长兴特科拉项目

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

@@ -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;
+
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/AGVSchedulingServiceImpl.java

@@ -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());

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

@@ -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");
+        //String address = requestParam.getString("address");
-        Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
+        /*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) {

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/dao/InstructionNumLogEntity.java

@@ -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;
+
+
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -495,4 +495,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
     List<Instruction> findByNextCode(String nextDeviceCode);
 
     List<Instruction> findReadyIns();
+
+
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionAgvServiceImpl.java

@@ -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);

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -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;

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/mapper/IInstructionNumLogServiceMapper.java

@@ -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> {
+}

acs/nladmin-system/nlsso-server/target/generated-sources/annotations/org/nl/config/redis/RedisConvertImpl.java

@@ -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 {