From 705c766b3a030a78808d0d0dc9906033f8461be5 Mon Sep 17 00:00:00 2001 From: gengby <858962040@qq.com> Date: Mon, 29 Dec 2025 14:02:14 +0800 Subject: [PATCH] =?UTF-8?q?rev:logo=E3=80=81=E6=B5=AA=E6=BD=AE=E9=87=87?= =?UTF-8?q?=E9=9B=86=E6=8E=A5=E5=8F=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../StandardWeightSiteDeviceDriver.java | 3 +- .../nl/acs/ext/lc/rest/LcToAcsController.java | 46 +++ .../nl/acs/ext/lc/service/LcToAcsService.java | 29 ++ .../lc/service/impl/LcToAcsServiceImpl.java | 268 ++++++++++++++++++ .../service/quartz/task/AutoCreateInst.java | 4 + .../src/layout/components/Sidebar/Logo.vue | 2 +- 6 files changed, 350 insertions(+), 2 deletions(-) create mode 100644 nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/rest/LcToAcsController.java create mode 100644 nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/LcToAcsService.java create mode 100644 nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/impl/LcToAcsServiceImpl.java diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java index 3fc0f7b..1e3133c 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/standard_weight/StandardWeightSiteDeviceDriver.java @@ -120,7 +120,8 @@ public class StandardWeightSiteDeviceDriver extends AbstractOpcDeviceDriver impl } } } - } else if (this.reqAgvTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqAgvTakeInstCode)) { + } + if (this.reqAgvTakeRequireSuccess && ObjectUtil.isNotEmpty(this.reqAgvTakeInstCode)) { Instruction instruction = instructionService.findByCodeFromCache(this.reqAgvTakeInstCode); //判断是否是取货还是放货 //如果是取货直接允许 diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/rest/LcToAcsController.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/rest/LcToAcsController.java new file mode 100644 index 0000000..f147541 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/rest/LcToAcsController.java @@ -0,0 +1,46 @@ +package org.nl.acs.ext.lc.rest; + +import cn.dev33.satoken.annotation.SaIgnore; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.ext.lc.service.LcToAcsService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import java.util.Map; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/12/10 + */ +@RestController +@RequiredArgsConstructor +@RequestMapping("/api/lc") +@Slf4j +public class LcToAcsController { + + @Autowired + private LcToAcsService lcToAcsService; + + @PostMapping("/pointDataQuery") + @SaIgnore + public Map pointDataQuery() { + return lcToAcsService.pointDataQuery(); + } + + @PostMapping("/agvDataQuery") + @SaIgnore + public Map agvDataQuery() { + return lcToAcsService.agvDataQuery(); + } + + @PostMapping("/ctuDataQuery") + @SaIgnore + public Map ctuDataQuery() { + return lcToAcsService.ctuDataQuery(); + } + +} \ No newline at end of file diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/LcToAcsService.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/LcToAcsService.java new file mode 100644 index 0000000..8b00c86 --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/LcToAcsService.java @@ -0,0 +1,29 @@ +package org.nl.acs.ext.lc.service; + +import java.util.Map; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/12/10 + */ +public interface LcToAcsService { + + /** + * 获取称重信息 + * @return + */ + Map pointDataQuery(); + + /** + * 获取AGV信息 + * @return + */ + Map agvDataQuery(); + + /** + * 获取CTU信息 + * @return + */ + Map ctuDataQuery(); +} \ No newline at end of file diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/impl/LcToAcsServiceImpl.java b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/impl/LcToAcsServiceImpl.java new file mode 100644 index 0000000..43728ec --- /dev/null +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/lc/service/impl/LcToAcsServiceImpl.java @@ -0,0 +1,268 @@ +package org.nl.acs.ext.lc.service.impl; + +import cn.hutool.core.date.DateUtil; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.apache.commons.collections4.CollectionUtils; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device_driver.conveyor.standard_weight.StandardWeightSiteDeviceDriver; +import org.nl.acs.ext.hk.UnifiedResponse; +import org.nl.acs.ext.hk.log.OthersToInterfaceLog; +import org.nl.acs.ext.hk.service.AcsToHkService; +import org.nl.acs.ext.hk.service.data.QueryAgvStatusReq; +import org.nl.acs.ext.hk.service.data.QueryTaskStatusReq; +import org.nl.acs.ext.hk.service.data.dto.QueryAgvStatusDto; +import org.nl.acs.ext.hk.service.data.dto.QueryTaskStatusDto; +import org.nl.acs.ext.hk.utils.TypeCastingUtil; +import org.nl.acs.ext.lc.service.LcToAcsService; +import org.nl.acs.instruction.domain.Instruction; +import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.opc.DeviceAppService; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; + +import java.util.*; +import java.util.stream.Collectors; + +/** + * @Description TODO + * @Author Gengby + * @Date 2025/12/10 + */ +@Service +@RequiredArgsConstructor +@Slf4j +public class LcToAcsServiceImpl implements LcToAcsService { + + @Autowired + private AcsToHkService acsToHkService; + @Autowired + private DeviceAppService deviceAppService; + @Autowired + private InstructionService instructionService; + + /** + * key 报警状态码 + * value 描述 + */ + private static final Map STATUS_MAP = new HashMap<>(); + + /** + * key 设备状态码 + * value 描述 + */ + private static final Map DEVICE_STATUS_MAP = new HashMap<>(); + /** + * key 车号 + * value 报警时间 + */ + private static final Map ERROR_TIME_MAP = new HashMap<>(); + + static { + //AGV状态 + DEVICE_STATUS_MAP.put("0", "机器人故障"); + DEVICE_STATUS_MAP.put("1", "任务完成"); + DEVICE_STATUS_MAP.put("2", "任务执行中"); + DEVICE_STATUS_MAP.put("4", "任务空闲"); + DEVICE_STATUS_MAP.put("5", "机器人暂停"); + DEVICE_STATUS_MAP.put("6", "举升货架状态"); + DEVICE_STATUS_MAP.put("7", "充电状态"); + DEVICE_STATUS_MAP.put("8", "弧线行走中"); + DEVICE_STATUS_MAP.put("9", "充满维护"); + + //异常状态 + STATUS_MAP.put("3", "任务异常"); + STATUS_MAP.put("11", "背货未识别"); + STATUS_MAP.put("12", "货架偏角过大"); + STATUS_MAP.put("13", "运动库异常"); + STATUS_MAP.put("14", "货码无法识别"); + STATUS_MAP.put("15", "货码不匹配"); + STATUS_MAP.put("16", "举升异常"); + STATUS_MAP.put("17", "充电桩异常"); + STATUS_MAP.put("18", "电量无增加"); + STATUS_MAP.put("20", "充电指令角度错误"); + STATUS_MAP.put("21", "平台下发指令错误"); + STATUS_MAP.put("23", "外力下放"); + STATUS_MAP.put("24", "货架位置偏移"); + STATUS_MAP.put("25", "小车不在锁定区"); + STATUS_MAP.put("26", "下放重试失败"); + STATUS_MAP.put("27", "货架摆歪"); + STATUS_MAP.put("28", "举升电池电量太低"); + STATUS_MAP.put("29", "后退角度偏大"); + STATUS_MAP.put("30", "未背货架举升"); + STATUS_MAP.put("31", "区域锁定失败"); + STATUS_MAP.put("33", "旋转申请暂时失败"); + STATUS_MAP.put("34", "地图切换点地码未识别"); + } + + @OthersToInterfaceLog("HR->ACS") + @Override + public Map pointDataQuery() { + Map resultData = new HashMap<>(); + Device device = deviceAppService.findDeviceByCode("CZW01"); + if (device != null && device.getDeviceDriver() instanceof StandardWeightSiteDeviceDriver) { + StandardWeightSiteDeviceDriver standardWeightSiteDeviceDriver = (StandardWeightSiteDeviceDriver) device.getDeviceDriver(); + resultData.put("device_code", device.getDevice_code()); + resultData.put("weight", standardWeightSiteDeviceDriver.getWeight()); + } + Map resp = new HashMap<>(); + resp.put("status", 200); + resp.put("message", "success"); + resp.put("data", resultData); + return resp; + } + + @OthersToInterfaceLog("HR->ACS") + @Override + public Map ctuDataQuery() { + Map resp = new HashMap<>(); + QueryAgvStatusReq qasReq = QueryAgvStatusReq.builder() + .mapCode("AA") + .build(); + UnifiedResponse unifiedResponse = acsToHkService.queryAgvStatus(qasReq, List.class); + List data = TypeCastingUtil.convertToList(unifiedResponse.getData(), QueryAgvStatusDto.class); + List> resultData = new ArrayList<>(); + if (CollectionUtils.isNotEmpty(data)) { + for (QueryAgvStatusDto queryAgvStatusDto : data) { + Map resultMap = new HashMap<>(); + //车号 + String robotCode = queryAgvStatusDto.getRobotCode(); + if (!"11752".equals(robotCode)) { + continue; + } + QueryTaskStatusReq req = QueryTaskStatusReq.builder() + .agvCode(robotCode) + .build(); + UnifiedResponse unifiedResponseTask = acsToHkService.queryTaskStatus(req, List.class); + List taskData = TypeCastingUtil.convertToList(unifiedResponseTask.getData(), QueryTaskStatusDto.class); + + String taskCode = Optional.ofNullable(taskData) + .orElse(new ArrayList<>()) + .stream() + .filter(dto -> "2".equals(dto.getTaskStatus())) + .map(dto -> dto.getTaskCode()) + .filter(str -> !str.contains("null")) + .collect(Collectors.joining(",")); + //角度 + String robotDir = queryAgvStatusDto.getRobotDir(); + //x + String posX = queryAgvStatusDto.getPosX(); + //y + String posY = queryAgvStatusDto.getPosY(); + String battery = queryAgvStatusDto.getBattery() + "%"; + //状态 + String status = queryAgvStatusDto.getStatus(); + resultMap.put("device_code", robotCode); + resultMap.put("device_status", DEVICE_STATUS_MAP.containsKey(status) ? status : "0"); + resultMap.put("battery_power", battery); + resultMap.put("error_message", STATUS_MAP.containsKey(status) ? status : "0"); + resultMap.put("real_location", "[" + posX + "," + posY + "]"); + resultMap.put("stee_angle", robotDir); + resultMap.put("task_code", taskCode); + //如果AGV报警，但是报警的MAP中不包含当前AGV，则添加到MAP中，并记录报警时间 + if (STATUS_MAP.containsKey(status) && !ERROR_TIME_MAP.containsKey(robotCode)) { + ERROR_TIME_MAP.put(robotCode, DateUtil.now()); + } + //如果AGV正常，但是报警的MAP中包含当前AGV，则删除MAP中的记录 + if (!STATUS_MAP.containsKey(status) && ERROR_TIME_MAP.containsKey(robotCode)) { + ERROR_TIME_MAP.remove(robotCode); + } + resultMap.put("error_time", ERROR_TIME_MAP.containsKey(robotCode) ? ERROR_TIME_MAP.get(robotCode) : ""); + Instruction instruction = instructionService.findByCodeFromCache(taskCode); + if (instruction != null) { + resultMap.put("task_status", instruction.getInstruction_status().equals("0") ? "就绪" : "执行中"); + resultMap.put("get_row", instruction.getFrom_x()); + resultMap.put("get_col", instruction.getFrom_y()); + resultMap.put("get_layer", instruction.getFrom_z()); + resultMap.put("put_row", instruction.getTo_x()); + resultMap.put("put_col", instruction.getTo_y()); + resultMap.put("put_layer", instruction.getTo_z()); + } else { + resultMap.put("task_status", ""); + resultMap.put("get_row", ""); + resultMap.put("get_col", ""); + resultMap.put("get_layer", ""); + resultMap.put("put_row", ""); + resultMap.put("put_col", ""); + resultMap.put("put_layer", ""); + } + resultData.add(resultMap); + } + } + resp.put("status", 200); + resp.put("message", "success"); + resp.put("data", resultData); + return resp; + } + + @OthersToInterfaceLog("HR->ACS") + @Override + public Map agvDataQuery() { + Map resp = new HashMap<>(); + QueryAgvStatusReq qasReq = QueryAgvStatusReq.builder() + .mapCode("AA") + .build(); + UnifiedResponse unifiedResponse = acsToHkService.queryAgvStatus(qasReq, List.class); + List data = TypeCastingUtil.convertToList(unifiedResponse.getData(), QueryAgvStatusDto.class); + List> resultData = new ArrayList<>(); + if (CollectionUtils.isNotEmpty(data)) { + for (QueryAgvStatusDto queryAgvStatusDto : data) { + Map resultMap = new HashMap<>(); + //车号 + String robotCode = queryAgvStatusDto.getRobotCode(); + if ("11752".equals(robotCode)) { + continue; + } + QueryTaskStatusReq req = QueryTaskStatusReq.builder() + .agvCode(robotCode) + .build(); + UnifiedResponse unifiedResponseTask = acsToHkService.queryTaskStatus(req, List.class); + List taskData = TypeCastingUtil.convertToList(unifiedResponseTask.getData(), QueryTaskStatusDto.class); + List taskCodeList = Optional.ofNullable(taskData) + .orElse(new ArrayList<>()) + .stream() + .filter(dto -> "2".equals(dto.getTaskStatus())) + .map(dto -> dto.getTaskCode()) + .collect(Collectors.toList()); + String taskCode = ""; + if (CollectionUtils.isNotEmpty(taskCodeList)) { + taskCode = taskCodeList.get(0); + } + //角度 + String robotDir = queryAgvStatusDto.getRobotDir(); + //地图编号 + String mapCode = queryAgvStatusDto.getMapCode(); + //x + String posX = queryAgvStatusDto.getPosX(); + //y + String posY = queryAgvStatusDto.getPosY(); + String battery = queryAgvStatusDto.getBattery() + "%"; + //状态 + String status = queryAgvStatusDto.getStatus(); + resultMap.put("device_code", robotCode); + resultMap.put("map_id", mapCode); + resultMap.put("task_code", taskCode); + resultMap.put("map_x", posX); + resultMap.put("map_y", posY); + resultMap.put("stee_angle", robotDir); + resultMap.put("device_status", DEVICE_STATUS_MAP.containsKey(status) ? status : "0"); + resultMap.put("battery_power", battery); + //如果AGV报警，但是报警的MAP中不包含当前AGV，则添加到MAP中，并记录报警时间 + if (STATUS_MAP.containsKey(status) && !ERROR_TIME_MAP.containsKey(robotCode)) { + ERROR_TIME_MAP.put(robotCode, DateUtil.now()); + } + //如果AGV正常，但是报警的MAP中包含当前AGV，则删除MAP中的记录 + if (!STATUS_MAP.containsKey(status) && ERROR_TIME_MAP.containsKey(robotCode)) { + ERROR_TIME_MAP.remove(robotCode); + } + resultMap.put("error_code", STATUS_MAP.containsKey(status) ? status : "0"); + resultMap.put("error_time", ERROR_TIME_MAP.containsKey(robotCode) ? ERROR_TIME_MAP.get(robotCode) : ""); + resultData.add(resultMap); + } + } + resp.put("status", 200); + resp.put("message", "success"); + resp.put("data", resultData); + return resp; + } +} \ No newline at end of file diff --git a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java index 67e2dc7..1426da2 100644 --- a/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java +++ b/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateInst.java @@ -170,6 +170,10 @@ public class AutoCreateInst { taskService.update(acsTask); }); } else { + int ctuOutCount = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.CTU_OUT_TASK.getCode())); + if (ctuOutCount > 1){ + return; + } //查询到称重点的AGV指令数量，如果说指令数量大于1则return int count = instructionService.findInstCountByInstType(Arrays.asList(InstTypeEnum.AGV_TWO3_TASK.getCode(), InstTypeEnum.AGV_THREE_TASK.getCode())); if (count > 1) { diff --git a/nladmin-ui/src/layout/components/Sidebar/Logo.vue b/nladmin-ui/src/layout/components/Sidebar/Logo.vue index 34f9ee5..1fb9466 100644 --- a/nladmin-ui/src/layout/components/Sidebar/Logo.vue +++ b/nladmin-ui/src/layout/components/Sidebar/Logo.vue @@ -27,7 +27,7 @@ export default { data() { return { title: '诺力开发平台', - logo: Logo, + logo: '', title_param: 'platform' } },