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长兴特科拉项目

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zhang
2025-01-10 12:58:08 +08:00
parent 3afb1624a1
commit 4521cfbf89
9 changed files with 115 additions and 9 deletions
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8
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/AGVSchedulingService.java
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@@ -1,5 +1,6 @@
package org.nl.acs.agv.server;
import com.alibaba.fastjson.JSONObject;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.instruction.domain.Instruction;
@@ -30,4 +31,11 @@ public interface AGVSchedulingService {
*/
public <T> UnifiedResponse<T> queryXZAgvInstStatusByCode(String instCode, Class<T> type);
/**
* 请求取货放货
* @param requestParam
* @return
*/
JSONObject xgAGVWaitPointRequest(JSONObject requestParam) throws Exception;
}

44
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java
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@@ -2,6 +2,7 @@ package org.nl.acs.agv.server.impl;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
@@ -11,11 +12,16 @@ 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.dao.InstructionNumLogEntity;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.mapper.IInstructionNumLogServiceMapper;
import org.nl.common.exception.BadRequestException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import java.util.Date;
@Slf4j
@Service
@RequiredArgsConstructor
@@ -27,6 +33,8 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
@Value("${agvToAcs.addr}")
private String addr;
private final IInstructionNumLogServiceMapper instructionNumLogServiceMapper;
@Override
public <T> UnifiedResponse<T> sendAGVOrderSequences(Instruction inst) {
JSONObject reqParam = new JSONObject();
@@ -52,6 +60,34 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
return xgHttpUtil.sendGetRequest(path, type);
}
@Override
public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) throws Exception {
log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
String address = requestParam.getString("address");
log.info("AGV取货前等待30s...");
String id = requestParam.getString("task_code");
InstructionNumLogEntity inst=instructionNumLogServiceMapper.selectById(id);
if (ObjectUtil.isEmpty(inst)){
InstructionNumLogEntity entity=new InstructionNumLogEntity();
entity.setId(id);
entity.setCreate_time(new Date());
instructionNumLogServiceMapper.insert(entity);
}else {
Date time=inst.getCreate_time();
long startTime = time.getTime();
long endTime= System.currentTimeMillis();
long diffTime=endTime - startTime;
long seconds=diffTime/1000;
if( seconds>30L){
log.info("允许取货，点位 - {}", address);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
return map;
}
}
throw new BadRequestException("不允许取货！");
}
private JSONArray createBlocksData(Instruction inst) {
@@ -70,7 +106,7 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
block.put("operation", "JackUnload");
blocks.add(block);
// 起点2
// 起点2取货等待
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code2() + "INGET");
@@ -88,6 +124,12 @@ public class AGVSchedulingServiceImpl implements AGVSchedulingService {
scriptArgs.put("protocol", "HTTP");
block.put("script_args", scriptArgs);
blocks.add(block);
// 起点2
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());
block.put("location", inst.getStart_point_code2());
block.put("operation", "JackLoad");
blocks.add(block);
// 终点2
block = new JSONObject();
block.put("blockId", IdUtil.simpleUUID());

28
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
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@@ -21,9 +21,11 @@ import org.nl.acs.common.base.CommonFinalParam;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.conveyor.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
import org.nl.acs.ext.wms.service.AcsToWmsService;
import org.nl.acs.instruction.dao.InstructionNumLogEntity;
import org.nl.acs.instruction.domain.Instruction;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
import org.nl.acs.instruction.service.mapper.IInstructionNumLogServiceMapper;
import org.nl.acs.opc.DeviceAppService;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.task.enums.ActionTypeEnum;
@@ -41,6 +43,7 @@ import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Lazy;
import org.springframework.stereotype.Service;
import java.time.LocalDateTime;
import java.util.*;
/**
@@ -70,6 +73,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@Autowired
private DeviceAppService deviceAppservice;
private final IInstructionNumLogServiceMapper instructionNumLogServiceMapper;
@Autowired
private AgvWaitUtil agvWaitUtil;
@@ -739,8 +744,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
@Override
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);
//String address = requestParam.getString("address");
/*Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(instructionDto)) {
LuceneLogDto logDto = LuceneLogDto.builder()
.content("请求失败，未找到指令！" + inst_code)
@@ -758,14 +763,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
logDto.setLog_level(4);
luceneExecuteLogService.deviceExecuteLog(logDto);
throw new BadRequestException("请求失败，地址为空！");
}*/
/*log.info("AGV取货前等待30s...");
String id = requestParam.getString("task_code");
InstructionNumLogEntity inst=instructionNumLogServiceMapper.selectById(id);
if (ObjectUtil.isEmpty(inst)){
InstructionNumLogEntity entity=new InstructionNumLogEntity();
entity.setId(id);
entity.setCreate_time(new Date());
instructionNumLogServiceMapper.insert(entity);
}else {
Date time=inst.getCreate_time();
LocalDateTime startTime=new Date();
}
log.info("AGV取货前等待30s...");
Thread.sleep(30000L);
log.info("允许取货，点位 - {}", instructionDto.getStart_point_code2());
log.info("允许取货，点位 - {}", address);
JSONObject map = new JSONObject();
map.put("status", 200);
map.put("message", "允许取货！");
return map;
return map;*/
// if (address.contains("IN") || address.contains("WAIT")) {
// String task_code = instructionDto.getTask_code();
// String deviceCodeNow;
@@ -866,7 +882,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
// }
// }
//
// throw new BadRequestException("请求失败，IN OUT 站点错误!");
throw new BadRequestException("请求失败，IN OUT 站点错误!");
}
private String applyCCAgvTask(String task_code, Instruction instructionDto) {

26
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/dao/InstructionNumLogEntity.java Normal file
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@@ -0,0 +1,26 @@
package org.nl.acs.instruction.dao;
import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.bean.copier.CopyOptions;
import com.baomidou.mybatisplus.annotation.*;
import lombok.Data;
import org.nl.acs.instruction.domain.Instruction;
import javax.validation.constraints.NotBlank;
import javax.validation.constraints.NotNull;
import java.io.Serializable;
import java.math.BigDecimal;
import java.util.Date;
@Data
@TableName("acs_instruction_num_log")
public class InstructionNumLogEntity implements Serializable {
private String id;
private Date create_time;
}

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java
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@@ -495,4 +495,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
List<Instruction> findByNextCode(String nextDeviceCode);
List<Instruction> findReadyIns();
}

2
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionAgvServiceImpl.java
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@@ -81,7 +81,7 @@ public class InstructionAgvServiceImpl implements InstructionAgvService {
if (Objects.nonNull(po.getInstructionAllStatus())) {
queryWrapper.in("instruction_status", po.getInstructionAllStatus());
}
if (Objects.nonNull(po.getInstructionAllStatus())) {
if (Objects.nonNull(po.getTask_id())) {
queryWrapper.eq("task_id", po.getTask_id());
}
return instructionService.selectList(queryWrapper);

1
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -43,6 +43,7 @@ import org.nl.acs.instruction.enums.InstructionStatusEnum;
import org.nl.acs.instruction.service.dto.InstructionDto;
import org.nl.acs.instruction.service.dto.InstructionQueryParam;
import org.nl.acs.instruction.service.dto.InteractionJsonDTO;
import org.nl.acs.instruction.service.mapper.IInstructionNumLogServiceMapper;
import org.nl.acs.limit_regional.server.LimitRegionalService;
import org.nl.acs.limit_regional.server.dto.LimitRegionalDto;
import org.nl.acs.opc.DeviceAppService;

11
acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/mapper/IInstructionNumLogServiceMapper.java Normal file
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@@ -0,0 +1,11 @@
package org.nl.acs.instruction.service.mapper;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.nl.acs.instruction.dao.InstructionNumLogEntity;
import org.springframework.stereotype.Repository;
@Mapper
@Repository
public interface IInstructionNumLogServiceMapper extends BaseMapper<InstructionNumLogEntity> {
}

2
acs/nladmin-system/nlsso-server/target/generated-sources/annotations/org/nl/config/redis/RedisConvertImpl.java
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@@ -4,7 +4,7 @@ import javax.annotation.Generated;
@Generated(
value = "org.mapstruct.ap.MappingProcessor",
date = "2024-12-16T17:54:35+0800",
date = "2025-01-08T15:07:56+0800",
comments = "version: 1.2.0.Final, compiler: javac, environment: Java 1.8.0_291 (Oracle Corporation)"
)
public class RedisConvertImpl implements RedisConvert {