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USER-20220102CG\noblelift
2022-11-11 08:50:07 +08:00
parent 2e4c5c3e08
commit 93053fd086
7 changed files with 127 additions and 89 deletions
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29
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/ZheDaAgvServiceImpl.java
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@@ -77,9 +77,9 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
//不同楼层下发不同的agv系统
if (task_type.equals("1")) {
agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code();
agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + inst.getInstruction_code();
} else {
agvurl = agvurl2 + ":" + agvport2 + "/v1/transportOrders/" + inst.getInstruction_code();
agvurl = agvurl2 + ":" + agvport2 + "/rmds/v1/transportOrders/" + inst.getInstruction_code();
}
log.info("下发agv任务请求:{}", agvurl);
log.info("下发agv任务参数:{}", jo.toString());
@@ -111,8 +111,9 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
agvport = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
}
agvurl = agvurl + ":" + agvport + "/v1/transportOrders";
HttpResponse result = HttpRequest.get(agvurl)
agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/query";
HttpResponse result = HttpRequest.post(agvurl)
.body("{}")
.timeout(20000)//超时，毫秒
.execute();
@@ -283,7 +284,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
String url = agvurl + ":" + agvport + "/addDestinations";
String url = agvurl + ":" + agvport + "/rmds/addDestinations";
log.info("下发agv任务请求:{}", url);
HttpResponse result = HttpRequest.post(url)
@@ -425,7 +426,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
agvurl = agvurl + ":" + agvport + "/v1/" + code + "/markComplete";
agvurl = agvurl + ":" + agvport + "/rmds/v1/" + code + "/markComplete";
log.info("关闭agv运单序列请求:{}", agvurl);
HttpResponse result = HttpRequest.post(agvurl)
@@ -473,7 +474,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "PauseOnStation");
pro2.put("value", "True");
pro2.put("value", "true");
properties.add(pro2);
destinationOrder.put("properties", properties);
//进入等待 离开不等待
@@ -481,11 +482,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "EntryRequired");
pro1.put("value", "True");
pro1.put("value", "true");
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "PauseOnStation");
pro2.put("value", "False");
pro2.put("value", "false");
properties.add(pro2);
destinationOrder.put("properties", properties);
//进入不等待 离开等待
@@ -493,11 +494,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "EntryRequired");
pro1.put("value", "False");
pro1.put("value", "false");
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "PauseOnStation");
pro2.put("value", "True");
pro2.put("value", "true");
properties.add(pro2);
destinationOrder.put("properties", properties);
//不等待
@@ -505,11 +506,11 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "EntryRequired");
pro1.put("value", "False");
pro1.put("value", "false");
properties.add(pro1);
JSONObject pro2 = new JSONObject();
pro2.put("key", "PauseOnStation");
pro2.put("value", "False");
pro2.put("value", "false");
properties.add(pro2);
destinationOrder.put("properties", properties);
}
@@ -547,7 +548,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
JSONArray properties = new JSONArray();
JSONObject pro1 = new JSONObject();
pro1.put("key", "Wait");
pro1.put("value", "True");
pro1.put("value", "true");
properties.add(pro1);
destinationOrder.put("properties", properties);
}

15
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
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@@ -7,6 +7,7 @@ import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.RequiredArgsConstructor;
@@ -378,13 +379,17 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
if (StrUtil.equals(route.getType(), "1")) {
ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
HttpResponse result = zheDaAgvService.sendAgvInstToAgv(dto);
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
dto.setSend_status("2");
if (!ObjectUtils.isEmpty(result)) {
JSONObject jo = JSON.parseObject(result.body());
if(jo.getInteger("status") != 200){
dto.setSend_status("2");
} else {
dto.setSend_status("1");
}
} else {
dto.setSend_status("1");
dto.setSend_status("2");
}
}
} catch (Exception e) {
dto.setSend_status("2");
e.printStackTrace();
@@ -942,6 +947,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
} else {
flag = true;
}
} else {
flag = true;
}
if (flag) {

67
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryZDAgvTaskStatus.java → acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryOneZDAgvTaskStatus.java
View File

@@ -21,7 +21,7 @@ import java.util.List;
*/
@Slf4j
@Component
public class QueryZDAgvTaskStatus {
public class QueryOneZDAgvTaskStatus {
@Autowired
InstructionService instructionService;
@@ -58,71 +58,6 @@ public class QueryZDAgvTaskStatus {
// WITHDRAWN：业务订单已被撤销
// FINISHED：业务订单已完成
// FAILED：业务订单已失败
// UNROUTABLE：无法规划该业务订单的执行路线
//执行中
if ("BEING_PROCESSED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
}
}
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
}
}
}
}
HttpResponse response2 = agvService.queryAgvInstStatus("2");
//查询AGV指令列表
JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
for (int i = 0; i < inst_rows2.size(); i++) {
JSONObject inst_jo = inst_rows2.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
String state = inst_jo.getString("state");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
// RAW：初始状态
// ACTIVE：业务订单已激活
// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
// BEING_PROCESSED：业务订单正在被执行
// WITHDRAWN：业务订单已被撤销
// FINISHED：业务订单已完成
// FAILED：业务订单已失败
// UNROUTABLE：无法规划该业务订单的执行路线
//执行中

95
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryTwoZDAgvTaskStatus.java Normal file
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@@ -0,0 +1,95 @@
package org.nl.modules.quartz.task;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import lombok.extern.slf4j.Slf4j;
import org.nl.acs.agv.server.ZheDaAgvService;
import org.nl.acs.instruction.service.InstructionService;
import org.nl.acs.instruction.service.dto.Instruction;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
/**
* 查询AGV任务状态
*/
@Slf4j
@Component
public class QueryTwoZDAgvTaskStatus {
@Autowired
InstructionService instructionService;
@Autowired
ZheDaAgvService agvService;
public void run() throws Exception {
HttpResponse response2 = agvService.queryAgvInstStatus("2");
//查询AGV指令列表
JSONArray inst_rows2 = JSONArray.parseArray(response2.body());
for (int i = 0; i < inst_rows2.size(); i++) {
JSONObject inst_jo = inst_rows2.getJSONObject(i);
String inst_code = inst_jo.getString("task_code");
Instruction inst = instructionService.findByCodeFromCache(inst_code);
if (ObjectUtil.isEmpty(inst)){
continue;
}
//反馈结果状态
log.info("instcode：" + inst_code + "," + inst_jo.toString());
String status = inst_jo.getString("status");
String vehicle = "";
//正在执行指令agv车号
if (!StrUtil.isEmpty(inst_jo.getString("vehicle"))) {
vehicle = inst_jo.getString("vehicle");
inst.setCarno(vehicle);
}
// RAW：初始状态
// ACTIVE：业务订单已激活
// DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
// BEING_PROCESSED：业务订单正在被执行
// WITHDRAWN：业务订单已被撤销
// FINISHED：业务订单已完成
// FAILED：业务订单已失败
// UNROUTABLE：无法规划该业务订单的执行路线
//执行中
if ("BEING_PROCESSED".equals(status) || "ACTIVE".equals(status)) {
if (inst != null) {
inst.setInstruction_status("1");
instructionService.update(inst);
}
} else if ("FINISHED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("2");
instructionService.finish(inst);
}
} else if ("WITHDRAWN".equals(status) || "FAILED".equals(status)) {
if (inst != null) {
inst.setInstruction_status("3");
instructionService.update(inst);
instructionService.removeByCodeFromCache(inst_jo.getString("task_code"));
}
}
JSONArray ja = inst_jo.getJSONArray("destinations");
for (int j = 0; j < ja.size(); j++) {
JSONObject jo = ja.getJSONObject(j);
JSONArray pro_rows = jo.getJSONArray("properties");
//Load 取货动作 Unload放货动作 Wait等待
String operation = jo.getString("operation");
String device = jo.getString("locationName");
for (int k = 0; k < pro_rows.size(); k++) {
JSONObject item = pro_rows.getJSONObject(k);
if ("True".equals(item.get("value"))) {
String param = item.get("key").toString();
//EntryRequired是否进入前等待 PauseOnStation是否离开等待 Wait在该点进行等待
agvService.process(inst_code, param, device, operation, vehicle);
}
}
}
}
}
}

2
acs/nladmin-system/src/main/resources/logback-spring.xml
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@@ -136,7 +136,7 @@ https://juejin.cn/post/6844903775631572999
<!--生产环境:打印控制台和输出到文件-->
<springProfile name="prod">
<root level="off">
<root level="info">
<appender-ref ref="asyncFileAppender"/>
<appender-ref ref="lokiAppender" />
</root>

4
acs/nladmin-ui/.env.production
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@@ -2,6 +2,6 @@ ENV = 'production'
# 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
# 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
VUE_APP_BASE_API = 'http://47.97.157.227:8010'
VUE_APP_BASE_API = 'http://192.168.4.116:8010'
# 如果接口是 http 形式， wss 需要改为 ws
VUE_APP_WS_API = 'ws://47.97.157.227:8010'
VUE_APP_WS_API = 'ws://192.168.4.116:8010'

4
acs/nladmin-ui/public/config.js
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@@ -1,9 +1,9 @@
window.g = {
dev: {
VUE_APP_BASE_API: 'http://127.0.0.1:8010'
VUE_APP_BASE_API: 'http://192.168.4.116:8010'
},
prod: {
VUE_APP_BASE_API: 'http://127.0.0.1:8010'
VUE_APP_BASE_API: 'http://192.168.4.1168010'
}