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add：新增手动下发充电任务

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This commit is contained in:
tuqiang
2025-07-29 14:16:04 +08:00
parent 8f9fa3873b
commit 6a70aba6c9
21 changed files with 361 additions and 94 deletions
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2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/NDCAgvService.java
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@@ -86,4 +86,6 @@ public interface NDCAgvService {
public boolean createChargingTaskToNDC(String carno);
public void charge(String carno);
public void charge(String carno,String station);
}

56
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/NDCAgvServiceImpl.java
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@@ -17,6 +17,7 @@ import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.opc.DeviceAppServiceImpl;
import org.nl.common.exception.BadRequestException;
import org.nl.system.service.dict.ISysDictService;
import org.nl.system.service.dict.dao.Dict;
import org.nl.system.service.param.ISysParamService;
@@ -585,4 +586,59 @@ public class NDCAgvServiceImpl implements NDCAgvService {
return AGVDeviceStatus;
}
@Override
public void charge(String carno, String station) {
//判断当前充电桩是否已下发充电任务
Dict temp = dictService.getDictByName2("station", station);
if (ObjectUtil.isNotEmpty(temp)) {
int satation = 0;
if(ObjectUtil.isNotEmpty(temp)){
satation = Integer.parseInt(temp.getPara1());
}
String instcode =CodeUtil.getNewCode("INSTRUCT_NO");
byte ikeyhigh = (byte) IntToHexHigh(Integer.parseInt(instcode));
byte ikeylow = (byte) IntToHexLow(Integer.parseInt(instcode));
byte carhigh = (byte) IntToHexHigh(Integer.parseInt(carno));
byte carlow = (byte) IntToHexLow(Integer.parseInt(carno));
byte satationhigh = (byte) IntToHexHigh(satation);
byte satationlow = (byte) IntToHexLow(satation);
String str = "十进制下发：";
String str1 = "十六进制下发：";
str += "ikey:" + (Integer.parseInt(instcode));
str1 += "ikey:" + hexToString(ikeyhigh & 0xFF) + hexToString(ikeylow & 0xFF);
str += "carno:" + (Integer.parseInt(carno));
str1 += "carno:" + hexToString(carhigh & 0xFF) + hexToString(carlow & 0xFF);
str += "/satation:" + (satation);
str1 += "/satation:" + hexToString(satationhigh & 0xFF) + hexToString(satationlow & 0xFF);
//todo 核对NDC协议
byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
(byte) 0X00, (byte) 0X08,
(byte) 0X00, (byte) 0X0E,
(byte) 0X00, (byte) 0X01,
(byte) 0X00, (byte) 0X71,
(byte) 0X00, (byte) 0X0A,
(byte) 0X64, (byte) 0X80,
(byte) 0X00, (byte) 0X01,
(byte) ikeyhigh, (byte) ikeylow,
(byte) carhigh, (byte) carlow,
(byte) satationhigh, (byte) satationlow
};
log.info("下发AGV充电任务--{}", str1);
try{
OneNDCSocketConnectionAutoRun.write(b);
temp.setValue("1");
temp.setPara2(String.valueOf(carno));
dictService.updateDetail(temp);
} catch (Exception e){
log.error("下发充电任务失败{}{}",e,e.getMessage());
}
} else {
log.info("当前充电桩{}已被使用！请检查充电桩状态再操作！", station);
throw new BadRequestException("当前充电桩已被使用或者车号不为空,请检查充电桩状态再操作！");
}
}
}

28
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/OneNDCSocketConnectionAutoRun.java
View File

@@ -17,6 +17,8 @@ import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
import org.nl.acs.log.service.DeviceExecuteLogService;
import org.nl.acs.opc.DeviceAppService;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.system.service.dict.ISysDictService;
import org.nl.system.service.dict.dao.Dict;
import org.nl.system.service.param.ISysParamService;
import org.nl.config.SpringContextHolder;
import org.nl.system.service.param.impl.SysParamServiceImpl;
@@ -62,6 +64,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
AutoRunService autoRunService;
@Autowired
LuceneExecuteLogService luceneExecuteLogService;
@Autowired
ISysDictService dictService;
public OneNDCSocketConnectionAutoRun() {
@@ -133,6 +137,8 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
int agvaddr = arr[18] * 256 + arr[19];
//车号
int carno = arr[20];
//充电桩站点号
int station = arr[25];
Instruction link_inst = null;
Instruction inst = null;
List<Instruction> insts = null;
@@ -196,6 +202,28 @@ public class OneNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
}
data = NDCAgvService.sendAgvOneModeInst(phase, index, 0, 0, 0, 0, 0);
}else if (phase == 0x64){
log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){
dict.setValue("1");
dict.setPara2(String.valueOf(agvaddr));
dict.setPara3("下发成功");
dictService.updateDetail(dict);
}
//充电成功
}else if (phase == 0x65){
log.info("AGV车号{}反馈充电中，充电桩{}",agvaddr,station);
//充电取消上报
}else if (phase == 0x66){
log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}",agvaddr,station);
Dict dict = dictService.getDictByName3("station",String.valueOf(agvaddr),null);
if (ObjectUtil.isNotEmpty(dict)){
dict.setValue("0");
dict.setPara2("");
dict.setPara3("充电桩空闲");
dictService.updateDetail(dict);
}
} else {
//上报异常信息
//（不需要WCS反馈）

9
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/rest/DeviceController.java
View File

@@ -2,6 +2,7 @@ package org.nl.acs.device.rest;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import io.swagger.annotations.ApiOperation;
import lombok.RequiredArgsConstructor;
import org.nl.acs.device.service.DeviceService;
import org.nl.acs.device.service.dto.DeviceDto;
@@ -55,6 +56,14 @@ public class DeviceController {
deviceService.downDeviceDBloadCSV(deviceService.queryDeviceProtocol(whereJson), response);
}
@GetMapping("/selectCarList")
@Log("下拉选车号")
@ApiOperation("下拉选车号")
//@PreAuthorize("@el.check('routePlan:list')")
public ResponseEntity<Object> selectCarList() {
return new ResponseEntity<>(deviceService.selectCarList(), HttpStatus.OK);
}
@PostMapping
@Log("新增设备")
public ResponseEntity<Object> create(@Validated @RequestBody DeviceDto dto) {

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/service/DeviceService.java
View File

@@ -383,4 +383,6 @@ public interface DeviceService extends CommonService<Device> {
* @return
*/
JSONArray selectDriverCodeList(String device_code);
JSONArray selectCarList();
}

14
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java
View File

@@ -1989,4 +1989,18 @@ public class DeviceServiceImpl extends CommonServiceImpl<DeviceMapper, Device> i
ja = JSONArray.parseArray(JSON.toJSONString(uniqueDriverSet));
return ja;
}
public JSONArray selectCarList() {
List<Device> deviceList = new LambdaQueryChainWrapper<>(deviceMapper).apply("device_type = 'agv' AND is_delete= '0' AND is_active= '1' AND is_config = 'true'").orderByAsc(Device::getDevice_code).list();
JSONArray arr = JSONArray.parseArray(JSON.toJSONString(deviceList));
JSONArray result = new JSONArray();
for (int i = 0; i < arr.size(); i++) {
JSONObject obj = arr.getJSONObject(i);
JSONObject json = new JSONObject();
json.put("device_code", obj.getString("device_code"));
json.put("device_name", obj.getString("device_name"));
result.add(json);
}
return result;
}
}

29
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/dict/SysDictController.java
View File

@@ -2,6 +2,7 @@ package org.nl.system.controller.dict;
import com.alibaba.fastjson.JSONObject;
import io.swagger.annotations.ApiOperation;
import org.nl.common.base.TableDataInfo;
import org.nl.common.domain.query.PageQuery;
import org.nl.common.logging.annotation.Log;
@@ -36,13 +37,13 @@ public class SysDictController {
@Log("查询字典")
@GetMapping
// @SaCheckPermission("dict:list")
public ResponseEntity<Object> query(@RequestParam Map whereJson, PageQuery pageable){
return new ResponseEntity<>(TableDataInfo.build(dictService.queryAll(whereJson,pageable)), HttpStatus.OK);
}
@GetMapping(value = "/all")
// @SaCheckPermission("dict:list")
public ResponseEntity<Object> queryAll(){
@@ -51,16 +52,24 @@ public class SysDictController {
@Log("新增字典")
@PostMapping
// @SaCheckPermission("dict:add")
public ResponseEntity<Object> create(@RequestBody Dict dict){
dictService.create(dict);
return new ResponseEntity<>(HttpStatus.CREATED);
}
@Log("查询充电桩")
@PutMapping( "/{car}")
@ApiOperation("查询充电桩")
// @SaCheckPermission("dict:list")
public ResponseEntity<Object> selectStationByCar(@PathVariable String car){
return new ResponseEntity<>(dictService.selectStationByCar(car), HttpStatus.OK);
}
@PutMapping
@Log("修改字典")
//@SaCheckPermission("@el.check('dict:edit')")
public ResponseEntity<Object> updateDict(@Validated @RequestBody Dict dto){
dictService.updateDict(dto);
@@ -68,7 +77,7 @@ public class SysDictController {
}
@Log("删除字典")
@DeleteMapping
// @SaCheckPermission("dict:del")
public ResponseEntity<Object> delete(@RequestBody Set<String> ids){
@@ -77,13 +86,13 @@ public class SysDictController {
}
@GetMapping("/dictDetail")
public ResponseEntity<Object> queryDetails(@RequestParam Map criteria, PageQuery pageable){
DictQuery dictQuery = JSONObject.parseObject(JSONObject.toJSONString(criteria), DictQuery.class);
return new ResponseEntity<>(TableDataInfo.build(dictService.queryAllDetail(dictQuery,pageable)),HttpStatus.OK);
}
@GetMapping(value = "/dictDetail/map")
public ResponseEntity<Object> getDictDetailMaps(@RequestParam String dictName){
String[] names = dictName.split("[,，]");
@@ -95,7 +104,7 @@ public class SysDictController {
}
@Log("新增字典详情")
@PostMapping("/dictDetail")
// @SaCheckPermission("dict:add")
public ResponseEntity<Object> createDetail(@RequestBody Dict resources){
@@ -104,7 +113,7 @@ public class SysDictController {
}
@Log("修改字典详情")
@PutMapping("/dictDetail")
// @SaCheckPermission("dict:edit")
public ResponseEntity<Object> updateDetail(@RequestBody Dict resources){
@@ -113,7 +122,7 @@ public class SysDictController {
}
@Log("删除字典详情")
@DeleteMapping(value = "/dictDetail/{id}")
// @SaCheckPermission("dict:del")
public ResponseEntity<Object> deleteDetail(@PathVariable String id){

13
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/param/SysParamController.java
View File

@@ -3,6 +3,8 @@ package org.nl.system.controller.param;
import cn.dev33.satoken.annotation.SaIgnore;
import com.alibaba.fastjson.JSONObject;
import io.swagger.annotations.ApiOperation;
import lombok.extern.slf4j.Slf4j;
import org.nl.common.base.TableDataInfo;
import org.nl.common.domain.query.PageQuery;
@@ -36,7 +38,7 @@ class SysParamController {
@Autowired
private ISysParamService paramService;
@GetMapping
@Log("查询系统参数")
//@SaCheckPermission("param:list")
@@ -87,6 +89,15 @@ class SysParamController {
paramService.setParam(whereJson);
return new ResponseEntity<>(HttpStatus.OK);
}
@PostMapping("/sendTask")
@Log("下发充电任务")
@ApiOperation("下发充电任务")
@SaIgnore
public ResponseEntity<Object> sendTask(@RequestBody JSONObject json) {
paramService.sendTask(json);
return new ResponseEntity<>(HttpStatus.OK);
}
}

5
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/ISysDictService.java
View File

@@ -1,5 +1,6 @@
package org.nl.system.service.dict;
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.service.IService;
import org.nl.common.domain.query.PageQuery;
@@ -103,4 +104,8 @@ public interface ISysDictService extends IService<Dict> {
* @return
*/
Dict getDictByName3(String name,String carno,String station);
Dict getDictByName2(String name,String station);
JSONArray selectStationByCar(String car);
}

59
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/dict/impl/SysDictServiceImpl.java
View File

@@ -3,12 +3,17 @@ package org.nl.system.service.dict.impl;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import org.apache.ibatis.annotations.Lang;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device.service.mapper.DeviceMapper;
import org.nl.common.domain.query.PageQuery;
import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.SecurityUtils;
@@ -37,6 +42,8 @@ import java.util.Set;
public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> implements ISysDictService {
@Autowired
private SysDictMapper sysDictMapper;
@Autowired
private DeviceMapper deviceMapper;
@Override
public IPage<Dict> queryAll(Map whereJson, PageQuery page) {
@@ -197,14 +204,6 @@ public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> impleme
sysDictMapper.deleteById(id);
}
@Override
public List<Dict> queryAll() {
return sysDictMapper.selectList(new QueryWrapper<Dict>()
.select("MAX(dict_id) AS dictId, code, name")
.lambda()
.groupBy(Dict::getCode, Dict::getName));
}
@Override
@Transactional(rollbackFor = Exception.class)
public void initDict(Dict dto) {
@@ -223,6 +222,24 @@ public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> impleme
sysDictMapper.updateById(dict);
}
@Override
public JSONArray selectStationByCar(String car) {
Device device = deviceMapper.selectOne(new QueryWrapper<Device>().eq("device_code", car));
String manufacturer = device.getManufacturer();//车间
List<Dict> stations = sysDictMapper.selectList(new LambdaQueryWrapper<Dict>().eq(Dict::getDict_type, manufacturer));
JSONArray arr = JSONArray.parseArray(JSON.toJSONString(stations));
JSONArray result = new JSONArray();
for (int i = 0; i < arr.size(); i++) {
JSONObject obj = arr.getJSONObject(i);
JSONObject json = new JSONObject();
String value = obj.getString("value");
json.put("label", obj.getString("label") + ("1".equals(obj.getString("value")) ? "（已使用）" : "（未使用）"));
json.put("para1", obj.getString("para1"));
result.add(json);
}
return result;
}
@Override
public Dict getDictByName2(String name) {
Dict dict = null;
@@ -240,6 +257,32 @@ public class SysDictServiceImpl extends ServiceImpl<SysDictMapper, Dict> impleme
return dict;
}
@Override
public Dict getDictByName2(String name, String station) {
Dict dict = null;
Dict dict1 = sysDictMapper.selectOne(
new LambdaQueryWrapper<Dict>()
.eq(Dict::getCode, name)
.eq(ObjectUtil.isNotEmpty(station), Dict::getPara1, station)
.eq(Dict::getValue, "0")
.and(slam -> slam.isNull(Dict::getPara2)
.or()
.eq(Dict::getPara2, ""))
);
if (ObjectUtil.isNotEmpty(dict1)) {
dict = dict1;
}
return dict;
}
@Override
public List<Dict> queryAll() {
return sysDictMapper.selectList(new QueryWrapper<Dict>()
.select("MAX(dict_id) AS dictId, code, name")
.lambda()
.groupBy(Dict::getCode, Dict::getName));
}
@Override
public Dict getDictByName3(String name,String carno,String station) {
Dict dict = null;

3
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/ISysParamService.java
View File

@@ -1,5 +1,6 @@
package org.nl.system.service.param;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.IService;
@@ -61,4 +62,6 @@ public interface ISysParamService extends IService<Param> {
Map<String, Object> queryParam();
void setParam(Map whereJson);
void sendTask(JSONObject json);
}

30
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java
View File

@@ -3,6 +3,8 @@ package org.nl.system.service.param.impl;
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 com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
@@ -10,6 +12,7 @@ import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.AcsConfig;
import org.nl.acs.agv.server.NDCAgvService;
import org.nl.acs.task.domain.Task;
import org.nl.acs.utils.PageUtil;
import org.nl.common.domain.query.PageQuery;
@@ -17,10 +20,13 @@ import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.SecurityUtils;
import org.nl.config.MapOf;
import org.nl.config.language.LangProcess;
import org.nl.system.service.dict.ISysDictService;
import org.nl.system.service.dict.dao.Dict;
import org.nl.system.service.param.ISysParamService;
import org.nl.system.service.param.dao.Param;
import org.nl.system.service.param.dao.mapper.SysParamMapper;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Lazy;
import org.springframework.data.domain.Pageable;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@@ -43,6 +49,11 @@ public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> impl
@Autowired
private SysParamMapper paramMapper;
@Lazy
@Autowired
private NDCAgvService ndcAgvService;
@Autowired
private ISysDictService dictService;
@Override
public IPage<Param> queryPage(Map whereJson, Pageable page) {
@@ -170,4 +181,23 @@ public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> impl
paramMapper.updateById(param_electric_end);
}
@Override
public void sendTask(JSONObject json) {
String carno = json.getString("carno");
String station = json.getString("station");
if (StrUtil.isEmpty(carno)){
throw new BadRequestException("车辆编号不能为空");
}
if (StrUtil.isEmpty(station)){
throw new BadRequestException("充电站编号不能为空");
}
//判断是否已下发充电任务
Dict dict1 = dictService.getDictByName3("station",carno,null);
if(ObjectUtil.isNotEmpty(dict1)){
log.info("当前车辆{}已分配充电桩{}，退出后续判断",carno,dict1.getPara1());
}else {
ndcAgvService.charge(carno, station);
}
}
}