findAllAgvFromCache();
+
+ void updateAgvFromCache(AgvDto dto);
+
+ /**
+ * 删除RMDS任务
+ *
+ * @param instCode
+ * @return
+ */
+ public HttpResponse deleteRmdsAgvInst(String instCode);
+
+
+
+ /**
+ * 查询RMDS AGV任务状态调用
+ *
+ * @param jobno
+ * @param type
+ * @param action
+ * @param processingVehicle
+ * @return
+ */
+ public String processRmdsInteraction(String jobno, String type, String address, String action, String processingVehicle);
+
+
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
new file mode 100644
index 0000000..eb2eec1
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java
@@ -0,0 +1,162 @@
+package org.nl.acs.agv.server.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class AgvDto implements Serializable {
+
+ /**
+ * 名称
+ */
+ private String name;
+
+ /**
+ * 机器人当前的自身状态
+ *
+ * UNKNOWN：未知状态
+ * UNAVAILABLE：通信超时或者已断开连接
+ * ERROR：错误状态
+ * IDLE：空闲状态
+ * EXECUTING：正在执行运单
+ * CHARGING：正在充电
+ */
+ private String state;
+
+ /**
+ * 机器人的剩余电量值（单位：整数百分比）
+ */
+ private String energyLevel;
+
+ /**
+ *
+ */
+ private String energyLevelGood;
+
+ /**
+ * 机器人在 SRD 系统中的在线状态
+ *
+ * TO_BE_IGNORED：机器人处于离线状态，SRD 不会标识出机器人位置。
+ * TO_BE_NOTICED：机器人处于离线状态，SRD 标识出机器人的位置。
+ * TO_BE_RESPECTED：机器人处于在线状态，但不能接受新的运单。
+ * TO_BE_UTILIZED：机器人处于在线状态，可以接受并执行新的运单。
+ */
+ private String integrationLevel;
+
+ /**
+ * 机器人当前的运单执行状态
+ *
+ * UNAVAILABLE：无法执行任何运单和任务
+ * IDLE：空闲状态
+ * AWAITING_ORDER：机器人在等待运单中新的子任务
+ * PROCESSING_ORDER：机器人正在执行运单
+ */
+ private String procState;
+
+ /**
+ * 角度
+ */
+ private String positionAngle;
+
+ /**
+ * X坐标
+ */
+ private String positionX;
+
+ /**
+ * Y坐标
+ */
+ private String positionY;
+
+ /**
+ * 当前任务号
+ */
+ private String transportOrder;
+
+ /**
+ * 电池温度
+ */
+ private String battery_temp;
+
+ /**
+ * 是否阻挡
+ */
+ private String blocked;
+
+ /**
+ * 是否刹车
+ */
+ private String brake;
+
+ /**
+ * 是否充电
+ */
+ private String charging;
+
+ /**
+ * 控制器温度
+ */
+ private String controller_temp;
+
+ /**
+ * 当前地图
+ */
+ private String current_map;
+
+ /**
+ * 当前位置
+ */
+ private String current_station;
+
+ /**
+ * 急停
+ */
+ private String emergency;
+
+ /**
+ * 里程
+ */
+ private String odo;
+
+ /**
+ * 请求电流
+ */
+ private String requestCurrent;
+
+ /**
+ * 请求电压
+ */
+ private String requestVoltage;
+
+ /**
+ * 软急停
+ */
+ private String soft_emc;
+
+ /**
+ * 今天运行的里程
+ */
+ private String today_odo;
+
+ /**
+ * 电压
+ */
+ private String voltage;
+
+ /**
+ * x方向的速度
+ */
+ private String vx;
+
+ /**
+ * y方向的速度
+ */
+ private String vy;
+
+ /**
+ * 加速度
+ */
+ private String w;
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
new file mode 100644
index 0000000..ac10898
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java
@@ -0,0 +1,397 @@
+package org.nl.acs.agv.server.impl;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.device.device.service.DeviceAppService;
+import org.nl.acs.device.device.service.DeviceService;
+import org.nl.acs.device.device.service.impl.DeviceAppServiceImpl;
+import org.nl.acs.task.instruction.domain.Instruction;
+import org.nl.acs.task.instruction.service.InstructionService;
+import org.nl.acs.task.task.service.TaskService;
+import org.nl.config.AcsConfig;
+import org.nl.config.SpringContextHolder;
+import org.nl.system.service.param.ISysParamService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.text.DateFormat;
+import java.text.SimpleDateFormat;
+import java.util.*;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class AgvServiceImpl implements AgvService {
+
+
+
+ @Autowired
+ DeviceAppService deviceAppService;
+ @Autowired
+ TaskService taskService;
+ @Autowired
+ InstructionService instructionService;
+ @Autowired
+ ISysParamService isysParamService;
+
+ @Autowired
+ DeviceService deviceService;
+
+
+
+ Map AGVDeviceStatus = new HashMap();
+
+
+ /**
+ * 返回一个点位操作子任务
+ *
+ * @param locationName 点位
+ * @param operation 点位操作
+ * @param propertiesType 子任务类型
+ * @param pro 子任务参数
+ * 调用demo:destination("sh15p", "Spin", "2", "3.14")
+ * demo:destination("cz14", "JackUnload", "3", "")
+ * @return
+ */
+ public static JSONObject destination(String locationName, String operation, String propertiesType, String pro) {
+ //新增业务订单
+ JSONObject destinationOrder = new JSONObject();
+ //目标工作站
+ destinationOrder.put("locationName", locationName);
+ //机器人在工作站要执行的操作
+ destinationOrder.put("operation", operation);
+ if (propertiesType.equals("1")) {//取货前等待、取货后等待
+
+ //pro 1 进入离开等待
+ if ("1".equals(pro)) {
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "EntryRequired");
+ pro1.put("value", "true");
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "PauseOnStation");
+ pro2.put("value", "true");
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ //进入等待 离开不等待
+ } else if ("2".equals(pro)) {
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "EntryRequired");
+ pro1.put("value", "true");
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "PauseOnStation");
+ pro2.put("value", "false");
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ //进入不等待 离开等待
+ } else if ("3".equals(pro)) {
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "EntryRequired");
+ pro1.put("value", "false");
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "PauseOnStation");
+ pro2.put("value", "true");
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ //不等待
+ } else {
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "EntryRequired");
+ pro1.put("value", "false");
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "PauseOnStation");
+ pro2.put("value", "false");
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ }
+
+ } else if (propertiesType.equals("2")) {//Spin转动
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系
+ pro1.put("value", pro);//弧度值，如3.14
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "spin_direction");//固定值
+ pro2.put("value", "0");//弧度值，如0
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ } else if (propertiesType.equals("3")) {//JackUnload,Jackload不操作
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "recognize");//固定值
+ pro1.put("value", "false");//固定值
+ properties.add(pro1);
+ destinationOrder.put("properties", properties);
+ } else if (propertiesType.equals("4")) {
+ JSONArray properties = new JSONArray();
+ JSONObject pro1 = new JSONObject();
+ pro1.put("key", "robot_spin_angle");//坐标系类型，robot_spin_angle为机器人坐标系
+ pro1.put("value", pro);//弧度值，如3.14
+ properties.add(pro1);
+ JSONObject pro2 = new JSONObject();
+ pro2.put("key", "spin_direction");//固定值
+ pro2.put("value", "0");//弧度值，如0
+ properties.add(pro2);
+ destinationOrder.put("properties", properties);
+ }
+ return destinationOrder;
+ }
+
+
+
+ @Override
+ public HttpResponse sendAgvInstToRmds(Instruction inst) throws Exception {
+ JSONArray ja = new JSONArray();
+ JSONObject orderjo = new JSONObject();
+ String instno = inst.getInstruction_code();
+ orderjo.put("complete", "true");
+ ja.add(destination(inst.getStart_point_code(), "Load", "1", "1"));
+ ja.add(destination(inst.getNext_point_code(), "Unload", "1", "1"));
+ orderjo.put("destinations", ja);
+
+ JSONObject priority = new JSONObject();
+ priority.put("key", "priority");
+ priority.put("value", inst.getPriority());
+ JSONArray properties = new JSONArray();
+ properties.add(priority);
+ orderjo.put("properties", properties);
+
+ if (StrUtil.equals(isysParamService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+ String agvurl = isysParamService.findConfigFromCache().get(AcsConfig.AGVURL);
+ String agvport = isysParamService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+ agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instno;
+
+ log.info("下发RMDS指令参数:{}", orderjo.toString());
+
+ HttpResponse result = null;
+ try {
+ result = HttpRequest.post(agvurl)
+ .header("Content-Type", "application/json")
+ .body(String.valueOf(orderjo))//表单内容
+ .timeout(20000)//超时，毫秒
+ .execute();
+ } catch (Exception e) {
+ throw new RuntimeException("下发RMDS指令失败！", e);
+ }
+ validateRmdsControlResponse(result, "下发RMDS指令");
+ return result;
+ } else {
+ return null;
+ }
+
+
+ }
+
+ private void validateRmdsControlResponse(HttpResponse response, String operation) {
+ if (response == null || response.getStatus() != 200 || StrUtil.isEmpty(response.body())) {
+ throw new RuntimeException(operation + "失败：RMDS通信异常");
+ }
+ JSONObject responseBody = JSONObject.fromObject(response.body());
+ if (!"200".equals(responseBody.optString("status"))) {
+ throw new RuntimeException(operation + "失败，RMDS状态码：" + responseBody.optString("status"));
+ }
+ }
+
+
+ @Override
+ public HttpResponse sendAgvInstToRmds(String instcode) throws Exception {
+ InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
+ Instruction inst = instructionService.findByCodeFromCache(instcode);
+ HttpResponse result = this.sendAgvInstToRmds(inst);
+ return result;
+ }
+
+
+
+
+ @Override
+ public HttpResponse queryRmdsAgvTaskStatus() {
+
+ if (StrUtil.equals(isysParamService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+ String agvurl = isysParamService.findConfigFromCache().get(AcsConfig.AGVURL);
+ String agvport = isysParamService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+ agvurl = agvurl + ":" + agvport + "/v1/transportOrders/query";
+
+ HttpResponse result = HttpRequest.post(agvurl)
+ .header("Content-Type", "application/json")
+ .body("{}")
+ .timeout(20000)//超时，毫秒
+ .execute();
+ log.info("查询RMDS指令数据:{}", result.body());
+
+ return result;
+ } else {
+
+ return null;
+ }
+ }
+
+
+
+
+ @Override
+ public HttpResponse queryRmdsAgvDeviceStatus() {
+ if (StrUtil.equals(isysParamService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+ String agvurl = isysParamService.findConfigFromCache().get(AcsConfig.AGVURL);
+ String agvport = isysParamService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+ agvurl = agvurl + ":" + agvport + "/v1/vehicles";
+
+ HttpResponse result = HttpRequest.post(agvurl)
+ .header("Content-Type", "application/json")
+ .body("{}")
+ .timeout(20000)//超时，毫秒
+ .execute();
+ log.info("查询RMDS车辆状态数据:{}", result.body());
+ if (result.getStatus() == 200) {
+ JSONArray ja = JSONArray.fromObject(result.body());
+ for (int i = 0; i < ja.size(); i++) {
+ JSONObject jo = (JSONObject) ja.get(i);
+ String name = jo.optString("vehicle");
+ String state = jo.optString("status");
+ String energyLevel = jo.optString("energyLevel");
+ String transportOrder = jo.optString("task_code");
+ String positionAngle = jo.optString("angle");
+ String positionX = jo.optString("positionX");
+ String positionY = jo.optString("positionY");
+ AgvDto dto = new AgvDto();
+ dto.setName(name);
+ dto.setEnergyLevel(energyLevel);
+ dto.setState(state);
+ dto.setPositionAngle(positionAngle);
+ dto.setPositionX(positionX);
+ dto.setPositionY(positionY);
+ dto.setTransportOrder(transportOrder);
+
+ if (AGVDeviceStatus.containsKey(name)) {
+ AGVDeviceStatus.remove(name);
+ AGVDeviceStatus.put(name, dto);
+ } else {
+ AGVDeviceStatus.put(name, dto);
+ }
+ }
+ }
+ return result;
+ } else {
+ return null;
+ }
+ }
+
+
+
+
+
+ @Override
+ public Map findAllAgvFromCache() {
+ return AGVDeviceStatus;
+ }
+
+ @Override
+ public void updateAgvFromCache(AgvDto dto) {
+ if (AGVDeviceStatus.containsKey(dto.getName())) {
+ AGVDeviceStatus.remove(dto.getName());
+ }
+ AGVDeviceStatus.put(dto.getName(), dto);
+ }
+
+ @Override
+ public HttpResponse deleteRmdsAgvInst(String instCode) {
+
+ if (StrUtil.equals(isysParamService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+ String agvurl = isysParamService.findConfigFromCache().get(AcsConfig.AGVURL);
+ String agvport = isysParamService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+ agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + instCode + "/withdrawal";
+ log.info("删除RMDS指令请求agvurl:{}", agvurl);
+
+ HttpResponse result = null;
+ try {
+ result = HttpRequest.post(agvurl)
+ .header("Content-Type", "application/json")
+ .body("{}")
+ .timeout(20000)//超时，毫秒
+ .execute();
+ } catch (Exception e) {
+ throw new RuntimeException("删除RMDS指令失败！", e);
+ }
+ validateRmdsControlResponse(result, "删除RMDS指令");
+ log.info("删除RMDS指令请求反馈:{}", result);
+
+ return result;
+
+ } else {
+
+ return null;
+ }
+
+ }
+
+
+
+
+ //1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
+ @Override
+ public synchronized String processRmdsInteraction(String jobno, String type, String address, String action, String processingVehicle) {
+ log.info("查询到RMDS请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
+ boolean is_feedback = false;
+ if (address.indexOf(".") > 0) {
+ address = address.substring(0, address.indexOf("."));
+ } else if (address.indexOf("-") > 0) {
+ address = address.substring(0, address.indexOf("-"));
+ }
+ InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
+ Instruction inst = instructionService.findByCodeFromCache(jobno);
+
+ //请求进入
+ if ("onEntry".equals(type)) {
+ //取放货完成
+ } else if ("onStation".equals(type)) {
+ }
+
+ JSONObject requestjo = new JSONObject();
+ if (is_feedback) {
+ requestjo.put("operation", action);
+ requestjo.put("entryRequired", "onEntry".equals(type) ? "true" : "false");
+ requestjo.put("pauseOnStation", "onStation".equals(type) ? "true" : "false");
+ log.info("反馈RMDS请求数据:{}", requestjo);
+
+ String agvurl = isysParamService.findConfigFromCache().get(AcsConfig.AGVURL);
+ String agvport = isysParamService.findConfigFromCache().get(AcsConfig.AGVPORT);
+
+ agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + jobno + "/interact";
+
+ HttpResponse result = HttpRequest.post(agvurl)
+ .header("Content-Type", "application/json")
+ .body(String.valueOf(requestjo))
+ .timeout(20000)//超时，毫秒
+ .execute();
+ validateRmdsControlResponse(result, "RMDS站点放行");
+ }
+ is_feedback = false;
+
+ return requestjo.toString();
+
+ }
+
+
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/AcsConfig.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/AcsConfig.java
new file mode 100644
index 0000000..144fa86
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/config/AcsConfig.java
@@ -0,0 +1,45 @@
+package org.nl.config;
+
+
+public interface AcsConfig {
+ //指令下发agv
+ String FORKAGV = "forkagv";
+ //同一站点运行最大任务数
+ String ONEPOINTMAXTASK = "onePointMaxTask";
+ //同一任务创建最大指令数
+ String MAXINSTNUMBER = "maxInstNumber";
+ //创建任务检查
+ String CREATETASKCHECK = "createTaskCheck";
+ //撤销任务检查
+ String CANCELTASKCHECK = "cancelTaskCheck";
+ //agv系统接口地址
+ String AGVURL = "agvurl";
+ //AGV系统端口
+ String AGVPORT = "agvport";
+ //指定AGV系统
+ String AGVTYPE = "agvType";
+ //WMS系统接口地址
+ String WMSURL = "wmsurl";
+ //WCS系统接口地址
+ String WCSURL = "wcsurl";
+
+ String HASOTHERSYSTEM = "hasOtherSystem";
+
+ String ERPURL = "erpurl";
+ //是否存在wms系统
+ String HASWMS = "hasWms";
+ //路由选择
+ String ROUTE = "route";
+ //忽略取放货校验
+ String IGNOREHASGOODS = "ignoreHasGoods";
+ //项目类型
+ String BUSINESSTYPE = "businessType";
+ //海亮贴标设备ip
+ String LETTERINGURL = "letteringUrl";
+ //海亮贴标设备
+ String LETTERINGPORT = "letteringPort";
+ //NDC断线重连reconnection
+ String NDC_RECONNECTION = "NDC_reconnection";
+ //自动清理日志保留时间
+ String AutoCleanDays = "AutoCleanDays";
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/ISysParamService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/ISysParamService.java
index cb16e34..bcde7d5 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/ISysParamService.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/ISysParamService.java
@@ -37,6 +37,10 @@ public interface ISysParamService extends IService {
*/
void create(Param param);
+ void load();
+
+ Map findConfigFromCache();
+
/**
* 更新
*
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/dto/AcsConfigDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/dto/AcsConfigDto.java
new file mode 100644
index 0000000..c334aeb
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/dto/AcsConfigDto.java
@@ -0,0 +1,32 @@
+package org.nl.system.service.param.dto;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+@Data
+public class AcsConfigDto implements Serializable {
+
+ private String id;
+
+ private String code;
+
+ private String name;
+
+ private String value;
+
+ private String remark;
+
+ private String is_active;
+
+ private String is_delete;
+
+ private String create_by;
+
+ private String create_time;
+
+ private String update_by;
+
+ private String update_time;
+}
+
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java
index 6719fa9..88734fd 100644
--- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/param/impl/SysParamServiceImpl.java
@@ -10,6 +10,8 @@ import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.beanutils.BeanUtils;
+import org.nl.ApplicationAutoInitial;
import org.nl.acs.task.TaskConfig;
import org.nl.common.exception.BadRequestException;
import org.nl.common.utils.PageUtil;
@@ -21,14 +23,17 @@ 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.nl.system.service.param.dto.AcsConfigDto;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.domain.Pageable;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import java.util.HashMap;
+import java.util.Iterator;
import java.util.List;
import java.util.Map;
+import java.util.stream.Collectors;
/**
*
@@ -40,12 +45,37 @@ import java.util.Map;
*/
@Slf4j
@Service
-public class SysParamServiceImpl extends ServiceImpl implements ISysParamService {
+public class SysParamServiceImpl extends ServiceImpl implements ISysParamService, ApplicationAutoInitial {
@Autowired
private SysParamMapper paramMapper;
@Autowired
private ISysDictService dictService;
+ Map acsconfigs = new HashMap<>();
+
+ @Override
+ public void load() {
+ Map map = new HashMap();
+ List listacsconfigs = this.queryAll(map);
+ Iterator item = listacsconfigs.iterator();
+ while (item.hasNext()) {
+ AcsConfigDto dto = (AcsConfigDto) item.next();
+ acsconfigs.put(dto.getCode(), dto.getValue());
+ }
+
+ }
+
+
+ @Override
+ public void autoInitial() throws Exception {
+ this.load();
+ }
+
+
+ public List queryAll (Map whereJson) {
+
+ return paramMapper.selectList(new LambdaQueryWrapper().orderByDesc(Param::getCreate_time));
+ }
@Override
public IPage queryPage(Map whereJson, Pageable page) {
@@ -108,7 +138,7 @@ public class SysParamServiceImpl extends ServiceImpl impl
return param;
}
- public Map queryParam(){
+ public Map queryParam() {
HashMap map = new HashMap();
//白班充电阈值
Param electric = this.findByCode(TaskConfig.ELECTRIC);
@@ -123,16 +153,16 @@ public class SysParamServiceImpl extends ServiceImpl impl
Param electric_end = this.findByCode(TaskConfig.ELECTRIC_END);
if (ObjectUtil.isEmpty(electric_end)) throw new BadRequestException("白班结束时间参数异常");
- map.put("electric",electric.getValue());
- map.put("electric2",electric2.getValue());
- map.put("electric_begin",electric_begin.getValue());
- map.put("electric_end",electric_end.getValue());
+ map.put("electric", electric.getValue());
+ map.put("electric2", electric2.getValue());
+ map.put("electric_begin", electric_begin.getValue());
+ map.put("electric_end", electric_end.getValue());
return map;
}
@Override
@Transactional(rollbackFor = Exception.class)
- public void setParam(Map whereJson){
+ public void setParam(Map whereJson) {
Integer electric = (Integer) whereJson.get("electric");
Integer electric2 = (Integer) whereJson.get("electric2");
String electric_begin = (String) whereJson.get("electric_begin");
@@ -178,16 +208,22 @@ public class SysParamServiceImpl extends ServiceImpl impl
public void sendTask(JSONObject json) {
String carno = json.getString("carno");
String station = json.getString("station");
- if (StrUtil.isEmpty(carno)){
+ if (StrUtil.isEmpty(carno)) {
throw new BadRequestException("车辆编号不能为空");
}
- if (StrUtil.isEmpty(station)){
+ 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());
+ 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());
}
}
+ @Override
+ @Transactional(rollbackFor = Exception.class)
+ public Map findConfigFromCache() {
+ Map demo = (Map) ObjectUtil.clone(this.acsconfigs);
+ return demo;
+ }
}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvDeviceStatus.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvDeviceStatus.java
new file mode 100644
index 0000000..9492c34
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvDeviceStatus.java
@@ -0,0 +1,35 @@
+package org.nl.system.service.quartz.task;
+
+import cn.hutool.http.HttpResponse;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.task.instruction.service.InstructionService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * 查询AGV设备状态
+ */
+@Slf4j
+// 保留Quartz数据库中的既有bean_name，避免部署时必须同步修改任务表。
+@Component("queryMagicAgvDeviceStatus")
+public class QueryRmdsAgvDeviceStatus {
+
+ @Autowired
+ InstructionService instructionService;
+
+ @Autowired
+ AgvService agvService;
+
+
+ public void run() throws Exception {
+ HttpResponse response = agvService.queryRmdsAgvDeviceStatus();
+ if (response != null && response.getStatus() == 200) {
+ JSONArray ja = JSONArray.fromObject(response.body());
+
+ }
+ }
+
+}
diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvTaskStatus.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvTaskStatus.java
new file mode 100644
index 0000000..9e754cb
--- /dev/null
+++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/QueryRmdsAgvTaskStatus.java
@@ -0,0 +1,112 @@
+package org.nl.system.service.quartz.task;
+
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.http.HttpResponse;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.task.instruction.domain.Instruction;
+import org.nl.acs.task.instruction.service.InstructionService;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * 查询RMDS任务状态，并处理取货前、取货完成、放货前、放货完成四类交互。
+ */
+@Slf4j
+// 保留Quartz数据库中的既有bean_name，避免部署时必须同步修改任务表。
+@Component("queryMagicAgvTaskStatus")
+public class QueryRmdsAgvTaskStatus {
+
+ @Autowired
+ InstructionService instructionService;
+
+ @Autowired
+ AgvService agvService;
+
+ public void run() {
+ try {
+ HttpResponse response = agvService.queryRmdsAgvTaskStatus();
+ if (response == null || response.getStatus() != 200 || StrUtil.isEmpty(response.body())) {
+ log.error("查询RMDS任务状态失败");
+ return;
+ }
+
+ JSONArray orders = JSONArray.fromObject(response.body());
+ for (int i = 0; i < orders.size(); i++) {
+ JSONObject order = orders.getJSONObject(i);
+ String instCode = order.optString("task_code");
+ Instruction inst = instructionService.findByCodeFromCache(instCode);
+ if (inst == null || !"1".equals(inst.getSend_status())) {
+ continue;
+ }
+
+ try {
+ processOrder(inst, order);
+ } catch (Exception e) {
+ log.error("处理RMDS任务状态失败，instructionCode:{}", instCode, e);
+ }
+ }
+ } catch (Exception e) {
+ log.error("查询RMDS任务状态异常", e);
+ }
+ }
+
+ private void processOrder(Instruction inst, JSONObject order) throws Exception {
+ String instCode = inst.getInstruction_code();
+ String status = order.optString("status");
+ String processingVehicle = order.optString("vehicle");
+ log.info("RMDS任务状态，instructionCode:{}，data:{}", instCode, order);
+
+ if (!StrUtil.isEmpty(processingVehicle)) {
+ inst.setCarno(processingVehicle);
+ }
+
+ if ("FINISHED".equals(status)) {
+ inst.setInstruction_status("2");
+ instructionService.finish(inst);
+ return;
+ }
+ if ("FAILED".equals(status)) {
+ inst.setInstruction_status("3");
+ instructionService.update(inst);
+ instructionService.removeByCodeFromCache(instCode);
+ return;
+ }
+ if ("ACTIVE".equals(status) && !StrUtil.isEmpty(processingVehicle)) {
+ inst.setInstruction_status("1");
+ instructionService.update(inst);
+ }
+
+ if (!order.containsKey("destinations")) {
+ return;
+ }
+ JSONArray destinations = order.getJSONArray("destinations");
+ for (int i = 0; i < destinations.size(); i++) {
+ JSONObject destination = destinations.getJSONObject(i);
+ processDestination(instCode, processingVehicle, destination);
+ }
+ }
+
+ private void processDestination(String instCode, String processingVehicle, JSONObject destination) {
+ if (!destination.containsKey("properties")) {
+ return;
+ }
+ String locationName = destination.optString("locationName");
+ String operation = destination.optString("operation");
+ JSONArray properties = destination.getJSONArray("properties");
+ for (int i = 0; i < properties.size(); i++) {
+ JSONObject property = properties.getJSONObject(i);
+ if (!Boolean.parseBoolean(property.optString("value"))) {
+ continue;
+ }
+ String key = property.optString("key");
+ if ("EntryRequired".equals(key)) {
+ agvService.processRmdsInteraction(instCode, "onEntry", locationName, operation, processingVehicle);
+ } else if ("PauseOnStation".equals(key)) {
+ agvService.processRmdsInteraction(instCode, "onStation", locationName, operation, processingVehicle);
+ }
+ }
+ }
+}