add

acs/nladmin-system/pom.xml

@@ -489,8 +489,10 @@
                 <includes>
                     <include>**/*.*</include>
                 </includes>
+                <excludes>
+                    <exclude>**/*.java</exclude>
+                </excludes>
             </resource>
-
             <resource>
                 <directory>${basedir}/src/main/resources</directory>
                 <includes>

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

@@ -29,7 +29,7 @@ public interface ZheDaAgvService {
     HttpResponse queryZDAgvDeviceStatus();
 
 
-    String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus);
+    String process(String jobno, String type, String address, String action, String processingVehicle);
 
     public HttpResponse markComplete(String code);
 

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

@@ -27,6 +27,7 @@ import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;

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

@@ -19,6 +19,7 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.modules.system.service.ParamService;
 import org.nl.modules.system.util.CodeUtil;
 import org.nl.modules.wql.util.SpringContextHolder;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.HashMap;
@@ -28,12 +29,14 @@ import java.util.Map;
 @Service
 @RequiredArgsConstructor
 public class NDCAgvServiceImpl implements NDCAgvService {
-
-    private final DeviceAppService deviceAppService;
-    private final ParamService paramService;
-    private final AcsToWmsService acsToWmsService;
-
-    private final DeviceExecuteLogService logServer;
+    @Autowired
+    private  DeviceAppService deviceAppService;
+    @Autowired
+    private  ParamService paramService;
+    @Autowired
+    private  AcsToWmsService acsToWmsService;
+    @Autowired
+    private  DeviceExecuteLogService logServer;
 
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 

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

@@ -21,6 +21,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceType;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.Arrays;
@@ -32,9 +33,12 @@ import java.util.Map;
 @Service
 @RequiredArgsConstructor
 public class XianGongAgvServiceImpl implements XianGongAgvService {
-    private final DeviceAppService deviceAppService;
-    private final ParamService paramService;
-    private final AcsToWmsService acsToWmsService;
+    @Autowired
+    private  DeviceAppService deviceAppService;
+    @Autowired
+    private  ParamService paramService;
+    @Autowired
+    private  AcsToWmsService acsToWmsService;
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
     @LokiLog(type = LokiLogType.AGV)

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

@@ -1,5 +1,6 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.dev33.satoken.annotation.SaIgnore;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 import cn.hutool.http.HttpResponse;
@@ -18,6 +19,7 @@ import org.nl.acs.device_driver.basedriver.hongxiang_device.HongXiangConveyorDev
 import org.nl.acs.device_driver.basedriver.lubei_conveyor.LubeiConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.paint_conveyor.PaintConveyorDeviceDriver;
 import org.nl.acs.device_driver.basedriver.standard_ordinary_site.StandardOrdinarySiteDeviceDriver;
+import org.nl.acs.device_driver.basedriver.standard_storage.StandardStorageDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.AcsToWmsZDService;
 import org.nl.acs.instruction.service.InstructionService;
@@ -49,6 +51,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
     private final ParamService paramService;
     @LokiLog(type = LokiLogType.AGV)
     @Override
+    @SaIgnore
     public HttpResponse sendAgvInstToAgv(Instruction inst) throws Exception {
         JSONObject jo = new JSONObject();
         String start_point_code = inst.getStart_point_code();
@@ -68,15 +71,18 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         jo.put("task_code", inst.getInstruction_code());
         //根据任务，下发指令类型
         JSONArray destinations = new JSONArray();
-        if (task_type.equals("3")) {
-            destinations.add(destination(start_point_code, "Wait", "5", "1"));
-        } else if (task_type.equals("4")) {
-            destinations.add(destination(start_point_code, "Load", "1", "1"));
-            destinations.add(destination(next_point_code, "Wait", "5", "1"));
-        } else {
+//        if (task_type.equals("3")) {
+//            destinations.add(destination(start_point_code, "Wait", "5", "1"));
+//        } else if (task_type.equals("4")) {
+//            destinations.add(destination(start_point_code, "Load", "1", "1"));
+//            destinations.add(destination(next_point_code, "Wait", "5", "1"));
+//        } else {
+//            destinations.add(destination(start_point_code, "Load", "1", "1"));
+//            destinations.add(destination(next_point_code, "Unload", "1", "1"));
+//        }
+
         destinations.add(destination(start_point_code, "Load", "1", "1"));
         destinations.add(destination(next_point_code, "Unload", "1", "1"));
-        }
 
         jo.put("destinations", destinations);
 
@@ -86,13 +92,14 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
             String agvport2 = paramService.findByCode(AcsConfig.AGVPORT2).getValue();
 
-            agvurl = agvurl + ":" + agvport + "/v1/transportOrders/" + inst.getInstruction_code();
+            agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + inst.getInstruction_code();
             log.info("下发agv任务请求:{}", agvurl);
 
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(jo))//表单内容
                     .timeout(20000)//超时，毫秒
                     .execute();
+            log.info("下发agv任务请求内容:{}", jo);
             log.info("下发agv任务请求反馈:{}", result);
             return result;
         } else {
@@ -107,11 +114,13 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
             String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue();
             String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue();
-            agvurl = agvurl + ":" + agvport + "/v1/vehicles";
-            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();
-            System.out.println("查询agv指令数据:" + result.body());
+
+            log.info("查询agv指令数据:{}", result.body());
 
             return result;
         } else {
@@ -138,10 +147,10 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
 
     @LokiLog(type = LokiLogType.AGV)
     @Override
-    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle,String feedbackStatus)
+    public synchronized String process(String jobno, String type, String address, String action, String processingVehicle)
     {
         {
-            log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action+",feedbackStatus:"+feedbackStatus);
+            log.info("查询到AGV请求参数,jobno:{},address:{}", jobno + ",address:" + address + ",type:" + type + ",action:" + action);
             //释放AGV资源，继续后续动作
             boolean is_feedback = false;
             String str = "";
@@ -177,7 +186,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             jo.put("taskCode",task.getTask_code());
                             jo.put("carId",processingVehicle);
                             jo.put("taskType ",type);
-                            jo.put("feedbackStatus",feedbackStatus);
+                            jo.put("feedbackStatus","applyTake");
+                            log.info("请求参数:{}",jo);
                             HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                             JSONObject response=JSONObject.parseObject(result.body());
                             int responseCode= response.getInteger("responseCode");
@@ -194,7 +204,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             jo.put("taskCode",task.getTask_code());
                             jo.put("carId",processingVehicle);
                             jo.put("taskType ",type);
-                            jo.put("feedbackStatus",feedbackStatus);
+                            jo.put("feedbackStatus","applyTake");
+                            log.info("请求参数:{}",jo);
                             HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                             JSONObject response=JSONObject.parseObject(result.body());
                             int responseCode= response.getInteger("responseCode");
@@ -203,6 +214,22 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                                 log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
                             }
                     }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus","applyTake");
+                        log.info("请求参数:{}",jo);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                        }
+                    }
+
                 }
                 if ("PauseOnStation".equals(type)) {
                     if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
@@ -212,14 +239,21 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             jo.put("taskCode",task.getTask_code());
                             jo.put("carId",processingVehicle);
                             jo.put("taskType ",type);
-                            jo.put("feedbackStatus",feedbackStatus);
+                            jo.put("feedbackStatus","takeFinish");
+                            log.info("请求参数:{}",jo);
                             HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                             JSONObject response=JSONObject.parseObject(result.body());
                             int responseCode= response.getInteger("responseCode");
                             if(responseCode == 0) {
-                                is_feedback = true;
                                 log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode);
                             }
+                            lubeiConveyorDeviceDriver.writing(2);
+                            if(lubeiConveyorDeviceDriver.getTo_command() == 2){
+                                is_feedback = true;
+                            } else {
+                                lubeiConveyorDeviceDriver.writing(2);
+                            }
+
                         } else {
                             log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
                         }
@@ -229,7 +263,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                         jo.put("taskCode",task.getTask_code());
                         jo.put("carId",processingVehicle);
                         jo.put("taskType ",type);
-                        jo.put("feedbackStatus",feedbackStatus);
+                        jo.put("feedbackStatus","takeFinish");
+                        log.info("请求参数:{}",jo);
                         HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                         JSONObject response=JSONObject.parseObject(result.body());
                         int responseCode= response.getInteger("responseCode");
@@ -238,6 +273,21 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             log.info("请求ZDwcs成功，取货完成 请求结果{}",responseCode);
                         }
                     }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus","takeFinish");
+                        log.info("请求参数:{}",jo);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                        }
+                    }
                 }
             }
 
@@ -251,7 +301,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             jo.put("taskCode",task.getTask_code());
                             jo.put("carId",processingVehicle);
                             jo.put("taskType ",type);
-                            jo.put("feedbackStatus",feedbackStatus);
+                            jo.put("feedbackStatus","applyPut");
+                            log.info("请求参数:{}",jo);
                             HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                             JSONObject response=JSONObject.parseObject(result.body());
                             int responseCode= response.getInteger("responseCode");
@@ -268,7 +319,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                         jo.put("taskCode",task.getTask_code());
                         jo.put("carId",processingVehicle);
                         jo.put("taskType ",type);
-                        jo.put("feedbackStatus",feedbackStatus);
+                        jo.put("feedbackStatus","applyPut");
+                        log.info("请求参数:{}",jo);
                         HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                         JSONObject response=JSONObject.parseObject(result.body());
                         int responseCode= response.getInteger("responseCode");
@@ -277,6 +329,21 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             log.info("请求ZDwcs成功，开始放货 请求结果{}",responseCode);
                         }
                     }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus","applyPut");
+                        log.info("请求参数:{}",jo);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                        }
+                    }
                 }
                 if ("PauseOnStation".equals(type)) {
                     if (addressdevice.getDeviceDriver() instanceof LubeiConveyorDeviceDriver) {
@@ -286,14 +353,20 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             jo.put("taskCode",task.getTask_code());
                             jo.put("carId",processingVehicle);
                             jo.put("taskType ",type);
-                            jo.put("feedbackStatus",feedbackStatus);
+                            jo.put("feedbackStatus","putFinish");
+                            log.info("请求参数:{}",jo);
                             HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                             JSONObject response=JSONObject.parseObject(result.body());
                             int responseCode= response.getInteger("responseCode");
                             if(responseCode == 0) {
-                                is_feedback = true;
                                 log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode);
                             }
+                            lubeiConveyorDeviceDriver.writing(3);
+                            if(lubeiConveyorDeviceDriver.getTo_command() == 3){
+                                is_feedback = true;
+                            } else {
+                                lubeiConveyorDeviceDriver.writing(3);
+                            }
                         } else {
                             log.info("设备{} 请求离开，光电信号:{}",addressdevice,lubeiConveyorDeviceDriver.getMove());
                         }
@@ -303,7 +376,8 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                         jo.put("taskCode",task.getTask_code());
                         jo.put("carId",processingVehicle);
                         jo.put("taskType ",type);
-                        jo.put("feedbackStatus",feedbackStatus);
+                        jo.put("feedbackStatus","putFinish");
+                        log.info("请求参数:{}",jo);
                         HttpResponse result= acsToWmsZDService.taskFeedback(jo);
                         JSONObject response=JSONObject.parseObject(result.body());
                         int responseCode= response.getInteger("responseCode");
@@ -312,6 +386,21 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                             log.info("请求ZDwcs成功，放货完成 请求结果{}",responseCode);
                         }
                     }
+                    if (addressdevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
+                        JSONObject jo = new JSONObject();
+                        jo.put("taskCode",task.getTask_code());
+                        jo.put("carId",processingVehicle);
+                        jo.put("taskType ",type);
+                        jo.put("feedbackStatus","putFinish");
+                        log.info("请求参数:{}",jo);
+                        HttpResponse result= acsToWmsZDService.taskFeedback(jo);
+                        JSONObject response=JSONObject.parseObject(result.body());
+                        int responseCode= response.getInteger("responseCode");
+                        if(responseCode == 0) {
+                            is_feedback = true;
+                            log.info("请求ZDwcs成功，申请取货 请求结果{}",responseCode);
+                        }
+                    }
                 }
             }
             com.alibaba.fastjson.JSONObject requestjo = new com.alibaba.fastjson.JSONObject();
@@ -330,7 +419,7 @@ public class ZheDaAgvServiceImpl implements ZheDaAgvService {
                 String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
                 String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-                agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + jobno + "/interact";
+                agvurl = agvurl + ":" + agvport + "/rmds/v1/transportOrders/" + jobno + "/interact";
 
 
                 HttpResponse result = HttpRequest.post(agvurl)
@@ -394,11 +483,11 @@ 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", "True");
+                pro2.put("value", "true");
                 properties.add(pro2);
                 destinationOrder.put("properties", properties);
                 //进入等待 离开不等待
@@ -406,11 +495,11 @@ 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
@@ -418,11 +507,11 @@ 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
@@ -430,11 +519,11 @@ 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);
             }
@@ -472,7 +561,7 @@ 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);
         }