rev：agv急停后复位：光栅复位后我读信号为5后返回光栅信号5同时告诉agv可继续作业

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

@@ -174,6 +174,15 @@ public interface XianGongAgvService {
      */
     public <T> UnifiedResponse<T> sendOrderStopToXZ(JSONObject requestParam);
 
+    /**
+     * 下发运单继续
+     *
+     * @param requestParam
+     * @return
+     * @throws Exception
+     */
+    public <T> UnifiedResponse<T> sendOrderContinueToXZ(JSONObject requestParam);
+
     /**
      * 请求开/关自动门
      * @param requestParam {

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

@@ -996,6 +996,12 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         return xgHttpUtil.sendPostRequest(path, json);
     }
 
+    @Override
+    public <T> UnifiedResponse<T> sendOrderContinueToXZ(JSONObject json) {
+        String path = "/gotoSiteResume";
+        return xgHttpUtil.sendPostRequest(path, json);
+    }
+
     @Override
     public JSONObject controlDoor(JSONObject requestParam) {
         log.info("仙工AGV请求开/关自动门，请求参数 - {}", requestParam);

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

@@ -6,6 +6,7 @@ import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.agv.XgAgvEnum;
 import org.nl.acs.agv.server.impl.XianGongAgvServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.DeviceDriverBaseReader;
@@ -20,6 +21,8 @@ import org.nl.modules.lucene.service.LuceneExecuteLogService;
 import org.nl.modules.lucene.service.dto.LuceneLogDto;
 import org.nl.modules.wql.util.SpringContextHolder;
 
+import java.util.Arrays;
+
 @Slf4j
 @Getter
 @Setter
@@ -144,6 +147,7 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
     }
 
     private void executeLogicBefore() {
+        // 告诉agv急停
         if (error == 1 && ObjectUtil.isNotEmpty(car_no)) {
             String[] carArr  = {car_no};
             JSONObject json = new JSONObject();
@@ -153,6 +157,24 @@ public class LampThreecolorDeviceDriver extends AbstractOpcDeviceDriver implemen
             //创建订单序列
             xianGongAgv.sendOrderStopToXZ(json);
         }
+
+        // 给光栅下发命令5
+        if (error == 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
+            if (ObjectUtil.isNotEmpty(car_no)) {
+                String[] carArr  = {car_no};
+                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
+                xianGongAgv.sendOrderContinueToXZ(json);
+            }
+        }
     }
 
     @Override