From f00816c61079461d44c6721877ee18e2760e7324 Mon Sep 17 00:00:00 2001 From: yanps Date: Tue, 16 Jan 2024 15:44:50 +0800 Subject: [PATCH] =?UTF-8?q?add:=20=E4=BB=99=E5=B7=A5AGV?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../server/impl/XianGongAgvServiceImpl.java | 138 +++++++++++++++++- .../angle/service/IAcsPointAngleService.java | 10 ++ .../impl/AcsPointAngleServiceImpl.java | 8 + .../service/impl/InstructionServiceImpl.java | 12 ++ .../main/resources/config/application-dev.yml | 5 +- 5 files changed, 171 insertions(+), 2 deletions(-) diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index a1e1ab0..51384af 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -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 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 { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java index 2d2558d..8628210 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java @@ -29,4 +29,14 @@ public interface IAcsPointAngleService extends IService { Map 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); } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java index 457de02..0fc225a 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java @@ -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 instructions = new CopyOnWriteArrayList(); @@ -433,6 +436,15 @@ public class InstructionServiceImpl extends CommonServiceImpl