Merge branch 'agv_twoFloorAgvScreen_acs_dev' into acs_dev

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/contorller/TwoFloorAgvController.java

@@ -0,0 +1,38 @@
+package org.nl.acs.agv.contorller;
+
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * 二楼AGV状态控制器
+ * 提供HTTP接口获取AGV状态信息
+ */
+@RestController
+@RequestMapping("/api/agv/two-floor")
+public class TwoFloorAgvController {
+
+    @Autowired
+    private TwoFloorAgvStatusService agvStatusService;
+
+    /**
+     * 获取所有二楼AGV状态
+     * @return 所有AGV状态列表
+     */
+    @GetMapping("/status")
+    public Object getAllAgvStatus() {
+        return agvStatusService.getAllAgvStatus();
+    }
+
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    @GetMapping("/status/{vehicleCode}")
+    public Object getAgvStatus(String vehicleCode) {
+        return agvStatusService.getAgvStatus(vehicleCode);
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/domain/TwoFloorAgvStatus.java

@@ -0,0 +1,180 @@
+package org.nl.acs.agv.domain;
+
+import lombok.Data;
+
+/**
+ * 二楼AGV状态数据模型
+ * 用于存储和传输AGV的实时状态信息
+ */
+@Data
+public class TwoFloorAgvStatus {
+
+    /**
+     * AGV车辆代码
+     */
+    private String vehicle_code;
+
+    /**
+     * AGV状态
+     */
+    private String status;
+
+    /**
+     * AGV状态文本描述
+     */
+    private String status_text;
+
+    /**
+     * 当前任务代码
+     */
+    private String task_code;
+
+    /**
+     * 当前指令代码
+     */
+    private String inst_code;
+
+    /**
+     * 当前阶段值
+     */
+    private Integer phase;
+
+    /**
+     * 当前阶段名称
+     */
+    private String phase_name;
+
+    /**
+     * 当前位置
+     */
+    private String address;
+
+    /**
+     * 物料类型
+     */
+    private String material_type;
+
+    /**
+     * 物料数量
+     */
+    private Integer quantity;
+
+    /**
+     * 开始设备代码
+     */
+    private String start_device_code;
+
+    /**
+     * 下一个设备代码
+     */
+    private String next_device_code;
+
+    /**
+     * 是否有错误
+     */
+    private Boolean is_error;
+
+    /**
+     * 错误代码
+     */
+    private String error_code;
+
+    /**
+     * 错误信息
+     */
+    private String error_message;
+
+    /**
+     * 卡住的Action
+     */
+    private String error_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String error_mode;
+    /**
+     * 卡住的move
+     */
+    private String error_move;
+    /**
+     * 卡住的error
+     */
+    private String error_error;
+    /**
+     * 设备号
+     */
+    private String device_code;
+    /**
+     * 期望的Action
+     */
+    private String exp_action;
+
+    /**
+     * 卡住的Mode
+     */
+    private String exp_mode;
+    /**
+     * 卡住的move
+     */
+    private String exp_move;
+    /**
+     * 卡住的error
+     */
+    private String exp_error;
+
+    /**
+     * 实际Action
+     */
+    private String action;
+
+    /**
+     * 实际Mode
+     */
+    private String mode;
+    /**
+     * 实际move
+     */
+    private String move;
+    /**
+     * 实际error
+     */
+    private String error;
+
+    /**
+     * 电量
+     */
+    private Integer electric_qty;
+
+    private String driver;
+
+    /**
+     * X坐标
+     */
+    private Integer x;
+
+    /**
+     * Y坐标
+     */
+    private Integer y;
+
+    /**
+     * 角度
+     */
+    private Integer angle;
+
+    /**
+     * 区域
+     */
+    private Integer region;
+
+    /**
+     * 是否在线
+     */
+    private Boolean is_online;
+
+    /**
+     * 三色灯状态
+     */
+    private Integer status_light;
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/service/impl/TwoFloorAgvStatusService.java

@@ -0,0 +1,140 @@
+package org.nl.acs.agv.service.impl;
+
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
+import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 二楼AGV状态管理服务
+ * 负责管理和更新AGV状态，通过HTTP接口提供状态查询
+ */
+@Service
+public class TwoFloorAgvStatusService {
+
+    @Autowired
+    private TwoAgvPhase twoAgvPhase;
+
+    /**
+     * 存储AGV状态信息，key为AGV车辆代码
+     */
+    private ConcurrentHashMap<String, TwoFloorAgvStatus> agvStatusMap = new ConcurrentHashMap<>();
+
+    /**
+     * 初始化AGV状态
+     */
+    public TwoFloorAgvStatusService() {
+        // 初始化二楼的4台AGV
+        for (int i = 1; i <= 4; i++) {
+            TwoFloorAgvStatus agvStatus = new TwoFloorAgvStatus();
+            String vehicleCode = String.format("AGV%02d", i);
+            agvStatus.setVehicle_code(vehicleCode);
+            agvStatus.setStatus("idle");
+            agvStatus.setStatus_text("空闲");
+            agvStatus.setIs_error(false);
+            agvStatus.setIs_online(true);
+            agvStatusMap.put(vehicleCode, agvStatus);
+        }
+    }
+
+    /**
+     * 更新AGV状态
+     * @param agvStatus AGV状态信息
+     */
+    public synchronized void updateAgvStatus(TwoFloorAgvStatus agvStatus) {
+        if (agvStatus == null || agvStatus.getVehicle_code() == null) {
+            return;
+        }
+
+        // 处理阶段名称
+        if (agvStatus.getPhase() != null) {
+            String phaseName = twoAgvPhase.getPhaseName(agvStatus.getPhase());
+            agvStatus.setPhase_name(phaseName);
+        }
+
+        // 处理状态文本
+        this.handleStatusText(agvStatus);
+
+        // 更新状态
+        agvStatusMap.put(agvStatus.getVehicle_code(), agvStatus);
+    }
+
+    /**
+     * 处理AGV状态文本
+     */
+    private void handleStatusText(TwoFloorAgvStatus agvStatus) {
+        switch (agvStatus.getStatus()) {
+            case "running":
+                agvStatus.setStatus_text("运行中");
+                break;
+            case "idle":
+                agvStatus.setStatus_text("空闲");
+                break;
+            case "error":
+                agvStatus.setStatus_text("异常");
+                agvStatus.setIs_error(true);
+                break;
+            case "charging":
+                agvStatus.setStatus_text("充电中");
+                break;
+            default:
+                agvStatus.setStatus_text("未知");
+                break;
+        }
+    }
+
+    /**
+     * 获取单个AGV状态
+     * @param vehicleCode AGV车辆代码
+     * @return AGV状态信息
+     */
+    public TwoFloorAgvStatus getAgvStatus(String vehicleCode) {
+        return agvStatusMap.get(vehicleCode);
+    }
+
+    /**
+     * 获取所有AGV状态
+     * @return 所有AGV状态列表
+     */
+    public List<TwoFloorAgvStatus> getAllAgvStatus() {
+        return new ArrayList<>(agvStatusMap.values());
+    }
+
+    /**
+     * 清除AGV错误信息
+     */
+    public void clearAgvError(int carno) {
+        String vehicleCode = String.format("AGV%02d", carno);
+        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+        if (agvStatus != null) {
+            agvStatus.setIs_error(false);
+            agvStatus.setError_code(null);
+            agvStatus.setError_message(null);
+            agvStatus.setError_action(null);
+            agvStatus.setError_mode(null);
+            // 设置错误信息
+            agvStatus.setDriver(null);
+            agvStatus.setIs_error(false);
+            agvStatus.setError_message(null);
+            agvStatus.setDevice_code(null);
+            agvStatus.setError_action(null);
+            agvStatus.setError_mode(null);
+            agvStatus.setError_move(null);
+            agvStatus.setError_error(null);
+            agvStatus.setExp_action(null);
+            agvStatus.setExp_mode(null);
+            agvStatus.setExp_move(null);
+            agvStatus.setExp_error(null);
+            if ("error".equals(agvStatus.getStatus())) {
+                agvStatus.setStatus("idle");
+                agvStatus.setStatus_text("空闲");
+            }
+        }
+    }
+}

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.domain.TwoFloorAgvStatus;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
@@ -17,6 +18,7 @@ import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
 import org.nl.acs.log.service.DeviceExecuteLogService;
+import org.nl.acs.agv.service.impl.TwoFloorAgvStatusService;
 import org.nl.acs.opc.DeviceAppService;
 import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -33,10 +35,7 @@ import java.io.DataOutputStream;
 import java.io.IOException;
 import java.net.InetSocketAddress;
 import java.net.Socket;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.LinkedHashMap;
-import java.util.Map;
+import java.util.*;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ExecutorService;
@@ -80,6 +79,10 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
     AutoRunService autoRunService;
     @Autowired
     LuceneExecuteLogService luceneExecuteLogService;
+    /**
+     * 二楼AGV状态管理服务
+     */
+    private TwoFloorAgvStatusService agvStatusService;
     @Autowired
     ISysDictService dictService;
 
@@ -106,7 +109,8 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
         DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
         DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
         DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
-
+        // 初始化AGV状态管理服务
+        agvStatusService = SpringContextHolder.getBean(TwoFloorAgvStatusService.class);
         try {
             log.info("2楼1区域AGV系统链接开始");
             ip = paramService.findByCode(AcsConfig.AGVURL).getValue();