diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java index b1b99806..a94124fb 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/rest/XianGongAgvController.java @@ -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 xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) { + public ResponseEntity xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) throws Exception{ return new ResponseEntity<>(xianGongAgentService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK); } diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java index be1d60f4..cd374204 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java @@ -108,7 +108,7 @@ public interface XianGongAgvService { * @param requestParam * @return */ - JSONObject xgAGVWaitPointRequest(JSONObject requestParam); + JSONObject xgAGVWaitPointRequest(JSONObject requestParam) throws Exception; /** diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java index 149b08d9..35ae81b1 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java @@ -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 UnifiedResponse 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(); diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index a1d6165b..b0945ab8 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -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) { diff --git a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java index d3ab532f..32f83a25 100644 --- a/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java +++ b/acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/xg/XgHttpUtil.java @@ -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)