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长兴特科拉项目

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zhang
2025-01-07 14:34:18 +08:00
parent 2f54a1e9b9
commit 3afb1624a1
5 changed files with 133 additions and 108 deletions
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4
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java
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@@ -23,10 +23,10 @@ public class XianGongAgvController {
@Autowired
private XianGongAgvService xianGongAgentService;
@PostMapping("/api/agv/xg/waitPointRequest")
@PostMapping("/api/agv/waitPointRequest")
@Log("仙工AGV请求取放货")
@SaIgnore
public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) throws Exception{
return new ResponseEntity<>(xianGongAgentService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
}

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java
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@@ -108,7 +108,7 @@ public interface XianGongAgvService {
* @param requestParam
* @return
*/
JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
JSONObject xgAGVWaitPointRequest(JSONObject requestParam) throws Exception;
/**

22
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java
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@@ -7,10 +7,13 @@ import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.AGVSchedulingService;
import org.nl.acs.ext.RequestAdapter;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.ext.xg.XgHttpUtil;
import org.nl.acs.ext.xg.XgRequestAdapter;
import org.nl.acs.instruction.domain.Instruction;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@Slf4j
@@ -21,6 +24,9 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
@Autowired
private XgHttpUtil xgHttpUtil;
@Value("${agvToAcs.addr}")
private String addr;
@Override
public <T> UnifiedResponse<T> sendAGVOrderSequences(Instruction inst) {
JSONObject reqParam = new JSONObject();
@@ -67,8 +73,20 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
// 起点2
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code2());
block.put("operation", "JackLoad");
block.put("location", inst.getStart_point_code2() + "INGET");
block.put("operation", "script");
block.put("id", inst.getStart_point_code2() + "INGET");
block.put("script_name", "userpy/interact.py");
JSONObject scriptArgs = new JSONObject();
scriptArgs.put("addr", addr);
JSONObject data = new JSONObject();
JSONObject reach = new JSONObject();
reach.put("task_code", inst.getInstruction_code());
reach.put("address", inst.getStart_point_code2() + "INGET");
data.put("reach", reach);
scriptArgs.put("data", data);
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
// 终点2
block = new JSONObject();

211
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
View File

@@ -737,7 +737,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@Override
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) throws Exception{
log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
String inst_code = requestParam.getString("task_code");
Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
@@ -759,107 +759,114 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
luceneExecuteLogService.deviceExecuteLog(logDto);
throw new BadRequestException("请求失败，地址为空！");
}
if (address.contains("IN") || address.contains("WAIT")) {
String task_code = instructionDto.getTask_code();
String deviceCodeNow;
if (address.contains("WAIT")) {
deviceCodeNow = address.substring(0, address.length() - 4);
} else {
deviceCodeNow = address.substring(0, address.length() - 5);
}
if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("设备号 " + deviceCodeNow + " 不存在！")
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
}
//一楼诺宝agv
if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
if (address.contains("GET")) {
return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
} else if (address.contains("PUT")) {
return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
}
//如果是取货二次分配，取放货二次分配需要重新追加动作块
if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
Integer actionType = ActionTypeEnum.IN_STOCK.getCode();
String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
log.info("取货二次分配追加诺宝成功，新点位 - {}", newPointCode);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "取货二次分配追加诺宝成功！");
return map;
}
//如果是放货二次分配，取放货二次分配需要重新追加动作块
if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
// sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), deviceCodeNow, instructionDto);
log.info("放货二次分配追加诺宝成功，新点位 - {}", newPointCode);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "放货二次分配追加诺宝成功！");
return map;
}
}
//一楼叉车
if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
if (address.contains("GET")) {
//取货前等待
return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
} else {
//放货前二次分配
if (address.contains("WAIT")) {
String newPointCode = applyCCAgvTask(task_code, instructionDto);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许叉车放货！" + "点位" + newPointCode);
log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
LuceneLogDto logDto = LuceneLogDto.builder()
.device_code(instructionDto.getCarno())
.content("叉车允许放货" + "新点位:" + newPointCode + map )
.build();
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
return map;
}
//放货前等待
if (address.contains("PUT")) {
return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
}
}
}
}
if (address.contains("OUT")) {
String deviceCodeNow = address.substring(0, address.length() - 6);
if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
}
if (address.contains("GET")) {
//取货完成
JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
if (StringUtil.equals("200", jsonObject.getString("status"))) {
log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow);
return jsonObject;
}
} else if (address.contains("PUT")) {
//放货完成
JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
if (StringUtil.equals("200", jsonObject.getString("status"))) {
log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow);
return jsonObject;
}
}
}
throw new BadRequestException("请求失败，IN OUT 站点错误!");
log.info("AGV取货前等待30s...");
Thread.sleep(30000L);
log.info("允许取货，点位 - {}", instructionDto.getStart_point_code2());
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
return map;
// if (address.contains("IN") || address.contains("WAIT")) {
// String task_code = instructionDto.getTask_code();
// String deviceCodeNow;
// if (address.contains("WAIT")) {
// deviceCodeNow = address.substring(0, address.length() - 4);
// } else {
// deviceCodeNow = address.substring(0, address.length() - 5);
// }
// if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
// LuceneLogDto logDto = LuceneLogDto.builder()
// .device_code(instructionDto.getCarno())
// .content("设备号 " + deviceCodeNow + " 不存在！")
// .build();
// logDto.setLog_level(4);
// luceneExecuteLogService.deviceExecuteLog(logDto);
// throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
// }
// //一楼诺宝agv
// if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
//
// if (address.contains("GET")) {
// return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
// } else if (address.contains("PUT")) {
// return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
// }
// //如果是取货二次分配，取放货二次分配需要重新追加动作块
// if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
// Integer actionType = ActionTypeEnum.IN_STOCK.getCode();
// String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
// log.info("取货二次分配追加诺宝成功，新点位 - {}", newPointCode);
// JSONObject map = new JSONObject();
// map.put("status", 200);
// map.put("message", "取货二次分配追加诺宝成功！");
// return map;
// }
// //如果是放货二次分配，取放货二次分配需要重新追加动作块
// if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
// Integer actionType = ActionTypeEnum.OUT_STOCK.getCode();
// String newPointCode = applyXGAgvTask(task_code, actionType, instructionDto);
//// sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), deviceCodeNow, instructionDto);
// log.info("放货二次分配追加诺宝成功，新点位 - {}", newPointCode);
// JSONObject map = new JSONObject();
// map.put("status", 200);
// map.put("message", "放货二次分配追加诺宝成功！");
// return map;
// }
// }
// //一楼叉车
// if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) {
// if (address.contains("GET")) {
// //取货前等待
// return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
// } else {
// //放货前二次分配
// if (address.contains("WAIT")) {
// String newPointCode = applyCCAgvTask(task_code, instructionDto);
//
// JSONObject map = new JSONObject();
// map.put("status", 200);
// map.put("message", "允许叉车放货！" + "点位" + newPointCode);
// log.info("允许仙工AGV放货，设备号 - {}", newPointCode);
// LuceneLogDto logDto = LuceneLogDto.builder()
// .device_code(instructionDto.getCarno())
// .content("叉车允许放货" + "新点位:" + newPointCode + map )
// .build();
// logDto.setLog_level(4);
// luceneExecuteLogService.deviceExecuteLog(logDto);
// return map;
// }
// //放货前等待
// if (address.contains("PUT")) {
// return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto);
// }
// }
// }
// }
// if (address.contains("OUT")) {
// String deviceCodeNow = address.substring(0, address.length() - 6);
// if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
// throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
// }
//
// if (address.contains("GET")) {
// //取货完成
// JSONObject jsonObject = agvWaitUtil.waitOutGet(deviceCodeNow, instructionDto);
// if (StringUtil.equals("200", jsonObject.getString("status"))) {
// log.info("仙工AGV取货完成后离开，设备号 - {}", deviceCodeNow);
// return jsonObject;
// }
// } else if (address.contains("PUT")) {
// //放货完成
// JSONObject jsonObject = agvWaitUtil.waitOutPut(deviceCodeNow, instructionDto);
// if (StringUtil.equals("200", jsonObject.getString("status"))) {
// log.info("仙工AGV放货完成后离开，设备号 - {}", deviceCodeNow);
// return jsonObject;
// }
//
// }
// }
//
// throw new BadRequestException("请求失败，IN OUT 站点错误!");
}
private String applyCCAgvTask(String task_code, Instruction instructionDto) {

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java
View File

@@ -50,7 +50,7 @@ public class XgHttpUtil {
return new UnifiedResponse<>(false, "未开启连接该系统！");
}
try {
System.out.println(REQUEST_ADAPTER.getUrl());
// System.out.println(REQUEST_ADAPTER.getUrl());
String body = HttpRequest
.post(REQUEST_ADAPTER.getUrl() + path)
.setConnectionTimeout(10000)