rev：光栅、输送线、AGV等修改

acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java

@@ -180,7 +180,7 @@ public class AgvWaitUtil {
 
 
     //放货完成等待
-    public JSONObject waitOutPut(String deviceCode, TaskDto task) {
+    public JSONObject waitOutPut(String deviceCode, TaskDto taskDto) {
         log.info("仙工AGV放货完成后请求离开，设备号 - {}", deviceCode);
         boolean flag = false;
 
@@ -190,10 +190,11 @@ public class AgvWaitUtil {
         }
 
         if (code.contains(deviceCode)) {
-            // 通知输送线取货完成-2
+            // 通知输送线放货完成离开-4
             JSONObject param = new JSONObject();
             param.put("toCommand",XgAgvEnum.APPLY_PUT_SUCCESS.getCode());
             param.put("deviceCode",deviceCode);
+            param.put("isEmpBarcode", ObjectUtil.isEmpty(taskDto.getIs_empvehicle()) ? "0" : taskDto.getIs_empvehicle());
 
             JSONObject data = new JSONObject();
             data.put("DATA", param);

acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java

@@ -166,7 +166,7 @@ public interface XianGongAgvService {
     public JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
 
     /**
-     * 下发运单急停
+     * 下发运单急停(互斥组)
      *
      * @param requestParam
      * @return
@@ -175,7 +175,7 @@ public interface XianGongAgvService {
     public <T> UnifiedResponse<T> sendOrderStopToXZ(JSONObject requestParam);
 
     /**
-     * 下发运单继续
+     * 下发运单继续（互斥组）
      *
      * @param requestParam
      * @return

acs2/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java

@@ -113,7 +113,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         return xgHttpUtil.sendGetRequest(path, type);
     }
 
-
     @Override
     public <T> UnifiedResponse<T> deleteXZAgvInst(String instCode) {
         //String path = "/api/route/transportOrders/" + instCode + "/withdrawal";
@@ -769,7 +768,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             block.put("blockId", IdUtil.simpleUUID());
             block.put("location", inst.getNext_point_code() + "OUTPUT");
             if ("CPJSSX,BZXXL".contains(inst.getNext_device_code())) {
-                block.put("operation", "script");
+                block.put("operation", "ForkHeight");
             } else {
                 block.put("operation", "ForkHeight");
             }

acs2/nladmin-system/src/main/java/org/nl/acs/device_driver/lamp_three_color/LampThreecolorDeviceDriver.java

@@ -7,6 +7,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.XgAgvEnum;
+import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.DeviceDriverBaseReader;
@@ -19,9 +20,11 @@ import org.nl.acs.monitor.DeviceStageMonitor;
 import org.nl.acs.opc.Device;
 import org.nl.modules.lucene.service.LuceneExecuteLogService;
 import org.nl.modules.lucene.service.dto.LuceneLogDto;
+import org.nl.modules.quartz.task.QueryXGTGroupStatus;
 import org.nl.modules.wql.util.SpringContextHolder;
 
 import java.util.Arrays;
+import java.util.List;
 
 @Slf4j
 @Getter
@@ -147,28 +150,66 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
     }
 
     private void executeLogicBefore() {
-        // 告诉agv急停
+        // 告诉agv急停(车辆)
-        if (error == 1 && ObjectUtil.isNotEmpty(car_no)) {
+        if (error == 1) {
-            String[] carArr  = {car_no};
+            // 只给agv下发第二个互斥组，例如GS01A2
-            JSONObject json = new JSONObject();
+            String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
-            json.put("vehicles", carArr);
+            if (substring.equals("2")) {
-            // 请求下发agv急停
+                // 根据当前互斥组设备里的状态
-            XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
+                JSONObject param = new JSONObject();
-            //创建订单序列
+                String[] paramArr = {this.currentDeviceCode};
-            xianGongAgv.sendOrderStopToXZ(json);
+                param.put("blockGroup", paramArr);
+
+                UnifiedResponse<List<JSONObject>> objectUnifiedResponse = SpringContextHolder.getBean(XianGongAgvService.class).blockGroupStatus(param);
+                List<JSONObject> dataList = objectUnifiedResponse.getData();
+
+                String[] carArr = {dataList.get(0).getString("id")};
+                JSONObject json = new JSONObject();
+                json.put("vehicles", carArr);
+                // 请求下发agv急停
+                XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
+                //创建订单序列
+                xianGongAgv.sendOrderStopToXZ(json);
+            }
+
         }
+       /* // 告诉agv急停(互斥组)
+        if (error == 1) {
+            JSONObject json = new JSONObject();
+            // 只给agv下发第二个互斥组，例如GS01A2
+
+            String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
+            if (substring.equals("2")) {
+                json.put("block_name", this.currentDeviceCode);
+
+                // 请求下发agv急停
+                XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
+                //创建订单序列
+                xianGongAgv.sendOrderStopToXZ(json);
+            }
+        }*/
 
         // 给光栅下发命令5
         if (error == 5) {
-            String[] key = {"toCommand"};
+            String substring = this.currentDeviceCode.substring(this.currentDeviceCode.length() - 1);
-            Integer[] value = {5};
+            if (substring.equals("2")) {
-            writing(Arrays.asList(key),Arrays.asList(value));
+                // 给输送线写5
+                String[] key = {"toCommand"};
+                Integer[] value = {5};
+                writing(Arrays.asList(key),Arrays.asList(value));
 
-            // 如果车号不为空则告诉agv继续作业
+                // 根据当前互斥组设备里的状态
-            if (ObjectUtil.isNotEmpty(car_no)) {
+                JSONObject param = new JSONObject();
-                String[] carArr  = {car_no};
+                String[] paramArr = {this.currentDeviceCode};
+                param.put("blockGroup", paramArr);
+
+                UnifiedResponse<List<JSONObject>> objectUnifiedResponse = SpringContextHolder.getBean(XianGongAgvService.class).blockGroupStatus(param);
+                List<JSONObject> dataList = objectUnifiedResponse.getData();
+
+                String[] carArr = {dataList.get(0).getString("id")};
                 JSONObject json = new JSONObject();
                 json.put("vehicles", carArr);
+
                 // 请求下发agv继续
                 XianGongAgvServiceImpl xianGongAgv = SpringContextHolder.getBean(XianGongAgvServiceImpl.class);
                 //创建订单序列

acs2/nladmin-system/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java

@@ -3,6 +3,7 @@ package org.nl.acs.ext.xg;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.config.AcsConfig;
 import org.nl.acs.ext.RequestAdapter;
@@ -13,6 +14,9 @@ import org.nl.modules.system.service.ParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * @Description TODO
  * @Author Gengby
@@ -54,6 +58,7 @@ public class XgHttpUtil {
             return new UnifiedResponse<>(false, "未开启连接该系统！");
         }
         try {
+
             String body = HttpRequest
                     .post(REQUEST_ADAPTER.getUrl() + path)
                     .setConnectionTimeout(10000)

acs2/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXGTGroupStatus.java

@@ -0,0 +1,70 @@
+package org.nl.modules.quartz.task;
+
+import com.alibaba.fastjson.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.XgAgvEnum;
+import org.nl.acs.agv.server.XianGongAgvService;
+import org.nl.acs.device_driver.lamp_three_color.LampThreecolorDeviceDriver;
+import org.nl.acs.ext.UnifiedResponse;
+import org.nl.acs.opc.Device;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.modules.wql.core.bean.WQLObject;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
+
+/**
+ * 查询AGV互斥组状态
+ */
+@Slf4j
+@Component("queryXGTGroupStatus")
+@RequiredArgsConstructor
+public class QueryXGTGroupStatus {
+
+    @Autowired
+    private XianGongAgvService agvService;
+
+    @Autowired
+    private DeviceAppService deviceAppService;
+
+    public void run() {
+        try {
+            // 查询所有光栅设备
+            List<JSONObject> deviceList = WQLObject.getWQLObject("acs_device").query("device_type = 'color' and device_code LIKE '%A2'")
+                    .getResultJSONArray(0).toJavaList(JSONObject.class);
+
+            // 组织数据查询
+            List<String> deviceCodeList = deviceList.stream()
+                    .map(row -> row.getString("device_code"))
+                    .collect(Collectors.toList());
+
+            JSONObject param = new JSONObject();
+            param.put("blockGroup", deviceCodeList);
+
+            // 调用接口
+            UnifiedResponse<List<JSONObject>> objectUnifiedResponse = agvService.blockGroupStatus(param);
+            List<JSONObject> dataList = objectUnifiedResponse.getData();
+
+            for (JSONObject json : dataList) {
+                // true 占用，false 没占用
+                if (json.getBoolean("status")) {
+                    // 下发光电颜色为红色
+                    Device device = deviceAppService.findDeviceByCode(json.getString("name"));
+
+                    LampThreecolorDeviceDriver driver = (LampThreecolorDeviceDriver) device.getDeviceDriver();
+                    // 给三色灯写入进入颜色红色-3
+                    String[] key = {"toColor"};
+                    Integer[] value = {XgAgvEnum.GS_COLOR_RED.getCode()};
+                    driver.writing(Arrays.asList(key),Arrays.asList(value));
+                }
+            }
+
+        } catch (Exception e) {
+
+        }
+    }
+}