fix 仙工请求取放货接口和任务取消接口

hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java

@@ -4,6 +4,7 @@ import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONObject;
 import org.apache.commons.lang3.StringUtils;
 import org.nl.acs.agv.server.AgvService;
 import org.nl.acs.device.service.DeviceService;
@@ -69,14 +70,11 @@ public class AgvController {
         return new ResponseEntity<>(agvService.sendAgvInstToMagic(instcode), HttpStatus.OK);
     }
 
-    @GetMapping("/waitPointRequest/locationDevices/{param}")
+    @PostMapping ("/agv/xg/waitPointRequest")
-    @Log("agv等待点请求")
+    @Log("仙工AGV请求取放货")
-    @ApiOperation("下发agv任务")
+    @ApiOperation("仙工AGV请求取放货")
-    //@PreAuthorize("@el.check('routePlan:list')")
+    public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
-    public ResponseEntity<Object> waitPointRequest(HttpServletRequest req) throws Exception {
+        return new ResponseEntity<>(agvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
-        String serviceName = req.getRequestURI();
-        String param = StringUtils.substringAfterLast(serviceName, "/");
-        return new ResponseEntity<>(agvService.waitPointRequest(param), HttpStatus.OK);
     }
 
     @GetMapping("/findAllAgvFromCache")

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

@@ -64,7 +64,7 @@ public interface AgvService {
     public void deleteAgvInstToNDC(Instruction inst) throws Exception;
 
 
-    /**
+    /*VV*
      * 查询Magic AGV任务状态调用
      *
      * @param jobno
@@ -90,7 +90,7 @@ public interface AgvService {
      * @param
      * @return
      */
-    public String waitPointRequest(String param);
+    JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
 
     /**
      * 请求开门、关门

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

@@ -1,5 +1,6 @@
 package org.nl.acs.agv.server.impl;
 
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
@@ -39,13 +40,16 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.opc.DeviceType;
 import org.nl.acs.task.service.TaskService;
+import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.exception.BadRequestException;
 import org.nl.logger.BusinessLogger;
 import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
 import org.nl.utils.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
+import java.math.BigDecimal;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
 import java.util.*;
@@ -76,6 +80,8 @@ public class AgvServiceImpl implements AgvService {
 
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
+    @Value("${agvToAcs.addr}")
+    private String addr;
     /**
      * 获得之后num个天的时间
      *
@@ -589,19 +595,12 @@ public class AgvServiceImpl implements AgvService {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-            String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
+            agvurl = agvurl + ":" + agvport + "/robotsStatus";
-            String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
 
-            HttpResponse result = HttpRequest.get(agvurl1)
+            HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
 
-
-            HttpResponse result2 = HttpRequest.get(agvurl2)
-                    .timeout(20000)//超时，毫秒
-                    .execute();
-            log.info("查询agv状态数据 vehicles:" + result.body());
-            log.info("查询agv状态数据 vehicleDetails:" + result2.body());
             System.out.println("查询agv状态数据:" + result.body());
             if (result.getStatus() == 200) {
                 JSONArray ja = JSONArray.fromObject(result.body());
@@ -611,7 +610,7 @@ public class AgvServiceImpl implements AgvService {
                     String state = jo.getString("state");
                     String energyLevel = jo.getString("energyLevel");
                     String transportOrder = jo.getString("transportOrder");
-                    JSONObject detailjo = JSONObject.fromObject(result2.body());
+                    JSONObject detailjo = JSONObject.fromObject(result.body());
                     JSONObject item = (JSONObject) detailjo.get(name);
                     if(ObjectUtil.isEmpty(detailjo.get(name))){
                         continue;
@@ -1067,250 +1066,108 @@ public class AgvServiceImpl implements AgvService {
     }
 
     @Override
-    public String waitPointRequest(String param) {
+    public JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
-        log.info("收到AGV请求参数:{}", param);
+        log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
-        String[] strs = param.split("-");
+        String instCode = requestParam.getString("task_code");
-        String address = strs[0];
+        Instruction inst = instructionService.findByCodeFromCache(instCode);
-        String inst_code = strs[1];
+        if (ObjectUtil.isEmpty(inst)) {
-        String type = strs[2];
+            throw new BadRequestException("请求失败，未找到指令！");
-        String newaddress = null;
-        // 前置点会加上p
-        if (address.endsWith("IN")) {
-            newaddress = address.substring(0, address.length() - 2);
-        } else if (address.endsWith("OUT")) {
-            newaddress = address.substring(0, address.length() - 3);
-        } else if (address.endsWith("P") || address.endsWith("L") || address.endsWith("R")) {
-            newaddress = address.substring(0, address.length() - 1);
-        } else if (address.endsWith("CZ")) {
-            newaddress = address.substring(0, address.length() - 2);
-        } else if (address.endsWith("IQ") || address.endsWith("OQ")) {
-            newaddress = address.substring(0, address.length() - 2);
-        } else {
-            newaddress = address;
-        }
-        boolean is_feedback = false;
-
-        Device device = deviceAppService.findDeviceByCode(newaddress);
-        StandardOrdinarySiteDeviceDriver standardOrdinarySiteDeviceDriver;
-        MachinesSiteDeviceDriver machinesSiteDeviceDriver;
-        WeighingSiteDeviceDriver weighingSiteDeviceDriver;
-        StandardManipulatorInspectSiteDeviceDriver sandardManipulatorInspectSiteDeviceDriver;
-        StandardInspectSiteDeviceDriver standardInspectSiteDeviceDriver;
-        NdxySpecialTwoDeviceDriver ndxySpecialTwoDeviceDriver;
-        YkbkSpecialDeviceDriver ykbkSpecialDeviceDriver;
-        YzjaSpecialDeviceDriver yzjaSpecialDeviceDriver;
-        if (device.getDeviceDriver() instanceof StandardOrdinarySiteDeviceDriver) {
-            standardOrdinarySiteDeviceDriver = (StandardOrdinarySiteDeviceDriver) device.getDeviceDriver();
-            //人工确认信号
-            if (standardOrdinarySiteDeviceDriver.getManua_confirm() == 2) {
-                is_feedback = true;
-                standardOrdinarySiteDeviceDriver.setManua_confirm(0);
-            } else {
-                standardOrdinarySiteDeviceDriver.setManua_confirm(1);
-            }
-        }
-        if (device.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) {
-            standardInspectSiteDeviceDriver = (StandardInspectSiteDeviceDriver) device.getDeviceDriver();
-            //请求取货
-            if (StrUtil.equals(type, "01") && address.endsWith("IN")
-                    && standardInspectSiteDeviceDriver.getMove() != 0) {
-                standardInspectSiteDeviceDriver.writing(1, 1);
-                is_feedback = true;
         }
-            //取货完成
+        TaskDto task = taskService.findByCodeFromCache(inst.getTask_code());
-            else if (StrUtil.equals(type, "02")) {
+        if (ObjectUtil.isEmpty(task)) {
-                standardInspectSiteDeviceDriver.writing(1, 2);
+            throw new BadRequestException("请求失败，未找到指令对应任务！");
-                is_feedback = true;
         }
-            //取货完成离开
+        String address = requestParam.getString("address");
-            else if (StrUtil.equals(type, "05") && address.endsWith("OUT")
+        if (StrUtil.isBlank(address)) {
-                    && standardInspectSiteDeviceDriver.getMove() == 0) {
+            throw new BadRequestException("请求失败，地址为空！");
-                standardInspectSiteDeviceDriver.writing(1, 5);
-                is_feedback = true;
-            }
-            //请求放货
-            else if (StrUtil.equals(type, "03") && address.endsWith("IN")
-                    && standardInspectSiteDeviceDriver.getMove() == 0) {
-                standardInspectSiteDeviceDriver.writing(1, 3);
-                is_feedback = true;
-            }
-            //放货完成
-            else if (StrUtil.equals(type, "04")) {
-                standardInspectSiteDeviceDriver.writing(1, 4);
-                is_feedback = true;
-            }
-            //放货完成离开
-            else if (StrUtil.equals(type, "06") && address.endsWith("OUT")
-                    && standardInspectSiteDeviceDriver.getMove() != 0) {
-                standardInspectSiteDeviceDriver.writing(1, 6);
-                is_feedback = true;
         }
 
-        }
-        if (device.getDeviceDriver() instanceof StandardManipulatorInspectSiteDeviceDriver) {
-            sandardManipulatorInspectSiteDeviceDriver = (StandardManipulatorInspectSiteDeviceDriver) device.getDeviceDriver();
-            //请求进
-            if (StrUtil.equals(type, "07") && address.endsWith("IQ")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 7);
-                if ( sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 1
-                        || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) {
-                    is_feedback = true;
-                }
-            }
             //请求取货
-            else if (StrUtil.equals(type, "01") && address.endsWith("IN")) {
+        if (address.contains("INGET")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 1);
+                JSONObject jo=new JSONObject();
-                if ((sandardManipulatorInspectSiteDeviceDriver.getActoin() == 1 || sandardManipulatorInspectSiteDeviceDriver.getActoin() == 3)
+                jo.put("device_code",inst.getStart_device_code());
-                        && sandardManipulatorInspectSiteDeviceDriver.getMove() != 0) {
+                jo.put("device_status","enter");
-                    is_feedback = true;
+                log.info("请求参数:{}", jo);
-                }
+                JSONArray ja=new JSONArray();
-            }
+                for(Object key:jo.keySet()){
-            //取货完成
+                    JSONObject jo1=new JSONObject();
-            else if (StrUtil.equals(type, "02")) {
+                    jo1.put(key,jo.get(key));
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 2);
+                    ja.add(jo1);
-                is_feedback = true;
+                }
-            }
+                HttpResponse result=acsToWmsService.vehicle(ja);
-            //取货完成离开
+                com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-            else if (StrUtil.equals(type, "05") && address.endsWith("OUT")) {
+                int responseCode = response.getInteger("status");
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 5);
+                if (responseCode == 200) {
-                if ((sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 2
+                    log.info("上位允许取货 请求结果{}", responseCode);
-                        || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) && sandardManipulatorInspectSiteDeviceDriver.getMove() == 0) {
-                    is_feedback = true;
-                }
-            }
-            //请求离开
-            else if (StrUtil.equals(type, "08") && address.endsWith("OQ")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 8);
-                if (sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 2
-                        || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) {
-                    is_feedback = true;
-                }
-            }
-            //请求放货
-            else if (StrUtil.equals(type, "03") && address.endsWith("IN")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 3);
-                if ((sandardManipulatorInspectSiteDeviceDriver.getActoin() == 2 || sandardManipulatorInspectSiteDeviceDriver.getActoin() == 3)
-                        && sandardManipulatorInspectSiteDeviceDriver.getMove() == 0) {
-                    is_feedback = true;
-                }
-            }
-            //放货完成
-            else if (StrUtil.equals(type, "04")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 4);
-                is_feedback = true;
-            }
-            //放货完成离开
-            else if (StrUtil.equals(type, "06") && address.endsWith("OUT")) {
-                sandardManipulatorInspectSiteDeviceDriver.writing(1, 6);
-                if ((sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 2
-                        || sandardManipulatorInspectSiteDeviceDriver.getIo_action() == 3) && sandardManipulatorInspectSiteDeviceDriver.getMove() != 0) {
-                    is_feedback = true;
-                }
-            }
-
-        }
-        if (device.getDeviceDriver() instanceof WeighingSiteDeviceDriver) {
-            weighingSiteDeviceDriver = (WeighingSiteDeviceDriver) device.getDeviceDriver();
-            Instruction inst = instructionService.findByCodeFromCache(inst_code);
-            weighingSiteDeviceDriver.setInst(inst);
-            //调用erp接口
-            if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.HASOTHERSYSTEM).toString(), "1")) {
-                log.info("请求ERP接口参数:{}", inst.getStart_device_code());
-                JSONObject jo = acsToErpService.sendDeviceToWms(inst.getStart_device_code());
-                log.info("ERP接口反馈:{}", jo);
-            }
-            is_feedback = true;
-        }
-        if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) {
-            machinesSiteDeviceDriver = (MachinesSiteDeviceDriver) device.getDeviceDriver();
-            //请求进
-            if (address.endsWith("IN")) {
-                if (machinesSiteDeviceDriver.getIoaction() == 1 || machinesSiteDeviceDriver.getIoaction() == 3) {
-                    is_feedback = true;
                 }else{
-                    machinesSiteDeviceDriver.writing(6);
+                    throw new BadRequestException("上位系统不允许取货");
                 }
             }
-            //请求离开
+            //取货完成离开
-            else if (address.endsWith("OUT")) {
+        if (address.contains("OUTGET")) {
-                machinesSiteDeviceDriver.writing(6);
+                JSONObject jo=new JSONObject();
-                machinesSiteDeviceDriver.writing(6);
+                jo.put("device_code",inst.getStart_device_code());
-                is_feedback = true;
+                jo.put("device_status","left");
-
+                log.info("请求参数:{}", jo);
-            } else {
+                JSONArray ja=new JSONArray();
-
+                for(Object key:jo.keySet()){
-                if (machinesSiteDeviceDriver.getIoaction() == 2 || machinesSiteDeviceDriver.getIoaction() == 3) {
+                    JSONObject jo1=new JSONObject();
-                    is_feedback = true;
+                    jo1.put(key,jo.get(key));
+                    ja.add(jo1);
+                }
+                HttpResponse result=acsToWmsService.vehicle(ja);
+                com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
+                int responseCode = response.getInteger("status");
+                if (responseCode == 200) {
+                    log.info("上位允许取货离开 请求结果{}", responseCode);
                 }else{
-                    machinesSiteDeviceDriver.writing(5);
+                    throw new BadRequestException("上位系统不允许取货完成离开");
-                    machinesSiteDeviceDriver.writing(2, device.getAddress() == null ? 0 : Integer.parseInt(device.getAddress()));
-                }
                 }
             }
-        if (device.getDeviceDriver() instanceof NdxySpecialTwoDeviceDriver) {
-            ndxySpecialTwoDeviceDriver = (NdxySpecialTwoDeviceDriver) device.getDeviceDriver();
-            //请求取货
-            if (StrUtil.equals(type, "01") && ndxySpecialTwoDeviceDriver.getMove() != 0) {
-                ndxySpecialTwoDeviceDriver.writing(1, 1);
-                is_feedback = true;
-            }
-            //取货完成
-            else if (StrUtil.equals(type, "02")) {
-                ndxySpecialTwoDeviceDriver.writing(1, 2);
-                is_feedback = true;
-            }
-
             //请求放货
-            else if (StrUtil.equals(type, "03") && ndxySpecialTwoDeviceDriver.getMove() == 0) {
+        if (address.contains("INPUT")) {
-                ndxySpecialTwoDeviceDriver.writing(1, 3);
+                JSONObject jo=new JSONObject();
-                is_feedback = true;
+                jo.put("device_code",inst.getNext_device_code());
-            }
+                jo.put("device_status","enter");
-            //放货完成
+                log.info("请求参数:{}", jo);
-            else if (StrUtil.equals(type, "04")) {
+                JSONArray ja=new JSONArray();
-                ndxySpecialTwoDeviceDriver.writing(1, 4);
+                for(Object key:jo.keySet()){
-                is_feedback = true;
+                    JSONObject jo1=new JSONObject();
-            }
+                    jo1.put(key,jo.get(key));
-        }
+                    ja.add(jo1);
-        if (device.getDeviceDriver() instanceof YkbkSpecialDeviceDriver) {
+                }
-            ykbkSpecialDeviceDriver = (YkbkSpecialDeviceDriver) device.getDeviceDriver();
+                HttpResponse result=acsToWmsService.vehicle(ja);
-            //请求取货
+                com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
-            if (StrUtil.equals(type, "01") && ykbkSpecialDeviceDriver.getMove() != 0) {
+                int responseCode = response.getInteger("status");
-                ykbkSpecialDeviceDriver.writing(1, 1);
+                if (responseCode == 200) {
-                is_feedback = true;
+                    log.info("上位允许放货 请求结果{}", responseCode);
+                }else{
+                    throw new BadRequestException("上位系统不允许请求放货");
                 }
-            //取货完成
-            else if (StrUtil.equals(type, "02")) {
-                ykbkSpecialDeviceDriver.writing(1, 2);
-                is_feedback = true;
             }
 
-            //请求放货
+            //放货完成离开
-            else if (StrUtil.equals(type, "03") && ykbkSpecialDeviceDriver.getMove() == 0) {
+        if (address.contains("OUTPUT")) {
-                ykbkSpecialDeviceDriver.writing(1, 3);
-                is_feedback = true;
-            }
-            //放货完成
-            else if (StrUtil.equals(type, "04")) {
-                ykbkSpecialDeviceDriver.writing(1, 4);
-                is_feedback = true;
-            }
-        }
                 JSONObject jo=new JSONObject();
-        if (is_feedback) {
+                jo.put("device_code",inst.getNext_device_code());
-            jo.put("name", param);
+                jo.put("device_status","left");
-            jo.put("lastAction", "wait");
+                log.info("请求参数:{}", jo);
-            jo.put("lastActionStatus", "DONE");
+                JSONArray ja=new JSONArray();
-            jo.put("status", "IDLE");
+                for(Object key:jo.keySet()){
+                    JSONObject jo1=new JSONObject();
+                    jo1.put(key,jo.get(key));
+                    ja.add(jo1);
+                }
+                HttpResponse result=acsToWmsService.vehicle(ja);
+                com.alibaba.fastjson.JSONObject response = com.alibaba.fastjson.JSONObject.parseObject(result.body());
+                int responseCode = response.getInteger("status");
+                if (responseCode == 200) {
+                    log.info("上位允许放货离开 请求结果{}", responseCode);
                 }else{
-            jo.put("name", param);
+                    throw new BadRequestException("上位系统不允许放货完成离开");
-            jo.put("lastAction", "wait");
-            jo.put("lastActionStatus", "FAILED");
-            jo.put("status", "IDLE");
                 }
-        is_feedback = false;
+            }
-        log.info("反馈AGV请求参数:{}", jo.toString());
+        throw new BadRequestException("请求失败，IN OUT 站点错误!");
-
-        return jo.toString();
     }
 
     @Override
@@ -1677,32 +1534,17 @@ public class AgvServiceImpl implements AgvService {
     @Override
     public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception {
 
-        JSONObject jo = new JSONObject();
+        com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
-        jo.put("intendedVehicle", "");
+        jo.put("id", inst.getInstruction_code());
-        jo.put("category", "");
+        jo.put("complete", true);
-        jo.put("failureFatal", false);
+        jo.put("blocks", createBlocksData(inst));
-        jo.put("complete", false);
+        jo.put("priority", inst.getPriority());
-        JSONArray transports = new JSONArray();
-        JSONObject orderjo = new JSONObject();
-        orderjo.put("name", inst.getInstruction_code());
-        orderjo.put("order", createOrederData(inst, "1"));
-        transports.add(orderjo);
-        jo.put("transports", transports);
-
-        JSONArray ja1 = new JSONArray();
-        JSONObject jo1 = new JSONObject();
-        jo1.put("key", "");
-        jo1.put("value", "");
-        ja1.add(jo1);
-        jo.put("properties", ja1);
-
         log.info("任务号：{},指令号{},下发agv订单序列参数:{}", inst.getTask_code(), inst.getInstruction_code(), jo.toString());
 
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV), "1")) {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
-
+            agvurl = agvurl + ":" + agvport + "/setOrder";
-            agvurl = agvurl + ":" + agvport + "/api/route/orderSequences/" + inst.getTask_code();
 
             HttpResponse result = HttpRequest.post(agvurl)
                     .body(String.valueOf(jo))//表单内容
@@ -1710,13 +1552,126 @@ public class AgvServiceImpl implements AgvService {
                     .execute();
             log.info(agvurl);
             log.info("任务号：{},指令号{},状态{},下发agv订单序列反馈:{}", inst.getTask_code(), inst.getInstruction_code(), result.getStatus(), result.body());
-
             return result;
         } else {
             return null;
         }
     }
+    public com.alibaba.fastjson.JSONArray createBlocksData(Instruction inst) {
+        com.alibaba.fastjson.JSONArray ja = new com.alibaba.fastjson.JSONArray();
+
+        Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
+        if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
+            //取货前等待
+            com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
+            jo.put("blockId", IdUtil.simpleUUID());
+            jo.put("location", inst.getStart_point_code() + "INGET");
+            jo.put("operation", "script");
+            jo.put("id", inst.getStart_point_code() + "INGET");
+            jo.put("script_name", "userpy/interact.py");
+            com.alibaba.fastjson.JSONObject script_args = new com.alibaba.fastjson.JSONObject();
+            script_args.put("addr", addr);
+            com.alibaba.fastjson.JSONObject data = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject reach = new com.alibaba.fastjson.JSONObject();
+            reach.put("task_code", inst.getInstruction_code());
+            reach.put("address", inst.getStart_point_code() + "INGET");
+            data.put("reach", reach);
+            script_args.put("data", data);
+            script_args.put("protocol", "HTTP");
+            jo.put("script_args", script_args);
+            ja.add(jo);
+        }
 
+        com.alibaba.fastjson.JSONObject jo1 = new com.alibaba.fastjson.JSONObject();
+        jo1.put("blockId", IdUtil.simpleUUID());
+        jo1.put("location", inst.getStart_point_code());
+        jo1.put("operation", "JackLoad");
+        ja.add(jo1);
+
+        //取货完成等待
+        com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
+        jo2.put("blockId", IdUtil.simpleUUID());
+        jo2.put("location", inst.getStart_point_code() + "OUTGET");
+        jo2.put("operation", "script");
+        jo2.put("id", inst.getStart_point_code() + "OUTGET");
+        jo2.put("script_name", "userpy/interact.py");
+        com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
+        script_args2.put("addr", addr);
+        com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
+        com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
+        reach2.put("task_code", inst.getInstruction_code());
+        reach2.put("address", inst.getStart_point_code() + "OUTGET");
+        data2.put("reach", reach2);
+        script_args2.put("data", data2);
+        script_args2.put("protocol", "HTTP");
+        jo2.put("script_args", script_args2);
+        ja.add(jo2);
+
+        Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
+        if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
+            //放货前等待
+            com.alibaba.fastjson.JSONObject jo3 = new com.alibaba.fastjson.JSONObject();
+            jo3.put("blockId", IdUtil.simpleUUID());
+            jo3.put("location", inst.getNext_point_code() + "INPUT");
+            jo3.put("operation", "script");
+            jo3.put("id", inst.getNext_point_code() + "INPUT");
+            jo3.put("script_name", "userpy/interact.py");
+            com.alibaba.fastjson.JSONObject script_args3 = new com.alibaba.fastjson.JSONObject();
+            script_args3.put("addr", addr);
+            com.alibaba.fastjson.JSONObject data3 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject reach3 = new com.alibaba.fastjson.JSONObject();
+            reach3.put("task_code", inst.getInstruction_code());
+            reach3.put("address", inst.getNext_point_code() + "INPUT");
+            data3.put("reach", reach3);
+            script_args3.put("data", data3);
+            script_args3.put("protocol", "HTTP");
+            jo3.put("script_args", script_args3);
+            ja.add(jo3);
+        }
+
+//        //放货前下发旋转角度
+//        com.alibaba.fastjson.JSONObject json1 = new com.alibaba.fastjson.JSONObject();
+//        AcsPointAngleDto acsPointAngleDto = acsPointAngleService.findByCode(inst.getStart_device_code(),inst.getNext_device_code());
+//        if (ObjectUtil.isNotEmpty(acsPointAngleDto)){
+//            log.info("acsPointAngleDto----參數,{}", acsPointAngleDto.toString());
+//            com.alibaba.fastjson.JSONObject operation_args = new com.alibaba.fastjson.JSONObject();
+//            BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle();
+//            operation_args.put("increase_spin_angle",next_point_angle);//弧度值，如3.14
+//            operation_args.put("skill_name","GoByOdometer");
+//            json1.put("blockId", IdUtil.simpleUUID());
+//            json1.put("location", inst.getNext_point_code() + "INPUT");
+//            json1.put("operation_args",operation_args);
+//            ja.add(json1);
+//        }
+
+        com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
+        jo4.put("blockId", IdUtil.simpleUUID());
+        jo4.put("location", inst.getNext_point_code());
+        jo4.put("operation", "JackUnload");
+        ja.add(jo4);
+
+        if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
+            //放货完成等待
+            com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
+            jo5.put("blockId", IdUtil.simpleUUID());
+            jo5.put("location", inst.getNext_point_code() + "OUTPUT");
+            jo5.put("operation", "script");
+            jo5.put("id", inst.getNext_point_code() + "OUTPUT");
+            jo5.put("script_name", "userpy/interact.py");
+            com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
+            script_args5.put("addr", addr);
+            com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
+            com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
+            reach5.put("task_code", inst.getInstruction_code());
+            reach5.put("address", inst.getNext_point_code() + "OUTPUT");
+            data5.put("reach", reach5);
+            script_args5.put("data", data5);
+            script_args5.put("protocol", "HTTP");
+            jo5.put("script_args", script_args5);
+            ja.add(jo5);
+        }
+        return ja;
+    }
     @Override
     public HttpResponse addOrderSequences(Instruction inst) throws Exception {
         JSONObject orderjo = createOrederData(inst, "1");

hd/nladmin-system/src/main/java/org/nl/acs/device/rest/DeviceController.java

@@ -340,8 +340,6 @@ public class DeviceController {
     //@PreAuthorize("@el.check('routePlan:list')")
     public ResponseEntity<Object> selectDriverCodeList(@PathVariable String device_code) {
         DeviceDto device = deviceService.findByCode(device_code);
-        //System.out.println(device.getDevice_type());
-        //return new ResponseEntity<>(DriverTypeEnum.getList(), HttpStatus.OK);
         return new ResponseEntity<>(DriverTypeEnum.getListByType(device.getDevice_type()), HttpStatus.OK);
     }
 

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/AcsToWmsController.java

@@ -26,7 +26,7 @@ import java.util.Map;
 @RestController
 @RequiredArgsConstructor
 @Api(tags = "wms接口")
-@RequestMapping("/api/wms")
+@RequestMapping("/api/agv")
 @Slf4j
 public class AcsToWmsController {
     private final AcsToWmsService acstowmsService;
@@ -38,7 +38,7 @@ public class AcsToWmsController {
         return new ResponseEntity<>(acstowmsService.applyTaskToWms(device_code, container_code, height, weight), HttpStatus.OK);
     }
 
-    @PostMapping("/taskStatusFeedback")
+    @PostMapping("/task")
     @Log("向WMS反馈任务状态")
     @ApiOperation("向WMS反馈任务状态")
     public ResponseEntity<Object> feedbackTaskStatusToWms(@RequestBody Map whereJson) {
@@ -60,7 +60,7 @@ public class AcsToWmsController {
         return new ResponseEntity<>(acstowmsService.feedbackAgvStatus(device_code, error, error_message), HttpStatus.OK);
     }
 
-    @PostMapping("/feedbackAgv")
+    @PostMapping("/device")
     @Log("反馈AGV设备信息")
     @ApiOperation("反馈AGV设备信息")
     public ResponseEntity<Object> feedbackAgv(@RequestBody String from) {
@@ -81,4 +81,13 @@ public class AcsToWmsController {
     public ResponseEntity<Object> feedbackDeviceStatus(@RequestBody String device_code, String code, String value) {
         return new ResponseEntity<>(acstowmsService.feedbackDeviceStatus(device_code, code, value), HttpStatus.OK);
     }
+
+    @PostMapping("/vehicle")
+    @Log("动作请求")
+    @ApiOperation("动作请求")
+    public ResponseEntity<Object> vehicle(@RequestBody String from) {
+        JSONArray array = JSONArray.fromObject(from);
+        return new ResponseEntity<>(acstowmsService.vehicle(array), HttpStatus.OK);
+    }
+
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/XGToAcsController.java

@@ -0,0 +1,29 @@
+package org.nl.acs.ext.wms.rest;
+
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import org.nl.acs.ext.wms.service.XGToAcsService;
+import org.nl.annotation.Log;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+
+@RestController
+@RequiredArgsConstructor
+@Api(tags = "XGToacs接口")
+@Slf4j
+public class XGToAcsController {
+    private final XGToAcsService XGToAcsService;
+    @PostMapping ("/xgAGVQueryWlsStatus")
+    @Log("是否允许进入离开")
+    @ApiOperation("是否允许进入离开")
+    public ResponseEntity<JSONObject> xgAGVQueryWlsStatus(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(XGToAcsService.xgAGVQueryWlsStatus(requestParam), HttpStatus.OK);
+    }
+}

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java

@@ -82,6 +82,14 @@ public interface AcsToWmsService {
      */
     HttpResponse feedbackAgv(JSONArray from);
 
+    /**
+     * 动作请求
+     *
+     * @param from
+     * @return
+     */
+    HttpResponse vehicle(JSONArray from);
+
     /**
      * 称重确认回传
      *

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/XGToAcsService.java

@@ -0,0 +1,12 @@
+package org.nl.acs.ext.wms.service;
+
+import net.sf.json.JSONObject;
+
+public interface XGToAcsService {
+    /**
+     * 查询外部互斥组请求历史
+     *
+     * @return Map<String, Object>
+     */
+    public JSONObject xgAGVQueryWlsStatus(JSONObject from);
+}

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java

@@ -446,6 +446,31 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         return result;
     }
 
+    @Override
+    public HttpResponse vehicle(JSONArray from) {
+        String wmsUrl = acsConfigService.findConfigFromCache().get(AcsConfig.WMSURL);
+
+        AddressDto addressDto = addressService.findByCode("vehicle");
+        String methods_url = addressDto.getMethods_url();
+        String url = wmsUrl + methods_url;
+        HttpResponse result = null;
+        log.info("feedbackAgv----请求参数{}", from);
+
+        try {
+            result = HttpRequest.post(url)
+                    .body(String.valueOf(from))
+                    .execute();
+            System.out.println(result);
+            log.info("feedbackAgv----返回参数{}", result);
+        } catch (Exception e) {
+            String msg = e.getMessage();
+            //网络不通
+            System.out.println(msg);
+            log.info("feedbackAgv----异常{}", msg);
+        }
+        return result;
+    }
+
     @Override
     public HttpResponse feedWeighing(JSONObject from) {
         String wmsUrl = acsConfigService.findConfigFromCache().get(AcsConfig.WMSURL);

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -217,14 +217,15 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     errArr.add(json);
                 }
             }
-//            if (ObjectUtil.isEmpty(errArr)) {
+            if (ObjectUtil.isEmpty(errArr)) {
-//                resultJson.put("status", 200);
-//            } else {
-//                resultJson.put("status", 400);
-//            }
                 resultJson.put("status", 200);
-            resultJson.put("errArr", errArr);
                 resultJson.put("message", "操作成功");
+                resultJson.put("errArr", errArr);
+            } else {
+                resultJson.put("status", 400);
+                resultJson.put("message", "操作失败");
+                resultJson.put("errArr", errArr);
+            }
             resultJson.put("data", new JSONObject());
             log.info("createFromWms--------------:输出参数：" + resultJson.toString());
             logServer.log("", "createFromWms", "info",tasks.toString(), resultJson.toString(), "200", "", "");

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/XGToAcsImpl.java

@@ -0,0 +1,55 @@
+package org.nl.acs.ext.wms.service.impl;
+
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
+import net.sf.json.JSONObject;
+import org.nl.acs.config.server.AcsConfigService;
+import org.nl.acs.device.address.service.AddressService;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.XGToAcsService;
+import org.nl.acs.log.service.LogServer;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class XGToAcsImpl implements XGToAcsService {
+    @Autowired
+    AcsConfigService acsConfigService;
+
+    @Autowired
+    LogServer logServer;
+
+    @Autowired
+    AddressService addressService;
+
+    @Autowired
+    AcsToWmsService acsToWmsService;
+    @Override
+    public JSONObject xgAGVQueryWlsStatus(JSONObject from) {
+        JSONArray datas = JSONArray.fromObject(from);
+        log.info("xgAGVQueryWlsStatus--------------:输入参数" + datas.toString());
+        for (int i = 0; i < datas.size(); i++) {
+            JSONObject data = datas.getJSONObject(i);
+            String robot_name = data.optString("robot_name");
+            String block_group_id = data.optString("block_group_id");
+
+            JSONObject jo = new JSONObject();
+            jo.put("robot_name", robot_name);
+            jo.put("block_group_id", block_group_id);
+            //暂时没定先用，之后是请求进入离开区域
+            acsToWmsService.feedWeighing(jo);
+
+        }
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("status", HttpStatus.OK);
+        resultJson.put("message", "操作成功");
+        resultJson.put("data", new JSONObject());
+        log.info("updateDeviceGoodsFromWms--------------:输出参数" + resultJson.toString());
+        return resultJson;
+    }
+}
+

hd/nladmin-system/src/main/java/org/nl/acs/route/service/impl/RouteLineServiceImpl.java

@@ -260,7 +260,7 @@ public class RouteLineServiceImpl implements RouteLineService, ApplicationAutoIn
                 }
             }
         }
-//        reload();
+        reload();
     }
 
     @Override
@@ -425,28 +425,8 @@ public class RouteLineServiceImpl implements RouteLineService, ApplicationAutoIn
             RoutePlanDto routePlan = (RoutePlanDto) var2.next();
             Map map1 = new HashMap();
             map1.put("route_plan_id", routePlan.getPlan_uuid());
-            //List<Entity> allRouteLines = Db.use().query(initsql,param);
-
-            /*long l = System.currentTimeMillis();
-            List<Entity> allRouteLines = Db.use((DataSource) SpringContextHolder.getBean("dataSource")).query(initsql,param);
-            long l1 = System.currentTimeMillis();
-            System.out.println("加载时间"+(l1-l));*/
-
             replaceAccess(routePlan.getPlan_uuid());
             this.routePlans.put(routePlan.getPlan_code(), routePlan);
-
-            /*List<RouteLineDto> routeDaoList = allRouteLines.stream().map(entity -> {
-                RouteLineDto routeLineDto = new RouteLineDto();
-                routeLineDto.setDevice_code(entity.get("device_code").toString());
-                routeLineDto.setNext_device_code(entity.get("next_device_code").toString());
-                routeLineDto.setRoute_plan_id(entity.get("route_plan_id").toString());
-                routeLineDto.setType(entity.get("type").toString());
-                routeLineDto.setPath(entity.get("path").toString());
-                routeLineDto.setWeights(Integer.parseInt(entity.get("weights").toString()));
-                return routeLineDto;
-            }).collect(Collectors.toList());*/
-
-
             List<RouteLineDto> routeDaoList = routePlansList.stream().map(entity -> {
                 RouteLineDto routeLineDto = new RouteLineDto();
                 routeLineDto.setDevice_code(entity.get("device_code").toString());
@@ -459,7 +439,6 @@ public class RouteLineServiceImpl implements RouteLineService, ApplicationAutoIn
             }).collect(Collectors.toList());
             Iterator var = routeDaoList.iterator();
             List list = new ArrayList<>();
-
             while (var.hasNext()) {
                 RouteLineDto routeLine = (RouteLineDto) var.next();
 
@@ -469,8 +448,6 @@ public class RouteLineServiceImpl implements RouteLineService, ApplicationAutoIn
             }
             routeLines.put(routePlan.getPlan_code(), list);
         }
-
-
     }
 
     @Override

hd/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -14,6 +14,7 @@ import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONArray;
 import net.sf.json.JSONObject;
 import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.agv.server.impl.AgvServiceImpl;
 import org.nl.acs.config.AcsConfig;
 import org.nl.acs.config.server.AcsConfigService;
 import org.nl.acs.device.service.DeviceAssignedService;
@@ -1122,8 +1123,9 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         String type = shortPathsList.get(0).getType();
         // != 0 为agv任务
         if (!StrUtil.equals(type, "0")) {
-            if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
+            if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.AGVTYPE).getValue(), "3")) {
-                agvService.markComplete(entity.getTask_code());
+                AgvServiceImpl xianGongAgv = SpringContextHolder.getBean(AgvServiceImpl.class);
+                xianGongAgv.markComplete(entity.getTask_code());
             }
         }
     }