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add: 仙工AGV

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yanps
2024-01-16 15:44:50 +08:00
parent 7c3edd65d9
commit f00816c610
5 changed files with 171 additions and 2 deletions
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138
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -1,5 +1,6 @@
package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
@@ -12,6 +13,8 @@ import org.nl.acs.AcsConfig;
import org.nl.acs.agv.AgvUtil;
import org.nl.acs.agv.server.XianGongAgvService;
import org.nl.acs.agv.server.dto.AgvDto;
import org.nl.acs.angle.domain.AcsPointAngle;
import org.nl.acs.angle.service.IAcsPointAngleService;
import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.ext.wms.service.AcsToWmsService;
@@ -23,8 +26,11 @@ import org.nl.acs.device.enums.DeviceType;
import org.nl.common.exception.BadRequestException;
import org.nl.config.language.LangProcess;
import org.nl.system.service.param.ISysParamService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import java.math.BigDecimal;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
@@ -40,11 +46,20 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
private final DeviceAppService deviceAppService;
private final ISysParamService paramService;
private final AcsToWmsService acsToWmsService;
@Autowired
private IAcsPointAngleService acsPointAngleService;
Map<String, AgvDto> AGVDeviceStatus = new HashMap();
private static final String JACKLOAD_THREE = "3";
private static final String FOUR = "4";
private static final String WAIT_FIVE = "5";
@Value("${agvToAcs.addr}")
private String addr;
@LokiLog(type = LokiLogType.AGV)
@Override
public String waitPointRequest(String param) {
@@ -223,7 +238,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@LokiLog(type = LokiLogType.AGV)
@Override
public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception {
JSONObject jo = new JSONObject();
/*JSONObject jo = new JSONObject();
jo.put("intendedVehicle", "");
jo.put("category", "");
jo.put("failureFatal", false);
@@ -241,7 +256,13 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
jo1.put("value", "");
ja1.add(jo1);
jo.put("properties", ja1);
log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo.toString());*/
com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
jo.put("id", inst.getInstruction_code());
jo.put("complete", true);
jo.put("blocks", createBlocksData(inst));
jo.put("priority", inst.getPriority());
log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo.toString());
if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) {
@@ -265,6 +286,121 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
}
public com.alibaba.fastjson.JSONArray createBlocksData(Instruction inst) {
JSONArray ja = new JSONArray();
Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
//取货前等待
JSONObject jo = new JSONObject();
jo.put("blockId", IdUtil.simpleUUID());
jo.put("location", inst.getStart_point_code() + "INGET");
jo.put("operation", "script");
jo.put("id", inst.getStart_point_code() + "INGET");
jo.put("script_name", "userpy/interact.py");
JSONObject script_args = new JSONObject();
script_args.put("addr", addr);
JSONObject data = new JSONObject();
JSONObject reach = new JSONObject();
reach.put("task_code", inst.getInstruction_code());
reach.put("address", inst.getStart_point_code() + "INGET");
data.put("reach", reach);
script_args.put("data", data);
script_args.put("protocol", "HTTP");
jo.put("script_args", script_args);
ja.add(jo);
}
JSONObject jo1 = new JSONObject();
jo1.put("blockId", IdUtil.simpleUUID());
jo1.put("location", inst.getStart_point_code());
jo1.put("operation", "JackLoad");
ja.add(jo1);
//取货完成等待
JSONObject jo2 = new JSONObject();
jo2.put("blockId", IdUtil.simpleUUID());
jo2.put("location", inst.getStart_point_code() + "OUTGET");
jo2.put("operation", "script");
jo2.put("id", inst.getStart_point_code() + "OUTGET");
jo2.put("script_name", "userpy/interact.py");
JSONObject script_args2 = new JSONObject();
script_args2.put("addr", addr);
JSONObject data2 = new JSONObject();
JSONObject reach2 = new JSONObject();
reach2.put("task_code", inst.getInstruction_code());
reach2.put("address", inst.getStart_point_code() + "OUTGET");
data2.put("reach", reach2);
script_args2.put("data", data2);
script_args2.put("protocol", "HTTP");
jo2.put("script_args", script_args2);
ja.add(jo2);
Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
//放货前等待
JSONObject jo3 = new JSONObject();
jo3.put("blockId", IdUtil.simpleUUID());
jo3.put("location", inst.getNext_point_code() + "INPUT");
jo3.put("operation", "script");
jo3.put("id", inst.getNext_point_code() + "INPUT");
jo3.put("script_name", "userpy/interact.py");
JSONObject script_args3 = new JSONObject();
script_args3.put("addr", addr);
JSONObject data3 = new JSONObject();
JSONObject reach3 = new JSONObject();
reach3.put("task_code", inst.getInstruction_code());
reach3.put("address", inst.getNext_point_code() + "INPUT");
data3.put("reach", reach3);
script_args3.put("data", data3);
script_args3.put("protocol", "HTTP");
jo3.put("script_args", script_args3);
ja.add(jo3);
}
//放货前下发旋转角度
JSONObject json1 = new JSONObject();
AcsPointAngle acsPointAngleDto = acsPointAngleService.findByCode(inst.getStart_device_code(),inst.getNext_device_code());
if (ObjectUtil.isNotEmpty(acsPointAngleDto)){
log.info("acsPointAngleDto----參數,{}", acsPointAngleDto.toString());
com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
operation_args.put("increase_spin_angle",next_point_angle);//弧度值，如3.14
operation_args.put("skill_name","GoByOdometer");
json1.put("blockId", IdUtil.simpleUUID());
json1.put("location", inst.getNext_point_code() + "INPUT");
json1.put("operation_args",operation_args);
ja.add(json1);
}
com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
jo4.put("blockId", IdUtil.simpleUUID());
jo4.put("location", inst.getNext_point_code());
jo4.put("operation", "JackUnload");
ja.add(jo4);
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
//放货完成等待
com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
jo5.put("blockId", IdUtil.simpleUUID());
jo5.put("location", inst.getNext_point_code() + "OUTPUT");
jo5.put("operation", "script");
jo5.put("id", inst.getNext_point_code() + "OUTPUT");
jo5.put("script_name", "userpy/interact.py");
com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
script_args5.put("addr", addr);
com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
reach5.put("task_code", inst.getInstruction_code());
reach5.put("address", inst.getNext_point_code() + "OUTPUT");
data5.put("reach", reach5);
script_args5.put("data", data5);
script_args5.put("protocol", "HTTP");
jo5.put("script_args", script_args5);
ja.add(jo5);
}
return ja;
}
@LokiLog(type = LokiLogType.AGV)
@Override
public HttpResponse addOrderSequences(Instruction inst) throws Exception {

10
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java
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@@ -29,4 +29,14 @@ public interface IAcsPointAngleService extends IService<AcsPointAngle> {
Map<String, Object> queryAll(Map whereJson, Pageable page);
void updateOn(Long id, String is_active);
/**
* 根据起点编码和终点编码查询
*
* @param start_code
* @param next_code
* @return
*/
AcsPointAngle findByCode(String start_code,String next_code);
}

8
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java
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@@ -12,6 +12,7 @@ import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.core.toolkit.StringUtils;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import org.nl.acs.angle.domain.AcsPointAngle;
import org.nl.acs.angle.mapper.AcsPointAngleMapper;
@@ -107,4 +108,11 @@ public class AcsPointAngleServiceImpl extends ServiceImpl<AcsPointAngleMapper, A
acsPointAngleMapper.updateById(acsPointAngle);
}
@Override
public AcsPointAngle findByCode(String start_code, String next_code) {
return acsPointAngleMapper.selectOne(Wrappers.lambdaQuery(AcsPointAngle.class)
.eq(AcsPointAngle::getStart_device_code, start_code).eq(AcsPointAngle::getNext_device_code, next_code));
}
}

12
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -6,6 +6,7 @@ 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 cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
@@ -101,6 +102,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
private TaskService taskService;
@Autowired
private AcsToLiKuService acsToLiKuService;
@Autowired
private XianGongAgvService xiangGongAgvService;
private List<Instruction> instructions = new CopyOnWriteArrayList();
@@ -433,6 +436,15 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
}
//判断是否是仙工AGV
if(CommonFinalParam.ONE.equals(route.getType())){
HttpResponse response = xiangGongAgvService.sendOrderSequencesToXZ(dto);
if (ObjectUtils.isEmpty(response) || response.getStatus() != 200) {
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
}
} catch (Exception e) {
dto.setSend_status("2");
e.printStackTrace();

5
acs/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml
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@@ -129,7 +129,7 @@ file:
avatarMaxSize: 5
logging:
file:
path: /Users/onepiece/myFile/acs_logs
path: D:\acs_logs # /Users/onepiece/myFile/acs_logs
config: classpath:logback-spring.xml
lucene:
index:
@@ -183,3 +183,6 @@ sa-token:
password:
# 连接超时时间
timeout: 10s
agvToAcs:
addr: http://localhost