opt: 仙工机器人信息设备监控显示优化

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/agv/xg_agv_car/XgAgvCarDeviceDriver.java

@@ -9,6 +9,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.XianGongAgvService;
+import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
 import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
@@ -28,6 +29,8 @@ import org.nl.config.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.Date;
+import java.util.LinkedHashMap;
+import java.util.Map;
 
 
 /**
@@ -56,7 +59,7 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
     @Autowired
     NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
     @Autowired
-    private XianGongAgvService xianGongAgvService;
+    XianGongAgvService xianGongAgvService = SpringContextHolder.getBean(XianGongAgvService.class);
 
     Integer hasGoods = 0;
     int error = 0;
@@ -127,27 +130,56 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
     /**
      * 是否推送场景的状态 0=可推送 1=正在更新场景 2=正在执行运单
      */
-    private String upload_scene_status;
+    private String upload_scene_status = "";
     /**
      * 机器人当前运单
      */
-    private String current_order;
+    private String current_order = "";
     /**
      * 机器人连接状态 0表示断连 1表示连接上
      */
-    private String connection_status;
+    private String connection_status = "";
     /**
      * 机器人可接单状态 true=可接单 false=不可接单
      */
-    private String dispatchable;
+    private boolean dispatchable = false;
     /**
      * core出错标识
      */
-    private boolean is_error;
+    private boolean is_error = false;
     /**
      * 是否正在执行用户下发的运单
      */
-    private boolean procBusiness;
+    private boolean procBusiness = false;
+    /**
+     * 机器人当前地图不在场景中
+     */
+    private boolean current_map_invalid = false;
+    /**
+     * 机器人是否断连
+     */
+    private boolean disconnect = false;
+    /**
+     * 1 = api 设置可接单，2 = api 设置不可接单(小车占用资源)， 3 = api 设置不可接单(小车不占用资源)
+     */
+    private int dispatchable_status = 0;
+    /**
+     * 低电量
+     */
+    private boolean low_battery = false;
+    /**
+     * 暂停运单
+     */
+    private boolean suspended = false;
+    /**
+     * 未确认定位
+     */
+    private boolean unconfirmed_reloc = false;
+    /**
+     * 0: 控制权在core手上 1; 控制权被其他人抢走; 2: 控制权没有被抢占
+     */
+    private int unlock = 0;
+
 
     String device_code = null;
     String container;
@@ -178,11 +210,15 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
 
     @Override
     public JSONObject getDeviceStatusName() {
-        getAgvStatus();
+        Map<String, Object> map = new LinkedHashMap<>();
-        JSONObject jo = new JSONObject();
+        try{
+            getAgvStatus();
+        }catch (Exception e){
+            message = "获取机器人状态报错";
+        }
         String isError;
         if (is_error) {
-            isError = "报错";
+            isError = "出错,不执行任何运单";
         } else {
             isError = "正常";
         }
@@ -193,12 +229,21 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
         } else if (CommonFinalParam.DELETE.equals(upload_scene_status)) {
             upload_scene_status = "可推送";
         }
-        jo.put("is_error", isError);
+        map.put("errors", isError);
-        jo.put("upload_scene_status", upload_scene_status);
+        map.put("upload_scene_status", upload_scene_status);
-        jo.put("procBusiness", procBusiness);
+        map.put("procBusiness", procBusiness ? "是": "否");
-        jo.put("current_order", current_order);
+        map.put("current_order", current_order);
-        jo.put("connection_status", connection_status);
+        map.put("connection_status", "1".equals(connection_status) ? "连接上" : "断连");
-        jo.put("dispatchable", dispatchable);
+        map.put("dispatchable", dispatchable ? "可接单" : "不可接单");
+        map.put("dispatchable_status", dispatchable_status == 1?"设置可接单" : dispatchable_status == 2?"设置不可接单(小车占用资源)" : dispatchable_status == 3?"设置不可接单(小车不占用资源)" : "未知");
+        map.put("current_map_invalid", !current_map_invalid ? "机器人不在地图场景中": "机器人在地图场景中");
+        map.put("disconnect", !disconnect ? "机器人断连" : "机器人连接上");
+        map.put("low_battery", !low_battery ? "低电量": "正常");
+        map.put("suspended", !suspended ? "订单被暂停,需要人工手动恢复": "正常");
+        map.put("message", message);
+        map.put("unconfirmed_reloc", !unconfirmed_reloc ? "未确认定位" : "正常");
+        map.put("unlock", unlock == 0 ? "控制权在core手上" : unlock == 1 ? "控制权被其他人抢走" : unlock == 2 ?"控制权没有被抢占" : "未知");
+        JSONObject jo = new JSONObject(map);
         return jo;
     }
 
@@ -214,7 +259,7 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
      */
     private void getAgvStatus() {
         HttpResponse robotInfo = xianGongAgvService.getRobotInfo(this.getDevice().getDevice_name());
-        if (robotInfo.getStatus() == 200) {
+        if (ObjectUtil.isNotEmpty(robotInfo) && robotInfo.getStatus() == 200) {
             JSONObject jsonObject = JSONObject.parseObject(robotInfo.body());
             String report = jsonObject.getString("report");
             //core出错标识
@@ -231,9 +276,26 @@ public class XgAgvCarDeviceDriver extends AbstractDeviceDriver implements Device
                 //机器人连接状态 0表示断连 1表示连接上
                 connection_status = json.getString("connection_status");
                 //机器人可接单状态 true=可接单 false=不可接单
-                dispatchable = json.getString("dispatchable");
+                dispatchable = json.getBooleanValue("dispatchable");
+                //机器人不可接单原因
+                JSONObject undispatchableReason = json.getJSONObject("undispatchable_reason");
+                //机器人当前地图不在场景中
+                current_map_invalid = undispatchableReason.getBooleanValue("current_map_invalid");
+                //网络断连
+                disconnect = undispatchableReason.getBooleanValue("disconnect");
+                //可接单状态: 0 = api 设置可接单, 1 = api 设置不可接单
+                dispatchable_status = undispatchableReason.getIntValue("dispatchable_status");
+                //低电量
+                low_battery = undispatchableReason.getBooleanValue("low_battery");
+                //当前车子的订单被暂停了,需要人为手动恢复
+                suspended = undispatchableReason.getBooleanValue("suspended");
+                //未确认定位
+                unconfirmed_reloc = undispatchableReason.getBooleanValue("unconfirmed_reloc");
+                //0: 控制权在core手上 , 1:控制权被其他人抢走
+                unlock = undispatchableReason.getIntValue("unlock");
             }
         } else {
+            message = "请求机器人状态失败";
             log.info("请求{}机器人状态失败", this.getDevice().getDevice_name());
         }
     }

acs2/nladmin-ui/src/views/system/monitor/device/index.vue

@@ -760,6 +760,45 @@ export default {
           } else if (val === 'inst_message') {
             const obj = { name: '当前指令信息', value: data[val] }
             this.arr.push(obj)
+          } else if (val === 'errors') {
+            const obj = { name: 'Core出错标识位', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'upload_scene_status') {
+            const obj = { name: '是否推送场景运单', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'procBusiness') {
+            const obj = { name: '是否在执行用户下的运单', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'current_order') {
+            const obj = { name: '机器人当前运单', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'connection_status') {
+            const obj = { name: '机器人连接状态', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'dispatchable') {
+            const obj = { name: '机器人可接单状态', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'dispatchable_status') {
+            const obj = { name: '是否可接单', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'current_map_invalid') {
+            const obj = { name: '机器人是否在场景', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'disconnect') {
+            const obj = { name: '机器人是否断连', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'low_battery') {
+            const obj = { name: '机器人电量状态', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'suspended') {
+            const obj = { name: '暂停运单', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'unconfirmed_reloc') {
+            const obj = { name: '定位确认', value: data[val] }
+            this.arr.push(obj)
+          } else if (val === 'unlock') {
+            const obj = { name: '控制权', value: data[val] }
+            this.arr.push(obj)
           }
         }
       }