add: 仙工AGV

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<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 {

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/angle/service/IAcsPointAngleService.java

@@ -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);
 }

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<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));
+    }
+
+
 }

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

@@ -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();

acs/nladmin-system/nlsso-server/src/main/resources/config/application-dev.yml

@@ -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