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add core code

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This commit is contained in:
javami888
2026-04-24 13:20:45 +08:00
parent feffa239a6
commit 980c1d880c
14 changed files with 546 additions and 98 deletions
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35
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/opcDefination/standardInspectSite/StandardInspectSiteDeviceDriver.java
View File

@@ -21,6 +21,8 @@ import org.nl.config.SpringContextHolder;
import org.nl.config.language.LangProcess;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.extInterface.agvKit.service.AcsToKitService;
import org.nl.extInterface.wms.service.AcsToWmsService;
import org.nl.extInterface.wms.service.enums.WmsFeedbackStatusEnum;
import java.util.Date;
import java.util.HashMap;
@@ -41,6 +43,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
private final TaskService taskService = SpringContextHolder.getBean(TaskService.class);
private final AcsToKitService acsToKitService = SpringContextHolder.getBean(AcsToKitService.class);
private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
private volatile int agvphase = 0;
/**
@@ -157,6 +160,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
Thread.sleep(2000);
this.devicecode = this.getDevice().getDevice_code();
if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) {
// 驱动按周期执行，当前直接 return 就会停留在等待态，下一轮继续请求 WMS 许可。
Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode);
//取货申请
log.info("点位上报状态,{},{}",instruction.getTask_code(),agvphase);
@@ -179,7 +183,11 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
} else {
resetInstTask(agvphase);
}
} else {
} else
{
if (!requestPermission(task, instruction, WmsFeedbackStatusEnum.APPLY_TAKE.getValue(), WmsFeedbackStatusEnum.TAKING.getValue())) {
return;
}
HttpResponse result1 = acsToKitService.genAgvSchedulingTask(instruction, 10);
if (ObjectUtils.isEmpty(result1) || result1.getStatus() != 200) {
return;
@@ -191,7 +199,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
if (agvphase == 2) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), WmsFeedbackStatusEnum.TAKE_FINISH.getValue());
if ((StrUtil.startWith(task.getTask_code(), "-"))) {
log.info("定点任务下发agv允许取货信号");
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getStart_point_code());
@@ -222,6 +230,9 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
if (agvphase == 3) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
if (!requestPermission(task, instruction, WmsFeedbackStatusEnum.APPLY_PUT.getValue(), WmsFeedbackStatusEnum.PUTTING.getValue())) {
return;
}
if ((StrUtil.startWith(task.getTask_code(), "-"))) {
log.info("定点任务下发agv允许取货信号");
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getNext_point_code());
@@ -249,6 +260,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
if (agvphase == 4) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), WmsFeedbackStatusEnum.PUT_FINISH.getValue());
if ((StrUtil.startWith(task.getTask_code(), "-"))) {
log.info("定点任务下发agv允许取货信号");
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getNext_point_code());
@@ -387,7 +399,7 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
return;
}
// 设置新任务
// this.agvPhase = Integer.valueOf(innerParamss.get("agvphase"));
this.agvphase = Integer.valueOf(innerParamss.get("agvphase"));
this.reqTakeInstCode = taskId;
this.reqTakeRequireSuccess = true;
}
@@ -406,4 +418,21 @@ public class StandardInspectSiteDeviceDriver extends AbstractOpcDeviceDriver {
this.agvphase = 0;
}
}
private boolean requestPermission(TaskDto task, Instruction instruction, String permissionStatus, String progressStatus) {
boolean allowed = acsToWmsService.feedbackTask(task, resolveCard(task, instruction), permissionStatus);
if (allowed && task != null) {
// WMS 放行后，先把外部状态推进到执行中，再继续给 AGV 下发动作。
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), progressStatus);
}
return allowed;
}
private String resolveCard(TaskDto task, Instruction instruction) {
// 优先取任务上已绑定的车号，没有时再回退到当前指令上的车号。
if (task != null && StrUtil.isNotBlank(task.getCarno())) {
return task.getCarno();
}
return instruction == null ? "" : StrUtil.blankToDefault(instruction.getCarno(), "");
}
}

33
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/deviceDriver/service/defination/ordinaryDefination/standardOrdinarySite/StandardOrdinarySiteDeviceDriver.java
View File

@@ -18,6 +18,8 @@ import org.nl.acs.task.task.service.TaskService;
import org.nl.acs.task.task.service.dto.TaskDto;
import org.nl.config.SpringContextHolder;
import org.nl.extInterface.agvKit.service.AcsToKitService;
import org.nl.extInterface.wms.service.AcsToWmsService;
import org.nl.extInterface.wms.service.enums.WmsFeedbackStatusEnum;
import java.util.Map;
@@ -32,6 +34,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
private final InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
private final DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
private final AcsToKitService acsToKitService = SpringContextHolder.getBean(AcsToKitService.class);
private final AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsService.class);
private int flag;
@@ -73,12 +76,18 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
try {
Thread.sleep(2000);
if (this.reqTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqTakeInstCode)) {
// 驱动按周期执行，当前直接 return 就会停留在等待态，下一轮继续请求 WMS 许可。
Instruction instruction = instructionService.findByCodeFromCache(this.reqTakeInstCode);
//取货申请F
log.info("点位上报状态,{},{}", instruction.getTask_code(), agvPhase);
if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getStart_point_code(), this.deviceCode)) {
if (agvPhase == 1) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
if (!requestPermission(task, instruction, WmsFeedbackStatusEnum.APPLY_TAKE.getValue(), WmsFeedbackStatusEnum.TAKING.getValue())) {
return;
}
// device = deviceAppService.findDeviceByCode(this.deviceCode);
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getStart_point_code());
if (dto == null) {
@@ -97,6 +106,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
if (agvPhase == 2) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), WmsFeedbackStatusEnum.TAKE_FINISH.getValue());
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getStart_point_code());
if (dto == null) {
log.error(instruction.getStart_point_code() + "Storage_Cache_Map数据不存在");
@@ -125,6 +135,11 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
//放货申请
else if (ObjectUtil.isNotEmpty(instruction) && StrUtil.equals(instruction.getNext_point_code(), this.deviceCode)) {
if (agvPhase == 3) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
if (!requestPermission(task, instruction, WmsFeedbackStatusEnum.APPLY_PUT.getValue(), WmsFeedbackStatusEnum.PUTTING.getValue())) {
return;
}
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getNext_point_code());
if (dto == null) {
log.error(instruction.getStart_point_code() + "Storage_Cache_Map数据不存在");
@@ -142,6 +157,7 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
if (agvPhase == 4) {
TaskService taskService = SpringContextHolder.getBean("taskServiceImpl");
TaskDto task = taskService.findByCode(instruction.getTask_code());
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), WmsFeedbackStatusEnum.PUT_FINISH.getValue());
StorageCellDto dto = StorageCellServiceImpl.Storage_Cache_Map.get(instruction.getNext_point_code());
if (dto == null) {
log.error(instruction.getStart_point_code() + "Storage_Cache_Map数据不存在");
@@ -226,5 +242,22 @@ public class StandardOrdinarySiteDeviceDriver extends AbstractStandardDeviceDriv
this.agvPhase = 0;
}
}
private boolean requestPermission(TaskDto task, Instruction instruction, String permissionStatus, String progressStatus) {
boolean allowed = acsToWmsService.feedbackTask(task, resolveCard(task, instruction), permissionStatus);
if (allowed && task != null) {
// WMS 放行后，先把外部状态推进到执行中，再继续给 AGV 下发动作。
acsToWmsService.feedbackTask(task, resolveCard(task, instruction), progressStatus);
}
return allowed;
}
private String resolveCard(TaskDto task, Instruction instruction) {
// 优先取任务上已绑定的车号，没有时再回退到当前指令上的车号。
if (task != null && StrUtil.isNotBlank(task.getCarno())) {
return task.getCarno();
}
return instruction == null ? "" : StrUtil.blankToDefault(instruction.getCarno(), "");
}
}

3
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/TaskConfig.java
View File

@@ -65,6 +65,9 @@ public class TaskConfig {
* WMS系统接口地址
*/
public static String WMSURL = "wmsurl";
public static String WMS_HOUSE_CODE = "wmsHouseCode";
public static String WMS_SYSTEM_CODE = "wmsSystemCode";
public static String WMS_FEEDBACK_RETRY_MS = "wmsFeedbackRetryMs";
/**
* WCS系统接口地址
*/

24
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -7,6 +7,7 @@ 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;
@@ -56,6 +57,7 @@ import org.nl.config.language.LangProcess;
import org.nl.config.lucene.enums.LogLevelEnum;
import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.extInterface.agvKit.service.AcsToKitService;
import org.nl.system.service.param.ISysParamService;
import org.nl.common.utils.CodeUtil;
import org.nl.config.SpringContextHolder;
@@ -67,6 +69,7 @@ import org.springframework.data.domain.Pageable;
import javax.servlet.http.HttpServletResponse;
import java.io.IOException;
import java.net.InetSocketAddress;
import java.util.*;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.regex.Pattern;
@@ -94,6 +97,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
private RouteLineService routeLineService;
@Autowired
private TaskService taskService;
@Autowired
private AcsToKitService acsToKitService;
@Autowired
private LuceneExecuteLogService luceneExecuteLogService;
@@ -463,25 +468,16 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
}
dto.setAgv_system_type(task.getAgv_system_type());
}
// NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvService.class);
log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type()
+ ",AGV指令类型:" + dto.getInstruction_type());
try {
if (StrUtil.isEmpty(dto.getAgv_inst_type()) || StrUtil.isEmpty(dto.getAgv_system_type())) {
log.info("sendAgvInstToNDC 指令校验:" + dto.getInstruction_code() + ",inst_type:" + dto.getInstruction_type()
+ ",inst_system_type:" + dto.getAgv_system_type());
}
// log.info("2楼1区域AGV系统链接开始");
// String ip = paramService.findByCode(AcsConfig.AGVURL).getValue();
// int port = Integer.parseInt(paramService.findByCode(AcsConfig.AGVPORT).getValue());
// InetSocketAddress socketAddress = new InetSocketAddress(ip, port);
// Socket s = new Socket();
// s.connect(socketAddress, 2 * 1000);
// if (ObjectUtil.isNotEmpty(s)&&s.isConnected()==true) {
// ndcAgvService.sendAgvInstToNDC(task.getAgv_system_type(), dto);
// } else {
// log.error("agv连接出现异常:服务端被关闭");
// }
HttpResponse httpResponse = acsToKitService.genAgvSchedulingTask(dto, 3);
log.warn("下发AGV指令数据," + "指令号:" + dto.getInstruction_code() + ",AGV系统类型:" + dto.getAgv_system_type()
+ ",AGV指令类型:" + dto.getInstruction_type());
} catch (Exception e) {
dto.setSend_status("2");
dto.setRemark(e.getMessage());

37
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/task/service/impl/TaskServiceImpl.java
View File

@@ -27,6 +27,7 @@ import org.nl.acs.device.device.service.DeviceService;
import org.nl.acs.device.device.service.impl.DeviceServiceImpl;
import org.nl.acs.device.deviceDriver.service.defination.DeviceDriverDefination;
import org.nl.extInterface.wms.service.AcsToWmsService;
import org.nl.extInterface.wms.service.enums.WmsFeedbackStatusEnum;
import org.nl.acs.task.instruction.domain.Instruction;
import org.nl.acs.task.instruction.domain.InstructionMybatis;
import org.nl.acs.task.instruction.enums.InstructionStatusEnum;
@@ -861,7 +862,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
this.addTaskToCache(dto);
//反馈上位系统任务状态
this.feedWmsTaskStatus(entity);
this.feedWmsTaskStatus(dto);
}
@@ -1763,29 +1764,19 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
*
* @param taskDto
*/
/**
* 这里只处理任务终态回传。
* 取货、放货等中间阶段由站点驱动结合 AGV 回调直接回传 WMS。
*/
private void feedWmsTaskStatus(TaskDto taskDto) {
// 判断是否为WMS下发的任务，如果是反馈任务状态给WMS
TaskDto entity = this.findById(taskDto.getTask_id());
String hasWms = paramService.findByCode(TaskConfig.HASWMS).getValue();
if (!StrUtil.startWith(taskDto.getTask_code(), CommonFinalParam.HYPHEN_) && StrUtil.equals(hasWms, CommonFinalParam.ONE)) {
// FeedBackTaskStatusRequest request = new FeedBackTaskStatusRequest();
// request.setTask_id(taskDto.getExt_task_id());
// request.setTask_code(taskDto.getTask_code());
// request.setTask_status(taskDto.getTask_status());
// request.setRequest_medthod_code(RequestMethodEnum.feedback_task_status.getCode());
// request.setRequest_medthod_name(RequestMethodEnum.feedback_task_status.getName());
JSONObject feed_jo = new JSONObject();
feed_jo.put("task_id", entity.getExt_task_id());
feed_jo.put("task_code", entity.getTask_code());
feed_jo.put("task_status", entity.getTask_status());
if (ObjectUtil.isNotEmpty(entity.getWeight())) {
feed_jo.put("weight", entity.getWeight());
}
if (ObjectUtil.isNotEmpty(entity.getCarno())) {
feed_jo.put("car_no", entity.getCarno());
}
JSONArray ja = new JSONArray();
ja.add(feed_jo);
if (!acstowmsService.isWmsTask(taskDto)) {
return;
}
if (StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.CANCEL.getIndex())) {
acstowmsService.deprecateTask(taskDto, taskDto.getRemark());
} else if (StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.ERROR.getIndex())
|| StrUtil.equals(taskDto.getTask_status(), TaskStatusEnum.FORCED_COMPLETION.getIndex())) {
acstowmsService.feedbackTask(taskDto, taskDto.getCarno(), WmsFeedbackStatusEnum.ERROR_FINISH.getValue());
}
}
}

89
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/agvKit/service/impl/KitToAcsServiceImpl.java
View File

@@ -6,14 +6,14 @@ import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.device.device.service.DeviceAppService;
import org.nl.acs.device.device.service.entity.Device;
import org.nl.acs.device.deviceDriver.service.driver.DeviceDriver;
import org.nl.acs.device.storageMgt.service.StorageCellService;
import org.nl.acs.device.storageMgt.service.entity.StorageCell;
import org.nl.acs.task.instruction.domain.Instruction;
import org.nl.acs.task.instruction.enums.InstructionStatusEnum;
import org.nl.acs.task.instruction.service.InstructionService;
import org.nl.acs.device.device.service.DeviceAppService;
import org.nl.acs.device.storageMgt.service.StorageCellService;
import org.nl.config.MapOf;
import org.nl.extInterface.agvKit.service.KitToAcsService;
import org.nl.extInterface.agvKit.service.enums.MsgTypeEnum;
@@ -35,19 +35,19 @@ public class KitToAcsServiceImpl implements KitToAcsService {
@Override
public JSONObject agvCallback(JSONObject requestParam) throws Exception{
// AGV 回调只负责推进 ACS 内部状态，后续是否继续执行由站点驱动结合 WMS 许可决定。
JSONObject resp = new JSONObject();
Integer type = requestParam.getInteger("type");
JSONObject params = requestParam.getJSONObject("params");
//任务状态上报
if (MsgTypeEnum.TASK_STATE_RPT.getValue().equals(type)) {
String instTaskId = params.getString("taskId");
String taskPhase = params.getString("taskPhase");
String taskState = params.getString("taskState");
String taskPoint = params.getString("taskPoint");//请求进入/离开需要上报站点号
String taskPoint = params.getString("taskPoint");
if (StrUtil.isEmpty(taskPhase)){
resp.put("code", "400");
resp.put("message", "taskPhase参数异常");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
Instruction instruction = instructionService.findByCodeFromCache(instTaskId);
@@ -56,20 +56,20 @@ public class KitToAcsServiceImpl implements KitToAcsService {
if (ObjectUtil.isEmpty(instruction)){
resp.put("code", "400");
resp.put("message", "请求失败，任务信息不存在,指令号:" + instTaskId);
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
instructionService.reload();
}
//taskPhase 任务取消
if (TaskStateEnum.CANCELED.getValue().equals(taskState)){
instructionService.cancel(instruction.getInstruction_id());
resp.put("code", "200");
resp.put("message", "取消任务成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
Device device = null;
TaskPhaseEnum taskPhaseEnum = TaskPhaseEnum.fromPhase(taskPhase);
switch (taskPhaseEnum){
@@ -79,14 +79,14 @@ public class KitToAcsServiceImpl implements KitToAcsService {
if (ObjectUtil.isEmpty(storageCellDto)) {
resp.put("code", "400");
resp.put("message", "请求失败，点位信息不存在,点位站点号:" + taskPoint);
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
device = deviceAppService.findDeviceByCode(storageCellDto.getStorage_code());
if (ObjectUtil.isEmpty(device)) {
resp.put("code", "400");
resp.put("message", "请求失败，请求位置编号不存在！");
log.info("---响应kit请求---"+resp.toString());
resp.put("message", "请求失败，请求位置编码不存在");
log.info("---kit响应请求---{}", resp);
return resp;
}
DeviceDriver deviceDriver = device.getDeviceDriver();
@@ -96,17 +96,18 @@ public class KitToAcsServiceImpl implements KitToAcsService {
case PICKUP_COMPLETE:
case RELEASE_REQUEST_OR_RESPONSE:
case RELEASE_COMPLETE:
if (TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase) || TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)){
if (TaskPhaseEnum.PICKUP_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)
|| TaskPhaseEnum.PICKUP_COMPLETE.getValue().equals(taskPhase)){
device = deviceAppService.findDeviceByCode(instruction.getStart_point_code());
}
//taskPhase 请求放货上报,放货完成上报
if (TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)||TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)){
if (TaskPhaseEnum.RELEASE_REQUEST_OR_RESPONSE.getValue().equals(taskPhase)
|| TaskPhaseEnum.RELEASE_COMPLETE.getValue().equals(taskPhase)){
device = deviceAppService.findDeviceByCode(instruction.getNext_point_code());
}
if (device == null){
resp.put("code", "400");
resp.put("message", "点位驱动不存在");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
device.getDeviceDriver().setDeviceInnerParam(MapOf.of("taskId",instTaskId,"agvphase",taskPhase));
@@ -114,102 +115,80 @@ public class KitToAcsServiceImpl implements KitToAcsService {
instruction.setExecute_status(taskPhase);
instructionService.update(instruction);
}
//taskPhase 任务完成
if (TaskStateEnum.COMPLETED.getValue().equals(taskState)){
resp.put("code", "200");
resp.put("message", "完成任务成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
}
break;
default:
resp.put("code", "400");
resp.put("message", "taskPhase值不存在");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
resp.put("code", "200");
resp.put("message", taskPhaseEnum.getDescription()+"处理完毕");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
//任务分配车辆上报
else if (MsgTypeEnum.AGV_ID_RPT.getValue().equals(type)){
} else if (MsgTypeEnum.AGV_ID_RPT.getValue().equals(type)){
String taskId = params.getString("taskId");
String agvId = params.getString("agvId");
Instruction instruction = instructionService.findByCodeFromCache(taskId);
if (ObjectUtil.isEmpty(instruction)) {
resp.put("code", "400");
resp.put("message", "请求失败，任务信息不存在,指令号:" + taskId);
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
//更新车号
instruction.setCarno(agvId);
instruction.setInstruction_status(InstructionStatusEnum.BUSY.getCode());
instruction.setUpdate_time(DateUtil.now());
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "更新车号成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
else if (MsgTypeEnum.TASK_RUN_RPT.getValue().equals(type)){
System.out.println("------");
} else if (MsgTypeEnum.TASK_RUN_RPT.getValue().equals(type)){
resp.put("code", "200");
resp.put("message", "更新车号成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
//车辆任务生成上报
else if (MsgTypeEnum.TASK_INDEX_RPT.getValue().equals(type)){
} else if (MsgTypeEnum.TASK_INDEX_RPT.getValue().equals(type)){
String taskId = params.getString("taskId");
Instruction instruction = instructionService.findByCodeFromCache(taskId);
if (ObjectUtil.isEmpty(instruction)) {
resp.put("code", "400");
resp.put("message", "请求失败，任务信息不存在,指令号:" + taskId);
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
//修改指令状态执行中
instruction.setInstruction_status(InstructionStatusEnum.BUSY.getCode());
instruction.setUpdate_time(DateUtil.now());
instructionService.update(instruction);
resp.put("code", "200");
resp.put("message", "更新指令执行中成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
else if (MsgTypeEnum.AGV_POWER_RPT.getValue().equals(type)){
int agvId = params.getIntValue("agvId");
int stateValue = params.getIntValue("stateValue");
} else if (MsgTypeEnum.AGV_POWER_RPT.getValue().equals(type)){
resp.put("code", "200");
resp.put("message", "更新指令执行中成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
else if (MsgTypeEnum.AGV_STATE_RPT.getValue().equals(type)){
int agvId = params.getIntValue("agvId");
int stateValue = params.getIntValue("stateValue");
int xLocation = params.getIntValue("xLocation");
int yLocation = params.getIntValue("yLocation");
int angle = params.getIntValue("angle");
int speed = params.getIntValue("speed");
} else if (MsgTypeEnum.AGV_STATE_RPT.getValue().equals(type)){
resp.put("code", "200");
resp.put("message", "更新指令执行中成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
else if (MsgTypeEnum.AGV_ERROR_RPT.getValue().equals(type)){
int agvId = params.getIntValue("agvId");
int errorCode = params.getIntValue("errState");
} else if (MsgTypeEnum.AGV_ERROR_RPT.getValue().equals(type)){
resp.put("code", "200");
resp.put("message", "更新指令执行中成功");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
resp.put("code", "400");
resp.put("message", type+"type类型未定义");
log.info("---响应kit请求---"+resp.toString());
log.info("---kit响应请求---{}", resp);
return resp;
}
}

22
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/controller/WmsToAcsController.java
View File

@@ -1,8 +1,15 @@
package org.nl.extInterface.wms.controller;
import cn.dev33.satoken.annotation.SaIgnore;
import io.swagger.annotations.Api;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.extInterface.wms.service.WmsToAcsService;
import org.nl.extInterface.wms.service.dto.CreateTaskRequest;
import org.springframework.http.HttpStatus;
import org.springframework.http.ResponseEntity;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
@@ -12,7 +19,18 @@ import org.springframework.web.bind.annotation.RestController;
**/
@RestController
@RequiredArgsConstructor
@RequestMapping("/api/wms")
@Api(tags = "wms->ACS")
@RequestMapping({"/api/wms", "/restful/api/v3"})
@Slf4j
public class WmsToAcsController {
private final WmsToAcsService wmsToAcsService;
@SaIgnore
@PostMapping("/createTask")
public ResponseEntity<Object> createTask(@RequestBody CreateTaskRequest request) {
// 控制层只做协议接入，字段映射和业务处理统一下沉到 service。
return new ResponseEntity<>(wmsToAcsService.createTask(request), HttpStatus.OK);
}
}

19
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/service/AcsToWmsService.java
View File

@@ -1,5 +1,22 @@
package org.nl.extInterface.wms.service;
public interface AcsToWmsService {
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.task.task.service.dto.TaskDto;
public interface AcsToWmsService {
/**
* 复用 WMS 的 feedbackTask 接口，同时承担阶段反馈和取放货许可判断。
*/
boolean feedbackTask(TaskDto taskDto, String card, String feedbackStatus);
boolean deprecateTask(TaskDto taskDto, String reason);
JSONObject taskRedirection(String taskCode, String currLocation);
boolean deviceStatusUpdate(String deviceCode, Integer status, String statusDescription);
/**
* 判断任务是否需要进入 WMS 回传链路，避免本地任务误回传。
*/
boolean isWmsTask(TaskDto taskDto);
}

6
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/service/WmsToAcsService.java
View File

@@ -1,7 +1,13 @@
package org.nl.extInterface.wms.service;
import com.alibaba.fastjson.JSONObject;
import org.nl.extInterface.wms.service.dto.CreateTaskRequest;
public interface WmsToAcsService {
/**
* 接收 WMS 的 createTask 报文，并映射到现有 ACS 任务流程。
*/
JSONObject createTask(CreateTaskRequest request);
}

39
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/service/enums/WmsFeedbackStatusEnum.java Normal file
View File

@@ -0,0 +1,39 @@
package org.nl.extInterface.wms.service.enums;
/**
* WMS feedbackTask 接口使用的任务阶段状态枚举。
*/
public enum WmsFeedbackStatusEnum {
/** 取货执行中。 */
TAKING("taking"),
/** 请求 WMS 允许取货。 */
APPLY_TAKE("applyTake"),
/** 取货完成。 */
TAKE_FINISH("takeFinish"),
/** 放货执行中。 */
PUTTING("putting"),
/** 请求 WMS 允许放货。 */
APPLY_PUT("applyPut"),
/** 放货完成。 */
PUT_FINISH("putFinish"),
/** 无目标点放货完成。 */
NO_TARGET_PUT_FINISH("NoTargetPutFinish"),
/** 异常完成。 */
ERROR_FINISH("errorFinish"),
/** 运行异常。 */
EXCEPTION("exception"),
/** 任务作废。 */
DEPRECATE("deprecate");
/** 对外回传给 WMS 的状态值。 */
private final String value;
WmsFeedbackStatusEnum(String value) {
this.value = value;
}
public String getValue() {
return value;
}
}

117
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/service/impl/AcsToWmsServiceImpl.java
View File

@@ -1,13 +1,130 @@
package org.nl.extInterface.wms.service.impl;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpRequest;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.task.TaskConfig;
import org.nl.acs.task.task.service.dto.TaskDto;
import org.nl.common.db.CommonFinalParam;
import org.nl.extInterface.wms.service.AcsToWmsService;
import org.nl.system.service.param.ISysParamService;
import org.nl.system.service.param.dao.Param;
import org.springframework.stereotype.Service;
@Service
@RequiredArgsConstructor
@Slf4j
public class AcsToWmsServiceImpl implements AcsToWmsService {
private static final String FEEDBACK_TASK_PATH = "/restful/api/v3/system_car/feedbackTask";
private static final String DEPRECATE_TASK_PATH = "/restful/api/v3/system_car/deprecateTask";
private static final String TASK_REDIRECTION_PATH = "/restful/api/v3/system_car/taskRedirection";
private static final String DEVICE_STATUS_PATH = "/restful/api/v3/system_car/deviceStatusUpdate";
private final ISysParamService paramService;
@Override
public boolean feedbackTask(TaskDto taskDto, String card, String feedbackStatus) {
if (!isWmsTask(taskDto)) {
return true;
}
// 当前项目复用 feedbackTask 作为统一出口，既回传阶段，也做取放货许可判断。
JSONObject body = baseBody();
body.put("taskCode", getExternalTaskCode(taskDto));
body.put("card", StrUtil.blankToDefault(card, ""));
body.put("taskType", StrUtil.blankToDefault(taskDto.getTask_type(), ""));
body.put("feedbackStatus", feedbackStatus);
JSONObject response = postJson(buildUrl(FEEDBACK_TASK_PATH), body);
return isSuccess(response);
}
@Override
public boolean deprecateTask(TaskDto taskDto, String reason) {
if (!isWmsTask(taskDto)) {
return true;
}
JSONObject body = baseBody();
body.put("taskCode", getExternalTaskCode(taskDto));
body.put("reason", StrUtil.blankToDefault(reason, ""));
JSONObject response = postJson(buildUrl(DEPRECATE_TASK_PATH), body);
return isSuccess(response);
}
@Override
public JSONObject taskRedirection(String taskCode, String currLocation) {
JSONObject body = baseBody();
body.put("taskCode", taskCode);
body.put("currLocation", currLocation);
return postJson(buildUrl(TASK_REDIRECTION_PATH), body);
}
@Override
public boolean deviceStatusUpdate(String deviceCode, Integer status, String statusDescription) {
JSONObject body = baseBody();
body.put("deviceCode", deviceCode);
body.put("status", status);
body.put("statusDescription", statusDescription);
JSONObject response = postJson(buildUrl(DEVICE_STATUS_PATH), body);
return isSuccess(response);
}
@Override
public boolean isWmsTask(TaskDto taskDto) {
// 当前通过任务号规则和总开关共同判断，避免历史 ACS 本地任务进入 WMS 流程。
return taskDto != null
&& StrUtil.isNotBlank(taskDto.getTask_code())
&& !StrUtil.startWith(taskDto.getTask_code(), CommonFinalParam.HYPHEN_)
&& StrUtil.equals("1", getParam(TaskConfig.HASWMS, "0"));
}
protected JSONObject postJson(String url, JSONObject body) {
try {
String result = HttpRequest.post(url)
.header("Content-Type", "application/json")
.body(body.toJSONString())
.timeout(8000)
.execute()
.body();
return JSON.parseObject(result);
} catch (Exception ex) {
// 统一包装成失败响应，调用方可以按 WMS 拒绝的同一套逻辑处理。
log.error("postJson failed, url={}, body={}", url, body, ex);
JSONObject error = new JSONObject();
error.put("responseCode", 1);
error.put("responseMessage", ex.getMessage());
return error;
}
}
private JSONObject baseBody() {
JSONObject body = new JSONObject();
body.put("houseCode", getParam(TaskConfig.WMS_HOUSE_CODE, ""));
body.put("systemCode", getParam(TaskConfig.WMS_SYSTEM_CODE, ""));
// 协议预留了扩展参数对象，即使当前流程没有额外字段也保持结构一致。
body.put("parameters", new JSONObject());
return body;
}
private String buildUrl(String path) {
String baseUrl = getParam(TaskConfig.WMSURL, "");
if (StrUtil.endWith(baseUrl, "/")) {
baseUrl = StrUtil.removeSuffix(baseUrl, "/");
}
return baseUrl + path;
}
private String getExternalTaskCode(TaskDto taskDto) {
return StrUtil.isNotBlank(taskDto.getExt_task_id()) ? taskDto.getExt_task_id() : taskDto.getTask_code();
}
private boolean isSuccess(JSONObject response) {
return response != null && Integer.valueOf(0).equals(response.getInteger("responseCode"));
}
private String getParam(String code, String defaultValue) {
Param param = paramService.findByCode(code);
return param == null || StrUtil.isBlank(param.getValue()) ? defaultValue : param.getValue();
}
}

44
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/extInterface/wms/service/impl/WmsToAcsServiceImpl.java
View File

@@ -1,13 +1,57 @@
package org.nl.extInterface.wms.service.impl;
import cn.hutool.core.util.StrUtil;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.task.task.service.TaskService;
import org.nl.acs.task.task.service.dto.TaskDto;
import org.nl.extInterface.wms.service.WmsToAcsService;
import org.nl.extInterface.wms.service.dto.CreateTaskRequest;
import org.springframework.stereotype.Service;
@Service
@RequiredArgsConstructor
@Slf4j
public class WmsToAcsServiceImpl implements WmsToAcsService {
private final TaskService taskService;
@Override
public JSONObject createTask(CreateTaskRequest request) {
JSONObject response = new JSONObject();
try {
// 将 WMS 协议报文转换成现有 ACS 任务 DTO，复用已有建单和调度链路。
TaskDto dto = new TaskDto();
dto.setTask_code(request.getTaskCode());
dto.setExt_task_id(request.getTaskCode());
dto.setTask_type(StrUtil.blankToDefault(request.getTaskType(), "1"));
dto.setVehicle_code(request.getContainerCode());
dto.setVehicle_type(request.getContainerType());
dto.setStart_point_code(request.getLocationFrom());
dto.setStart_device_code(request.getLocationFrom());
dto.setNext_point_code(request.getLocationTo());
dto.setNext_device_code(request.getLocationTo());
dto.setPriority(request.getPriority() == null ? null : String.valueOf(request.getPriority()));
dto.setQuantity("1");
dto.setRoute_plan_code("normal");
dto.setCompound_task("0");
dto.setCreate_type("WMS");
dto.setFinish_type("WMS");
// 当前任务模型没有完整承载 WMS 扩展字段的结构化列，先放入 remark 保留。
JSONObject extInfo = new JSONObject();
extInfo.put("houseCode", request.getHouseCode());
extInfo.put("systemCode", request.getSystemCode());
extInfo.put("taskCreateDateTime", request.getTaskCreateDateTime());
extInfo.put("parameters", request.getParameters());
dto.setRemark(extInfo.toJSONString());
taskService.create(dto);
response.put("responseCode", 0);
response.put("responseMessage", "success");
} catch (Exception ex) {
log.error("createTask failed, taskCode={}", request.getTaskCode(), ex);
response.put("responseCode", 1);
response.put("responseMessage", ex.getMessage());
}
return response;
}
}

95
acs2/nladmin-system/nlsso-server/src/test/java/org/nl/extInterface/wms/service/impl/AcsToWmsServiceImplTest.java Normal file
View File

@@ -0,0 +1,95 @@
package org.nl.extInterface.wms.service.impl;
import com.alibaba.fastjson.JSONObject;
import org.junit.Test;
import org.nl.acs.task.TaskConfig;
import org.nl.acs.task.task.service.dto.TaskDto;
import org.nl.system.service.param.ISysParamService;
import org.nl.system.service.param.dao.Param;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import static org.mockito.Mockito.mock;
import static org.mockito.Mockito.when;
public class AcsToWmsServiceImplTest {
@Test
public void feedbackTaskTreatsZeroResponseCodeAsAllowed() {
ISysParamService paramService = mock(ISysParamService.class);
when(paramService.findByCode(TaskConfig.WMSURL)).thenReturn(param(TaskConfig.WMSURL, "http://wms"));
when(paramService.findByCode(TaskConfig.HASWMS)).thenReturn(param(TaskConfig.HASWMS, "1"));
when(paramService.findByCode(TaskConfig.WMS_HOUSE_CODE)).thenReturn(param(TaskConfig.WMS_HOUSE_CODE, "H1"));
when(paramService.findByCode(TaskConfig.WMS_SYSTEM_CODE)).thenReturn(param(TaskConfig.WMS_SYSTEM_CODE, "WMS"));
TestableAcsToWmsServiceImpl service = new TestableAcsToWmsServiceImpl(paramService);
service.nextResponse = jsonResponse(0, "ok");
TaskDto task = new TaskDto();
task.setTask_code("TASK-1");
task.setTask_type("MOVE");
boolean allowed = service.feedbackTask(task, "AGV-01", "applyTake");
assertTrue(allowed);
assertEquals("http://wms/restful/api/v3/system_car/feedbackTask", service.lastUrl);
assertEquals("TASK-1", service.lastBody.getString("taskCode"));
assertEquals("AGV-01", service.lastBody.getString("card"));
assertEquals("MOVE", service.lastBody.getString("taskType"));
assertEquals("applyTake", service.lastBody.getString("feedbackStatus"));
assertEquals("H1", service.lastBody.getString("houseCode"));
assertEquals("WMS", service.lastBody.getString("systemCode"));
}
@Test
public void feedbackTaskTreatsNonZeroResponseCodeAsRejected() {
ISysParamService paramService = mock(ISysParamService.class);
when(paramService.findByCode(TaskConfig.WMSURL)).thenReturn(param(TaskConfig.WMSURL, "http://wms"));
when(paramService.findByCode(TaskConfig.HASWMS)).thenReturn(param(TaskConfig.HASWMS, "1"));
when(paramService.findByCode(TaskConfig.WMS_HOUSE_CODE)).thenReturn(param(TaskConfig.WMS_HOUSE_CODE, "H1"));
when(paramService.findByCode(TaskConfig.WMS_SYSTEM_CODE)).thenReturn(param(TaskConfig.WMS_SYSTEM_CODE, "WMS"));
TestableAcsToWmsServiceImpl service = new TestableAcsToWmsServiceImpl(paramService);
service.nextResponse = jsonResponse(2, "denied");
TaskDto task = new TaskDto();
task.setTask_code("TASK-2");
task.setTask_type("MOVE");
boolean allowed = service.feedbackTask(task, "AGV-02", "applyPut");
assertFalse(allowed);
}
private static Param param(String code, String value) {
Param param = new Param();
param.setCode(code);
param.setValue(value);
return param;
}
private static JSONObject jsonResponse(int code, String message) {
JSONObject json = new JSONObject();
json.put("responseCode", code);
json.put("responseMessage", message);
return json;
}
private static class TestableAcsToWmsServiceImpl extends AcsToWmsServiceImpl {
private JSONObject nextResponse;
private String lastUrl;
private JSONObject lastBody;
private TestableAcsToWmsServiceImpl(ISysParamService paramService) {
super(paramService);
}
@Override
protected JSONObject postJson(String url, JSONObject body) {
this.lastUrl = url;
this.lastBody = body;
return nextResponse;
}
}
}

81
acs2/nladmin-system/nlsso-server/src/test/java/org/nl/extInterface/wms/service/impl/WmsToAcsServiceImplTest.java Normal file
View File

@@ -0,0 +1,81 @@
package org.nl.extInterface.wms.service.impl;
import com.alibaba.fastjson.JSONObject;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.mockito.ArgumentCaptor;
import org.mockito.InjectMocks;
import org.mockito.Mock;
import org.mockito.junit.MockitoJUnitRunner;
import org.nl.acs.task.task.service.TaskService;
import org.nl.acs.task.task.service.dto.TaskDto;
import org.nl.extInterface.wms.service.dto.CreateTaskRequest;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
import static org.mockito.ArgumentMatchers.any;
import static org.mockito.Mockito.doThrow;
import static org.mockito.Mockito.verify;
@RunWith(MockitoJUnitRunner.class)
public class WmsToAcsServiceImplTest {
@Mock
private TaskService taskService;
@InjectMocks
private WmsToAcsServiceImpl service;
@Test
public void createTaskMapsRequestToTaskDto() throws Exception {
CreateTaskRequest request = new CreateTaskRequest();
request.setTaskCode("TASK-001");
request.setTaskType("MOVE");
request.setContainerCode("PALLET-1");
request.setContainerType("PALLET");
request.setLocationFrom("A01");
request.setLocationTo("B01");
request.setPriority(5);
request.setHouseCode("H1");
request.setSystemCode("WMS");
JSONObject parameters = new JSONObject();
parameters.put("batch", "B1");
request.setParameters(parameters);
JSONObject response = service.createTask(request);
ArgumentCaptor<TaskDto> captor = ArgumentCaptor.forClass(TaskDto.class);
verify(taskService).create(captor.capture());
TaskDto dto = captor.getValue();
assertEquals("TASK-001", dto.getTask_code());
assertEquals("TASK-001", dto.getExt_task_id());
assertEquals("MOVE", dto.getTask_type());
assertEquals("PALLET-1", dto.getVehicle_code());
assertEquals("PALLET", dto.getVehicle_type());
assertEquals("A01", dto.getStart_point_code());
assertEquals("A01", dto.getStart_device_code());
assertEquals("B01", dto.getNext_point_code());
assertEquals("B01", dto.getNext_device_code());
assertEquals("5", dto.getPriority());
assertEquals("1", dto.getQuantity());
assertTrue(dto.getRemark().contains("\"houseCode\":\"H1\""));
assertTrue(dto.getRemark().contains("\"systemCode\":\"WMS\""));
assertEquals(Integer.valueOf(0), response.getInteger("responseCode"));
}
@Test
public void createTaskReturnsErrorWhenTaskCreationFails() throws Exception {
CreateTaskRequest request = new CreateTaskRequest();
request.setTaskCode("TASK-ERR");
request.setContainerCode("PALLET-ERR");
request.setLocationFrom("A01");
request.setLocationTo("B01");
doThrow(new IllegalStateException("duplicate task")).when(taskService).create(any(TaskDto.class));
JSONObject response = service.createTask(request);
assertEquals(Integer.valueOf(1), response.getInteger("responseCode"));
assertEquals("duplicate task", response.getString("responseMessage"));
}
}