add: 浙大agv接口添加

acs2/nladmin-system/nlsso-server/pom.xml

@@ -44,7 +44,12 @@
             <type>pom</type>
         </dependency>
 
-
+        <dependency>
+            <groupId>net.sf.json-lib</groupId>
+            <artifactId>json-lib</artifactId>
+            <version>2.4</version>
+            <classifier>jdk15</classifier>
+        </dependency>
         <dependency>
             <groupId>org.dromara.dynamictp</groupId>
             <artifactId>dynamic-tp-spring-boot-starter-adapter-webserver</artifactId>

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/AgvController.java

@@ -0,0 +1,51 @@
+package org.nl.acs.agv.rest;
+
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.device.device.service.DeviceService;
+import org.nl.common.logging.annotation.Log;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.http.HttpServletRequest;
+import java.util.Enumeration;
+
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "AGV任务")
+@RequestMapping("/api")
+@Slf4j
+public class AgvController {
+    private final AgvService agvService;
+    private final DeviceService deviceService;
+
+
+    @GetMapping("/agvInst/{instcode}")
+    @Log("下发agv任务")
+    @ApiOperation("下发agv任务")
+    //@PreAuthorize("@el.check('routePlan:list')")
+    public ResponseEntity<Object> sendAgvInst(@PathVariable String instcode) throws Exception {
+        return new ResponseEntity<>(agvService.sendAgvInstToRmds(instcode), HttpStatus.OK);
+    }
+
+
+    @GetMapping("/deleteAgvInst/{instcode}")
+    @Log("删除agv任务")
+    @ApiOperation("删除agv任务")
+    //@PreAuthorize("@el.check('routePlan:list')")
+    public ResponseEntity<Object> deleteAgvInst(@PathVariable String instcode) throws Exception {
+        return new ResponseEntity<>(agvService.deleteRmdsAgvInst(instcode), HttpStatus.OK);
+    }
+
+
+
+
+
+
+
+}

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

@@ -0,0 +1,59 @@
+package org.nl.acs.agv.server;
+
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONObject;
+import org.nl.acs.agv.server.dto.AgvDto;
+import org.nl.acs.task.instruction.domain.Instruction;
+
+import java.util.List;
+import java.util.Map;
+
+public interface AgvService {
+
+    /**
+     * 下发agv任务
+     *
+     * @param inst 指令对象
+     */
+    public HttpResponse sendAgvInstToRmds(Instruction inst) throws Exception;
+
+
+    public HttpResponse sendAgvInstToRmds(String code) throws Exception;
+
+
+    public HttpResponse queryRmdsAgvTaskStatus();
+
+    public HttpResponse queryRmdsAgvDeviceStatus();
+
+
+
+
+
+    Map<String, AgvDto> 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);
+
+
+
+}

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
+     * <p>
+     * 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
+     * <p>
+     * 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
+     * <p>
+     * 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;
+
+}

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<String, AgvDto> 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<String, AgvDto> 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();
+
+    }
+
+
+
+}

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";
+}

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

@@ -37,6 +37,10 @@ public interface ISysParamService extends IService<Param> {
      */
     void create(Param param);
 
+    void load();
+
+    Map<String, String> findConfigFromCache();
+
     /**
      * 更新
      *

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;
+}
+

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;
 
 /**
  * <p>
@@ -40,12 +45,37 @@ import java.util.Map;
  */
 @Slf4j
 @Service
-public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> implements ISysParamService {
+public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> implements ISysParamService, ApplicationAutoInitial {
 
     @Autowired
     private SysParamMapper paramMapper;
     @Autowired
     private ISysDictService dictService;
+    Map<String, String> acsconfigs = new HashMap<>();
+
+    @Override
+    public void load() {
+        Map map = new HashMap();
+        List<Param> 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<Param> queryAll (Map whereJson) {
+
+        return  paramMapper.selectList(new LambdaQueryWrapper<Param>().orderByDesc(Param::getCreate_time));
+    }
 
     @Override
     public IPage<Param> queryPage(Map whereJson, Pageable page) {
@@ -108,7 +138,7 @@ public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> impl
         return param;
     }
 
-    public Map<String, Object> queryParam(){
+    public Map<String, Object> queryParam() {
         HashMap<String, Object> map = new HashMap<String, Object>();
         //白班充电阈值
         Param electric = this.findByCode(TaskConfig.ELECTRIC);
@@ -123,16 +153,16 @@ public class SysParamServiceImpl extends ServiceImpl<SysParamMapper, Param> 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<SysParamMapper, Param> 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<String, String> findConfigFromCache() {
+        Map<String, String> demo = (Map) ObjectUtil.clone(this.acsconfigs);
+        return demo;
+    }
 }

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());
+
+        }
+    }
+
+}

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);
+            }
+        }
+    }
+}