put("zh_device_name",dto.getZh_device_name());
jo.put("en_device_name",dto.getEn_device_name());
jo.put("zh_device_name", dto.getZh_device_name());
jo.put("en_device_name", dto.getEn_device_name());
jo.put("mode", mode);
jo.put("move", move);
jo.put("action", action);
@@ -281,7 +285,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractDeviceDriver imple
@Override
public void setDeviceStatus(JSONObject data) {
String flag = data.getString("option");
if(StrUtil.isNotEmpty(flag)){
if (StrUtil.isNotEmpty(flag)) {
option = Integer.parseInt(flag);
}
}

7
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/rest/PdaController.java
View File

@@ -105,5 +105,12 @@ public class PdaController {
return new ResponseEntity<>(pdaService.cancel(whereJson), HttpStatus.OK);
}
@PostMapping("/queryDevice")
@Log(value = "一体机查询设备状态")
@SaIgnore
public ResponseEntity<Object> queryDevice(@RequestBody String whereJson) throws Exception {
return new ResponseEntity<>(pdaService.queryDevice(whereJson), HttpStatus.OK);
}
}

11
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/PdaService.java
View File

@@ -1,5 +1,6 @@
package org.nl.hand.service;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.task.service.dto.TaskIdAndStatusDTO;
@@ -28,4 +29,14 @@ public interface PdaService {
JSONArray queryAreas();
Map<String, Object> putAction(String whereJson);
HttpResponse feedbackAgv(JSONArray agv_rows);
/**
* 查询设备状态
*
* @param jsonObject 条件
* @return Map<String, Object>
*/
Map<String, Object> queryDevice(String jsonObject) throws Exception;
}

97
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/hand/service/impl/PdaServiceImpl.java
View File

@@ -3,21 +3,39 @@ package org.nl.hand.service.impl;
import cn.hutool.core.collection.CollectionUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.toolkit.StringUtils;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.address.service.AddressService;
import org.nl.acs.address.service.dto.AddressDto;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device_driver.agv.ndctwo.AgvNdcTwoDeviceDriver;
import org.nl.acs.device_driver.conveyor.box_palletizing_manipulator.BoxPalletizingManipulatorDeviceDriver;
import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.device_driver.one_conveyor.fold_disc_site.FoldDiscSiteDeviceDriver;
import org.nl.acs.device_driver.one_manipulator.box_package_manipulator.BoxPackageManipulatorDeviceDriver;
import org.nl.acs.device_driver.paper_tube_device2.PaperTubeConveyor2DeviceDriver;
import org.nl.acs.device_driver.two_conveyor.blank_manipulator.BlankManipulatorDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.hongxiang_device.HongXiangConveyorDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.inflatable_shaft_library.InflatableShaftLibraryDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.oven_manipulator.OvenGantryManipulatorDeviceDriver;
import org.nl.acs.device_driver.two_conveyor.subvolume_weighing_station.SubvolumeWeighingStationDriver;
import org.nl.acs.device_driver.two_conveyor.waste_foil_weighing_station.WasteFoilWeighingStationDriver;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.region.domain.Region;
import org.nl.acs.region.service.RegionService;
import org.nl.acs.storage_cell.domain.StorageCell;
import org.nl.acs.task.enums.TaskStatusEnum;
import org.nl.acs.task.service.TaskService;
import org.nl.acs.task.service.dto.TaskDto;
@@ -30,6 +48,7 @@ import org.nl.hand.service.HandService;
import org.nl.hand.service.PdaService;
import org.nl.system.service.dict.dao.Dict;
import org.nl.system.service.dict.dao.mapper.SysDictMapper;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.http.HttpStatus;
@@ -61,6 +80,12 @@ public class PdaServiceImpl implements PdaService {
@Autowired
private InstructionService instructionService;
@Autowired
ISysParamService paramService;
@Autowired
AddressService addressService;
@Override
public JSONArray queryAllPoints() {
JSONArray data = new JSONArray();
@@ -205,12 +230,12 @@ public class PdaServiceImpl implements PdaService {
@Override
public JSONArray queryTaskIds() {
//查询所有就绪或者执行中的任务
JSONArray result = new JSONArray();
List<TaskDto> list = taskserver.queryAllUnfinished();
if (CollectionUtil.isEmpty(list)) {
throw new BadRequestException(LangProcess.msg("error_no_regional"));
return result;
}
JSONArray arr = JSONArray.parseArray(JSON.toJSONString(list));
JSONArray result = new JSONArray();
for (int i = 0; i < arr.size(); i++) {
JSONObject obj = arr.getJSONObject(i);
JSONObject json = new JSONObject();
@@ -227,12 +252,17 @@ public class PdaServiceImpl implements PdaService {
JSONObject resultJson = new JSONObject();
TaskDto dto = taskserver.findByCode(task_code);
if (Integer.parseInt(dto.getTask_status())==0) {
try {
taskserver.cancel(dto.getTask_id());
} catch (Exception e) {
resultJson.put("message", e.getMessage());
return resultJson;
}
resultJson.put("message", "取消成功");
return resultJson;
}
Instruction instruction = instructionService.findByTaskid(dto.getTask_id(),"instruction_status <2 ");
try {
instructionService.cancel(instruction.getInstruction_id());
taskserver.cancelAndInst(dto.getTask_id());
} catch (Exception e) {
resultJson.put("message", e.getMessage());
return resultJson;
@@ -271,4 +301,63 @@ public class PdaServiceImpl implements PdaService {
}
return resultJson;
}
@Override
public HttpResponse feedbackAgv(JSONArray from) {
String wmsUrl = paramService.findByCode(AcsConfig.WMSURL).getValue();
AddressDto addressDto = addressService.findByCode("feedbackAgv");
String methods_url = addressDto.getMethods_url();
String url = wmsUrl + methods_url;
HttpResponse result = null;
try {
result = HttpRequest.post(url)
.body(String.valueOf(from))
.execute();
System.out.println(result);
log.info("feedbackAgv----返回参数{}", result);
} catch (Exception e) {
String msg = e.getMessage();
//网络不通
//System.out.println(msg);
}
return result;
}
@Override
public Map<String, Object> queryDevice(String jsonObject) throws Exception {
JSONArray backja = new JSONArray();
JSONArray datas = JSONArray.parseArray(jsonObject);
//agv
AgvNdcTwoDeviceDriver agvNdcTwoDeviceDriver;
if (datas.size() == 0) {
throw new BadRequestException("缺少输入参数！");
}
for (int i = 0; i < datas.size(); i++) {
JSONObject jo = new JSONObject();
JSONObject ja = new JSONObject();
JSONObject data = datas.getJSONObject(i);
String device_code = data.getString("device_code");
Device device = deviceAppService.findDeviceByCode(device_code);
if (ObjectUtil.isEmpty(device)) {
throw new Exception("未找到对应设备:" + device_code);
}
if (device.getDeviceDriver() instanceof AgvNdcTwoDeviceDriver) {
agvNdcTwoDeviceDriver = (AgvNdcTwoDeviceDriver) device.getDeviceDriver();
jo.put("device_code", agvNdcTwoDeviceDriver.getDevice().getDevice_code());
jo.put("x", agvNdcTwoDeviceDriver.getX());
jo.put("y", agvNdcTwoDeviceDriver.getY());
jo.put("angle", agvNdcTwoDeviceDriver.getAngle());
ja.put(agvNdcTwoDeviceDriver.getDevice().getDevice_code(),jo);
}
backja.add(ja);
}
JSONObject resultJson = new JSONObject();
resultJson.put("status", HttpStatus.OK.value());
resultJson.put("message", "操作成功");
resultJson.put("data", backja);
return resultJson;
}
}