From 779650407bbddfe7c4511f8cdf851018c5740e6f Mon Sep 17 00:00:00 2001 From: tuqiang <437016993@qq.com> Date: Fri, 15 Dec 2023 18:05:07 +0800 Subject: [PATCH] =?UTF-8?q?add=EF=BC=9A=E6=96=B0=E5=A2=9E=E6=9F=A5?= =?UTF-8?q?=E8=AF=A2=E8=AE=BE=E5=A4=87=E7=8A=B6=E6=80=81=E6=8E=A5=E5=8F=A3?= =?UTF-8?q?=EF=BC=8C=E7=82=B9=E4=BD=8D=E8=A7=92=E5=BA=A6=E7=AE=A1=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../org/nl/acs/agv/rest/AgvController.java | 5 +- .../org/nl/acs/agv/server/AgvWaitUtil.java | 7 +- .../org/nl/acs/agv/server/dto/AgvDto.java | 18 +- .../acs/agv/server/impl/AgvServiceImpl.java | 193 ++++++++++------- .../angle/rest/AcsPointAngleController.java | 87 ++++++++ .../angle/service/AcsPointAngleService.java | 86 ++++++++ .../angle/service/dto/AcsPointAngleDto.java | 61 ++++++ .../impl/AcsPointAngleServiceImpl.java | 149 +++++++++++++ .../service/impl/DeviceServiceImpl.java | 27 ++- .../java/org/nl/acs/device/wql/device.xls | Bin 259072 -> 206848 bytes .../java/org/nl/acs/device/wql/task_inst.xls | Bin 155648 -> 157696 bytes .../acs/ext/wms/rest/AcsToWmsController.java | 5 +- .../acs/ext/wms/rest/WmsToAcsController.java | 7 + .../acs/ext/wms/service/WmsToAcsService.java | 3 + .../wms/service/impl/WmsToAcsServiceImpl.java | 32 +++ .../service/impl/InstructionServiceImpl.java | 16 +- .../quartz/task/QueryXZAgvDeviceStatus.java | 14 +- .../nl/modules/quartz/task/ToAgvDevice.java | 1 + .../auto/run/NDCSocketConnectionAutoRun.java | 33 +-- qd/src/api/acs/angle/acsPointAngle.js | 35 ++++ qd/src/views/acs/angle/index.vue | 197 ++++++++++++++++++ 21 files changed, 865 insertions(+), 111 deletions(-) create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java create mode 100644 hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java create mode 100644 qd/src/api/acs/angle/acsPointAngle.js create mode 100644 qd/src/views/acs/angle/index.vue diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java index 19f0b9a..58694b9 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/rest/AgvController.java @@ -9,6 +9,7 @@ import org.apache.commons.lang3.StringUtils; import org.nl.acs.agv.server.AgvService; import org.nl.acs.device.service.DeviceService; import org.nl.annotation.Log; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.http.HttpStatus; import org.springframework.http.ResponseEntity; import org.springframework.web.bind.annotation.*; @@ -22,7 +23,9 @@ import java.util.Enumeration; @RequestMapping("/api") @Slf4j public class AgvController { - private final AgvService agvService; + @Autowired + AgvService agvService; + @Autowired private final DeviceService deviceService; diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java index 2522e96..9071ff8 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java @@ -11,6 +11,7 @@ import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.log.service.LogServer; import org.nl.exception.BadRequestException; import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; /** @@ -20,7 +21,11 @@ import org.springframework.stereotype.Service; @RequiredArgsConstructor @Slf4j public class AgvWaitUtil { - private final AcsToWmsService acsToWmsService; + + @Lazy + @Autowired + AcsToWmsService acsToWmsService; + @Autowired LogServer logServer; diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java index eb2eec1..5beb551 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/dto/AgvDto.java @@ -57,17 +57,17 @@ public class AgvDto implements Serializable { /** * 角度 */ - private String positionAngle; + private float positionAngle; /** * X坐标 */ - private String positionX; + private float positionX; /** * Y坐标 */ - private String positionY; + private float positionY; /** * 当前任务号 @@ -79,6 +79,11 @@ public class AgvDto implements Serializable { */ private String battery_temp; + /** + * 电池电量 + */ + private float battery_level; + /** * 是否阻挡 */ @@ -92,7 +97,12 @@ public class AgvDto implements Serializable { /** * 是否充电 */ - private String charging; + private Boolean charging; + + /** + * 机器人连接状态，0表示断连，1表示连接上 + */ + private Integer connection_status; /** * 控制器温度 diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java index f81bb09..9f8f6e7 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java @@ -12,6 +12,8 @@ import net.sf.json.JSONObject; import org.nl.acs.agv.server.AgvService; import org.nl.acs.agv.server.AgvWaitUtil; import org.nl.acs.agv.server.dto.AgvDto; +import org.nl.acs.angle.service.AcsPointAngleService; +import org.nl.acs.angle.service.dto.AcsPointAngleDto; import org.nl.acs.config.AcsConfig; import org.nl.acs.config.server.AcsConfigService; import org.nl.acs.device.service.DeviceService; @@ -47,10 +49,14 @@ 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.context.annotation.Lazy; import org.springframework.http.HttpStatus; import org.springframework.stereotype.Service; +import java.math.BigDecimal; +import java.math.RoundingMode; import java.text.DateFormat; +import java.text.DecimalFormat; import java.text.SimpleDateFormat; import java.util.*; import java.util.function.Function; @@ -62,10 +68,13 @@ import java.util.stream.Stream; @RequiredArgsConstructor public class AgvServiceImpl implements AgvService { + protected BusinessLogger execute_log; @Autowired DeviceAppService deviceAppService; + + @Lazy @Autowired TaskService taskService; @Autowired @@ -78,6 +87,8 @@ public class AgvServiceImpl implements AgvService { AcsToWmsService acsToWmsService; @Autowired DeviceService deviceService; + @Autowired + private static AcsPointAngleService acsPointAngleService; private final LogServer logServer; @@ -220,7 +231,7 @@ public class AgvServiceImpl implements AgvService { * demo:destination("cz14", "JackUnload", "3", "") * @return */ - public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro) { + public static JSONObject destination2(String locationName, String operation, String propertiesType, String pro,Instruction dto) { //新增业务订单 JSONObject destinationOrder = new JSONObject(); //目标工作站 @@ -235,10 +246,16 @@ public class AgvServiceImpl implements AgvService { properties.add(pro2); destinationOrder.put("properties", properties); } else if (propertiesType.equals("2")) {//Spin转动 + AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto(); + acsPointAngleDto = getAcsPointAngleDto(dto); + if (ObjectUtil.isEmpty(acsPointAngleDto)){ + throw new RuntimeException("沒有找到内容，无法下发"); + } + BigDecimal next_point_angle = acsPointAngleDto.getNext_point_angle(); JSONArray properties = new JSONArray(); JSONObject pro1 = new JSONObject(); pro1.put("key", "global_spin_angle");//坐标系类型，global_spin_angle为全局坐标系 - pro1.put("value", pro);//弧度值，如3.14 + pro1.put("value", next_point_angle);//弧度值，如3.14 properties.add(pro1); JSONObject pro2 = new JSONObject(); pro2.put("key", "spin_direction");//固定值 @@ -272,6 +289,21 @@ public class AgvServiceImpl implements AgvService { return destinationOrder; } + private static AcsPointAngleDto getAcsPointAngleDto(Instruction dto) { + List list = acsPointAngleService.queryAll(new HashMap()); + AcsPointAngleDto acsPointAngleDto = new AcsPointAngleDto(); + for (int i = 0; i < list.size(); i++) { + acsPointAngleDto = list.get(i); + String start_device_code = acsPointAngleDto.getStart_device_code(); + String next_device_code = acsPointAngleDto.getNext_device_code(); + String is_active = acsPointAngleDto.getIs_active(); + if (!(dto.getStart_device_code().equals(start_device_code) && dto.getNext_device_code().equals(next_device_code) && is_active == "1")) { + break; + } + } + return acsPointAngleDto; + } + @Override public HttpResponse sendAgvInstToMagic(Instruction inst) throws Exception { JSONArray ja = new JSONArray(); @@ -539,14 +571,16 @@ public class AgvServiceImpl implements AgvService { String positionAngle = jo.getString("positionAngle"); String positionX = jo.getString("positionX"); String positionY = jo.getString("positionY"); + String current_map = jo.getString("current_map"); AgvDto dto = new AgvDto(); dto.setName(name); dto.setEnergyLevel(energyLevel); dto.setState(state); - dto.setPositionAngle(positionAngle); - dto.setPositionX(positionX); - dto.setPositionY(positionY); +// dto.setPositionAngle(positionAngle); +// dto.setPositionX(positionX); +// dto.setPositionY(positionY); dto.setTransportOrder(transportOrder); + dto.setCurrent_map(current_map); if (AGVDeviceStatus.containsKey(name)) { AGVDeviceStatus.remove(name); @@ -599,52 +633,61 @@ public class AgvServiceImpl implements AgvService { @Override public HttpResponse queryXZAgvDeviceStatus() { - if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) { - String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL); - String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT); - + if (StrUtil.equals(acsConfigService.findByCode(AcsConfig.FORKAGV).getValue().toString(), "1")) { + String agvurl = acsConfigService.findByCode(AcsConfig.AGVURL).getValue(); + String agvport = acsConfigService.findByCode(AcsConfig.AGVPORT).getValue(); - String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles"; - String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails"; + agvurl = agvurl + ":" + agvport + "/robotsStatus"; - HttpResponse result = HttpRequest.get(agvurl1) - .timeout(20000)//超时，毫秒 - .execute(); - - - HttpResponse result2 = HttpRequest.get(agvurl2) + HttpResponse result = HttpRequest.get(agvurl) .timeout(20000)//超时，毫秒 .execute(); System.out.println("查询agv状态数据:" + result.body()); if (result.getStatus() == 200) { - com.alibaba.fastjson.JSONArray ja = (com.alibaba.fastjson.JSONArray) com.alibaba.fastjson.JSONArray.parse(result.body()); - + com.alibaba.fastjson.JSONObject body = com.alibaba.fastjson.JSONObject.parseObject(result.body()); + com.alibaba.fastjson.JSONArray ja = body.getJSONArray("report"); for (int i = 0; i < ja.size(); i++) { - com.alibaba.fastjson.JSONObject jo = (com.alibaba.fastjson.JSONObject) ja.get(i); - String name = jo.getString("name"); - String state = jo.getString("state"); - String energyLevel = jo.getString("energyLevel"); - String transportOrder = jo.getString("transportOrder"); - com.alibaba.fastjson.JSONObject detailjo = (com.alibaba.fastjson.JSONObject) com.alibaba.fastjson.JSONObject.parse(result2.body()); - com.alibaba.fastjson.JSONObject item = (com.alibaba.fastjson.JSONObject) detailjo.get(name); - String x = item.getString("x"); - String y = item.getString("y"); - String angle = item.getString("angle"); + com.alibaba.fastjson.JSONObject jo = ja.getJSONObject(i); + //机器人编码 + String agv_code = jo.getString("uuid"); + //机器人详细状态信息 + com.alibaba.fastjson.JSONObject rbk_report = jo.getJSONObject("rbk_report"); + //是否正在充电 + Boolean charging = rbk_report.getBoolean("charging"); + //电池电量 + float battery_level = rbk_report.getFloatValue("battery_level"); + //当前地图 + String current_map = rbk_report.getString("current_map"); + //角度 + float angle = rbk_report.getFloatValue("angle"); + //执行运单信息 + com.alibaba.fastjson.JSONObject current_order = jo.getJSONObject("current_order"); + Integer connectionStatus = jo.getInteger("connection_status"); + String inst_code = current_order.getString("id"); + String taskNo= "0"; + if (StrUtil.isNotEmpty(inst_code)) { + Instruction inst = instructionService.findByCodeFromCache(inst_code); + if (ObjectUtil.isNotEmpty(inst)) { + //任务号 + taskNo = inst.getTask_code(); + } + } + //x坐标 + float x = rbk_report.getFloatValue("x"); + //y坐标 + float y = rbk_report.getFloatValue("y"); AgvDto dto = new AgvDto(); - dto.setName(name); - dto.setEnergyLevel(energyLevel); - dto.setState(state); - dto.setTransportOrder(transportOrder); - dto.setPositionAngle(angle); + dto.setName(agv_code); + dto.setCurrent_map(current_map); + dto.setCharging(charging); + dto.setBattery_level(battery_level); + dto.setTransportOrder(taskNo); dto.setPositionX(x); dto.setPositionY(y); - if (AGVDeviceStatus.containsKey(name)) { - AGVDeviceStatus.remove(name); - AGVDeviceStatus.put(name, dto); - } else { - AGVDeviceStatus.put(name, dto); - } + dto.setPositionAngle(angle); + dto.setConnection_status(connectionStatus); + AGVDeviceStatus.put(agv_code, dto); } } return result; @@ -1773,18 +1816,18 @@ public class AgvServiceImpl implements AgvService { MachinesSiteDeviceDriver machinesSiteDeviceDriver; if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) { ja.add(destination2(device_code + "IN", "Wait", "1", device_code + "IN" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(device_code, "Wait", "1", device_code - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(device_code + "OUT", "Wait", "1", device_code + "OUT" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } else { - ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01")); + ja.add(destination2(device_code, "Wait", "1", device_code + "-" + inst_code + "-" + "01",inst)); } } - ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01")); + ja.add(destination2(inst.getNext_point_code(), "Wait", "1", inst.getNext_point_code() + "-" + inst_code + "-" + "01",inst)); } else { String startAddress = inst.getStart_device_code(); @@ -1795,25 +1838,25 @@ public class AgvServiceImpl implements AgvService { MachinesSiteDeviceDriver machinesSiteDeviceDriver; if (device.getDeviceDriver() instanceof MachinesSiteDeviceDriver) { ja.add(destination2(startAddress, "Wait", "5", startAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress, "Wait", "1", nextAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } else { ja.add(destination2(startAddress, "Wait", "1", startAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress, "Wait", "1", nextAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } } else { ja.add(destination2(startAddress, "Wait", "1", startAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress, "Wait", "1", nextAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } } break; @@ -1830,33 +1873,33 @@ public class AgvServiceImpl implements AgvService { if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_pickup_spin"), "true") && ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin"))) { ja.add(destination2(startAddress + "IQ", "Spin", "2", - standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString())); + standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("pickup_spin").toString(),inst)); } ja.add(destination2(startAddress + "IQ", "Wait", "1", startAddress + "IQ" - + "-" + inst_code + "-" + "07")); + + "-" + inst_code + "-" + "07",inst)); ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(startAddress, "JackLoad", "3", startAddress - + "-" + inst_code + "-" + "02")); + + "-" + inst_code + "-" + "02",inst)); ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT" - + "-" + inst_code + "-" + "05")); + + "-" + inst_code + "-" + "05",inst)); ja.add(destination2(startAddress + "OQ", "Wait", "1", startAddress + "OQ" - + "-" + inst_code + "-" + "08")); + + "-" + inst_code + "-" + "08",inst)); } else if (startdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { ja.add(destination2(startAddress + "IN", "Wait", "1", startAddress + "IN" - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(startAddress, "JackLoad", "3", startAddress - + "-" + inst_code + "-" + "02")); + + "-" + inst_code + "-" + "02",inst)); ja.add(destination2(startAddress + "OUT", "Wait", "1", startAddress + "OUT" - + "-" + inst_code + "-" + "05")); + + "-" + inst_code + "-" + "05",inst)); } else { ja.add(destination2(nextAddress, "Wait", "1", startAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(startAddress, "JackLoad", "3", startAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } //终点 @@ -1865,31 +1908,31 @@ public class AgvServiceImpl implements AgvService { if (ObjectUtil.equal(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("is_release_spin"), "true") && ObjectUtil.isNotEmpty(standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin"))) { ja.add(destination2(nextAddress + "IQ", "Spin", "2", - standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString())); + standardManipulatorInspectSiteDeviceDriver.getExtraValue().get("release_spin").toString(),inst)); } ja.add(destination2(nextAddress + "IQ", "Wait", "1", nextAddress + "IQ" - + "-" + inst_code + "-" + "07")); + + "-" + inst_code + "-" + "07",inst)); ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" - + "-" + inst_code + "-" + "03")); + + "-" + inst_code + "-" + "03",inst)); ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress - + "-" + inst_code + "-" + "04")); + + "-" + inst_code + "-" + "04",inst)); ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" - + "-" + inst_code + "-" + "06")); + + "-" + inst_code + "-" + "06",inst)); ja.add(destination2(nextAddress + "OQ", "Wait", "1", nextAddress + "OQ" - + "-" + inst_code + "-" + "08")); + + "-" + inst_code + "-" + "08",inst)); } else if (nextdevice.getDeviceDriver() instanceof StandardInspectSiteDeviceDriver) { ja.add(destination2(nextAddress + "IN", "Wait", "1", nextAddress + "IN" - + "-" + inst_code + "-" + "03")); + + "-" + inst_code + "-" + "03",inst)); ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress - + "-" + inst_code + "-" + "04")); + + "-" + inst_code + "-" + "04",inst)); ja.add(destination2(nextAddress + "OUT", "Wait", "1", nextAddress + "OUT" - + "-" + inst_code + "-" + "06")); + + "-" + inst_code + "-" + "06",inst)); } else { ja.add(destination2(nextAddress, "Wait", "1", nextAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); ja.add(destination2(nextAddress, "JackUnload", "3", nextAddress - + "-" + inst_code + "-" + "01")); + + "-" + inst_code + "-" + "01",inst)); } break; } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java b/hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java new file mode 100644 index 0000000..980f886 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/angle/rest/AcsPointAngleController.java @@ -0,0 +1,87 @@ +package org.nl.acs.angle.rest; + + +import org.nl.acs.angle.service.dto.AcsPointAngleDto; +import org.nl.acs.angle.service.AcsPointAngleService; +import org.springframework.data.domain.Pageable; +import lombok.RequiredArgsConstructor; +import org.nl.annotation.Log; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; +import org.springframework.security.access.prepost.PreAuthorize; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.*; +import io.swagger.annotations.*; + +import java.io.IOException; +import javax.servlet.http.HttpServletResponse; +import java.util.Map; + +import lombok.extern.slf4j.Slf4j; + +/** + * @author tuq + * @date 2023-12-11 + **/ +@RestController +@RequiredArgsConstructor +@Api(tags = "点位角度管理") +@RequestMapping("/api/acsPointAngle") +@Slf4j +public class AcsPointAngleController { + + private final AcsPointAngleService acsPointAngleService; + + @GetMapping + @Log("查询点位角度") + @ApiOperation("查询点位角度") +//@PreAuthorize("@el.check('acsPointAngle:list')") + public ResponseEntity + query(@RequestParam Map whereJson, Pageable page) { + return new ResponseEntity<>(acsPointAngleService.queryAll(whereJson, page), HttpStatus.OK); + } + + @PostMapping + @Log("新增点位角度") + @ApiOperation("新增点位角度") + //@PreAuthorize("@el.check('acsPointAngle:add')") + public ResponseEntity + create(@Validated @RequestBody AcsPointAngleDto dto) { + acsPointAngleService.create(dto); + return new ResponseEntity<>(HttpStatus.CREATED); + } + + @PutMapping + @Log("修改点位角度") + @ApiOperation("修改点位角度") + //@PreAuthorize("@el.check('acsPointAngle:edit')") + public ResponseEntity + update(@Validated @RequestBody AcsPointAngleDto dto) { + acsPointAngleService.update(dto); + return new ResponseEntity<>(HttpStatus.NO_CONTENT); + } + + @Log("删除点位角度") + @ApiOperation("删除点位角度") + //@PreAuthorize("@el.check('acsPointAngle:del')") + @DeleteMapping + public ResponseEntity delete(@RequestBody String[] ids) { + acsPointAngleService.deleteAll(ids); + return new ResponseEntity<>(HttpStatus.OK); + } + + @Log("导出点位角度") + @ApiOperation("导出点位角度") + @GetMapping(value = "/download") + //@PreAuthorize("@el.check('acsPointAngle:list')") + public void download(HttpServletResponse response, @RequestParam Map whereJson) throws IOException { + acsPointAngleService.download(acsPointAngleService.queryAll(whereJson), response); + } + @GetMapping("/updateActive") + @Log("是否启用") + @ApiOperation("是否启用") + public ResponseEntity updateOn(@RequestParam String id, @RequestParam String is_active) { + acsPointAngleService.updateOn(id, is_active); + return new ResponseEntity<>(HttpStatus.OK); + } +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java new file mode 100644 index 0000000..1abfe83 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/AcsPointAngleService.java @@ -0,0 +1,86 @@ +package org.nl.acs.angle.service; + +import org.nl.acs.angle.service.dto.AcsPointAngleDto; +import org.springframework.data.domain.Pageable; + +import java.util.Map; +import java.util.List; +import java.io.IOException; +import javax.servlet.http.HttpServletResponse; + +/** + * @author tuq + * @description 服务接口 + * @date 2023-12-11 + **/ +public interface AcsPointAngleService { + + /** + * 查询数据分页 + * + * @param whereJson 条件 + * @param page 分页参数 + * @return Map + * + */ + Map queryAll(Map whereJson, Pageable page); + + /** + * 查询所有数据不分页 + * + * @param whereJson 条件参数 + * @return List + * + */ + List queryAll(Map whereJson); + + + /** + * 根据ID查询 + * + * @param id ID + * @return AcsPointAngle + */ + AcsPointAngleDto findById(String id); + + /** + * 根据编码查询 + * + * @param code code + * @return AcsPointAngle + */ + AcsPointAngleDto findByCode(String code); + + + /** + * 创建 + * + * @param dto / + */ + void create(AcsPointAngleDto dto); + + /** + * 编辑 + * + * @param dto / + */ + void update(AcsPointAngleDto dto); + + /** + * 多选删除 + * + * @param ids / + */ + void deleteAll(String[] ids); + + /** + * 导出数据 + * + * @param dtos 待导出的数据 + * @param response / + * @throws IOException / + */ + void download(List dtos, HttpServletResponse response) throws IOException; + + void updateOn(String id, String is_active); +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java new file mode 100644 index 0000000..13f0963 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/dto/AcsPointAngleDto.java @@ -0,0 +1,61 @@ +package org.nl.acs.angle.service.dto; + +import lombok.Data; + +import java.math.BigDecimal; +import java.io.Serializable; + +/** + * @author tuq + * @description / + * @date 2023-12-11 + **/ +@Data +public class AcsPointAngleDto implements Serializable { + + /** + * id标识 + */ + private String id; + + /** + * 起始设备编码 + */ + private String start_device_code; + + /** + * 目标设备编码 + */ + private String next_device_code; + + + /** + * 目标点位角度 + */ + private BigDecimal next_point_angle; + + /** + * 是否启用 + */ + private String is_active; + + /** + * 创建者 + */ + private String create_by; + + /** + * 创建时间 + */ + private String create_time; + + /** + * 修改者 + */ + private String update_by; + + /** + * 修改时间 + */ + private String update_time; +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java new file mode 100644 index 0000000..97e1244 --- /dev/null +++ b/hd/nladmin-system/src/main/java/org/nl/acs/angle/service/impl/AcsPointAngleServiceImpl.java @@ -0,0 +1,149 @@ +package org.nl.acs.angle.service.impl; + + +import lombok.RequiredArgsConstructor; +import org.nl.acs.angle.service.AcsPointAngleService; +import org.nl.acs.angle.service.dto.AcsPointAngleDto; +import org.nl.exception.BadRequestException; +import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; + +import org.springframework.data.domain.Pageable; + +import java.util.List; +import java.util.Map; +import java.io.IOException; +import javax.servlet.http.HttpServletResponse; +import java.util.ArrayList; +import java.util.LinkedHashMap; + +import cn.hutool.core.date.DateUtil; +import cn.hutool.core.util.IdUtil; +import cn.hutool.core.bean.BeanUtil; +import net.sf.json.JSONArray; +import net.sf.json.JSONObject; +import org.nl.utils.SecurityUtils; +import org.nl.wql.core.bean.ResultBean; +import org.nl.wql.core.bean.WQLObject; +import org.nl.wql.util.WqlUtil; +import org.nl.utils.FileUtil; +import lombok.extern.slf4j.Slf4j; + +/** + * @author tuq + * @description 服务实现 + * @date 2023-12-11 + **/ +@Service +@RequiredArgsConstructor +@Slf4j +public class AcsPointAngleServiceImpl implements AcsPointAngleService { + + @Override + public Map queryAll(Map whereJson, Pageable page) { + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + ResultBean rb = wo.pagequery(WqlUtil.getHttpContext(page), "", "update_time desc"); + final JSONObject json = rb.pageResult(); + return json; + } + + @Override + public List queryAll(Map whereJson) { + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONArray arr = wo.query().getResultJSONArray(0); + List list = JSONArray.toList(arr, AcsPointAngleDto.class); + return list; + } + + + @Override + public AcsPointAngleDto findById(String id) { + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONObject json = wo.query("id ='" + id + "'").uniqueResult(0); + final AcsPointAngleDto obj = (AcsPointAngleDto) JSONObject.toBean(json, AcsPointAngleDto.class); + return obj; + } + + @Override + public AcsPointAngleDto findByCode(String code) { + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONObject json = wo.query("code ='" + code + "'").uniqueResult(0); + final AcsPointAngleDto obj = (AcsPointAngleDto) JSONObject.toBean(json, AcsPointAngleDto.class); + return obj; + } + + @Override + @Transactional(rollbackFor = Exception.class) + public void create(AcsPointAngleDto dto) { + String currentUsername = SecurityUtils.getCurrentUsername(); + String now = DateUtil.now(); + + dto.setId(IdUtil.simpleUUID()); + dto.setCreate_by(currentUsername); + dto.setUpdate_by(currentUsername); + dto.setUpdate_time(now); + dto.setCreate_time(now); + + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONObject json = JSONObject.fromObject(dto); + wo.insert(json); + } + + @Override + @Transactional(rollbackFor = Exception.class) + public void update(AcsPointAngleDto dto) { + AcsPointAngleDto entity = this.findById(dto.getId()); + if (entity == null) { + throw new BadRequestException("被删除或无权限，操作失败!"); + } + String currentUsername = SecurityUtils.getCurrentUsername(); + String now = DateUtil.now(); + dto.setUpdate_time(now); + dto.setUpdate_by(currentUsername); + + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONObject json = JSONObject.fromObject(dto); + wo.update(json); + } + + + @Override + @Transactional(rollbackFor = Exception.class) + public void deleteAll(String[] ids) { + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + for (String id : ids) { + wo.delete("id = '" + id + "'"); + } + } + + @Override + public void download(List all, HttpServletResponse response) throws IOException { + List> list = new ArrayList<>(); + for (AcsPointAngleDto acsPointAngle : all) { + Map map = new LinkedHashMap<>(); + map.put("起始设备编码", acsPointAngle.getStart_device_code()); + map.put("目标设备编码", acsPointAngle.getNext_device_code()); + map.put("目标点位角度", acsPointAngle.getNext_point_angle()); + map.put("是否启用", acsPointAngle.getIs_active()); + map.put("创建者", acsPointAngle.getCreate_by()); + map.put("创建时间", acsPointAngle.getCreate_time()); + map.put("修改者", acsPointAngle.getUpdate_by()); + map.put("修改时间", acsPointAngle.getUpdate_time()); + list.add(map); + } + FileUtil.downloadExcel(list, response); + } + + @Override + public void updateOn(String id, String is_active) { + AcsPointAngleDto entity = this.findById(id); + entity.setIs_active(is_active); + String currentUsername = SecurityUtils.getCurrentUsername(); + String now = DateUtil.now(); + entity.setUpdate_by(currentUsername); + entity.setUpdate_time(now); + WQLObject wo = WQLObject.getWQLObject("acs_point_angle"); + JSONObject json = JSONObject.fromObject(entity); + wo.update(json); + } +} diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java index e8b872e..a1c3061 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/device/service/impl/DeviceServiceImpl.java @@ -66,13 +66,26 @@ import java.util.*; @RequiredArgsConstructor @Slf4j public class DeviceServiceImpl implements DeviceService, ApplicationAutoInitial { - private final DeviceExtraService deviceExtraService; - private final OpcService opcService; - private final RedisUtils redisUtils; - private final OpcPlcService opcPlcService; - private final DeviceDriverDefinationAppService deviceDriverDefinationAppService; - private final DeviceAppService deviceAppService; - private final AcsConfigService acsConfigService; + @Autowired + DeviceExtraService deviceExtraService; + + @Autowired + OpcService opcService; + + @Autowired + RedisUtils redisUtils; + + @Autowired + OpcPlcService opcPlcService; + + @Autowired + DeviceDriverDefinationAppService deviceDriverDefinationAppService; + + @Autowired + DeviceAppService deviceAppService; + + @Autowired + AcsConfigService acsConfigService; @Autowired TaskService taskService; diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/device/wql/device.xls b/hd/nladmin-system/src/main/java/org/nl/acs/device/wql/device.xls index a228f66f18ac5ad685ed308d0f00f4216054015a..3c94ef22cee998e1d09f93f4b63db2025b570627 100644 GIT binary patch delta 63603 zcmeFa2Y6Lg7B;-ky*G`L5C|jzQV4+r2$0a5A@tt6v`_+3LlFo~;KYugQjT)53=U)O z9ju6T>}^J|BK9(lqGLse{O`N>*=OGtbiVm!=J}uJyLoQz*=@aRt=-mMXP2 zxxw~+**+me0N>-awYB(>pN;tcIlk3aaD2J%iyg}!+UW}$MPZ^jBSL`=qatym=ni+T7z&lzyIbFl1P zf53SnuDAgOcs4=i6g$tWacX>l0EKZj`^Kw_cYK9lx1|c?`}?Vjh5q3#^SLVGh(FiK z52QM&o0r*1iH(F6FH$b|y(UQ~g8nZl$q5}A{`2Jb1*n6ygRZ{*1Hb7~oM^(qN0Y4< z!Q7yg=>4m2hh#hMRUrt3#A|ZLb5wlfub0m9C@1N}`i&?rjtH?(0^#Cc`lW(Je4Kc& z;R^|m)>tAwUWoUFPuvlB6#s?z0N+_+Ij*gwGa)2wX4vV z;k+B4S05QgyCqqjdWkrvUcxA6Wnweu^u!G3&ZOqf9})&Twe^NuN1Y={>0OT^XRZAZ z$&2%Z&)Pb3(zp_lCZ3KN-(F-`!bwXU0?t^<8IX`h;)vXmIAWkj3gqIf0b+$X1+BA6 zkRX8?i0x=2Ru~ZD^SyZI)`scMg-P|tS0ZCC5zW^-kUm{z59hb2j{E^Po}30qP_o=2 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zhx-;=*1;v#y3B{5V{(Fz+w)7T3&sqfca~V&^rP|hOD#LdU`c!rB!45iZ~J#pm=}o%%%l)BRRsC9_xV)sCQW z^Y=6gw?9WwxW)N>{OwDv^7w20R&*BkYxD7PW&FQ%E7b@6z!l$)y*K@N&1<#f+wbE~ z gccCancelTask(@RequestBody String whereJson) { return new ResponseEntity<>(wmstoacsService.gccCancelTask(whereJson), HttpStatus.OK); } + + @PostMapping("/queryAgvDeviceStatus") + @Log("查询XZAGV设备状态") + @ApiOperation("查询XZAGV设备状态") + public ResponseEntity queryAgvDeviceStatus() { + return new ResponseEntity<>(wmstoacsService.queryAgvDeviceStatus(), HttpStatus.OK); + } } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java index ede3947..00056ef 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java @@ -1,5 +1,6 @@ package org.nl.acs.ext.wms.service; +import com.alibaba.fastjson.JSONArray; import net.sf.json.JSONObject; import java.util.Map; @@ -54,4 +55,6 @@ public interface WmsToAcsService { Map queryDevice(String jsonObject) throws Exception; Map gccCancelTask(String whereJson); + + JSONArray queryAgvDeviceStatus(); } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java index bd39488..2b4fefc 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java @@ -7,6 +7,8 @@ import lombok.RequiredArgsConstructor; 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.dto.AgvDto; import org.nl.acs.config.AcsConfig; import org.nl.acs.config.server.AcsConfigService; import org.nl.acs.device.service.DeviceService; @@ -65,6 +67,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { private final RouteLineService RouteLineService; @Autowired LogServer logServer; + @Autowired + AgvService agvService; + @Override public Map createFromWms(String param) { @@ -997,4 +1002,31 @@ public class WmsToAcsServiceImpl implements WmsToAcsService { log.info("gccCancelTask 响应参数：{}", resultJson); return resultJson; } + + @Override + public com.alibaba.fastjson.JSONArray queryAgvDeviceStatus() { + JSONObject json = new JSONObject(); + Map agv_map = agvService.findAllAgvFromCache(); + if(ObjectUtil.isEmpty(agv_map)){ + System.out.println("AGV设备数据为空，无法反馈"); + return new com.alibaba.fastjson.JSONArray(); + } +// JSONArray agv_rows = new JSONArray(); + com.alibaba.fastjson.JSONArray agv_rows = new com.alibaba.fastjson.JSONArray(); + JSONObject row = new JSONObject(); + + for (AgvDto agvDto : agv_map.values()) { + row.put("device_code", agvDto.getName()); + row.put("battery_level", agvDto.getBattery_level()); + row.put("device_status",agvDto.getConnection_status()); + row.put("transportOrder", agvDto.getTransportOrder()); + row.put("positionX", agvDto.getPositionX()); + row.put("positionY", agvDto.getPositionY()); + row.put("positionAngle", agvDto.getPositionAngle()); + row.put("current_map", agvDto.getCurrent_map()); + agv_rows.add(row); + } + log.info("queryAgvDeviceStatus--------------:输出参数" + agv_rows.toString()); + return agv_rows; + } } diff --git a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index a4c35d5..713c00d 100644 --- a/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -4,6 +4,7 @@ package org.nl.acs.instruction.service.impl; import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.IdUtil; +import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import cn.hutool.http.HttpResponse; import lombok.RequiredArgsConstructor; @@ -12,6 +13,8 @@ import net.sf.json.JSONArray; import net.sf.json.JSONObject; import org.apache.commons.lang3.ObjectUtils; import org.nl.acs.agv.server.AgvService; +import org.nl.acs.angle.service.AcsPointAngleService; +import org.nl.acs.angle.service.dto.AcsPointAngleDto; import org.nl.acs.config.AcsConfig; import org.nl.acs.config.server.AcsConfigService; import org.nl.acs.device.service.DeviceService; @@ -51,6 +54,7 @@ import org.springframework.transaction.annotation.Transactional; import javax.servlet.http.HttpServletResponse; import java.io.IOException; +import java.math.BigDecimal; import java.util.*; import java.util.regex.Pattern; import java.util.stream.Collectors; @@ -79,6 +83,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu TaskService taskService; + @Override public void autoInitial() { this.reload(); @@ -465,6 +470,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu } + + @Override @Transactional(rollbackFor = Exception.class) public void createAgain(Instruction dto) throws Exception { @@ -669,7 +676,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu } else { jo1.put("hasGoodStatus", "2"); } - jo1.put("put_goods_time",DateUtil.now()); + jo1.put("put_goods_time", DateUtil.now()); jo1.put("material_type", startdevice.getMaterial_type()); jo1.put("quantity", startdevice.getQuantity()); jo1.put("remark", startdevice.getRemark()); @@ -871,7 +878,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu // != 0 为agv任务 1=magic 2=NDC 3=XZ if (!StrUtil.equals(type, "0")) { if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "1") - && !StrUtil.equals(entity.getSend_status(),"2")) { + && !StrUtil.equals(entity.getSend_status(), "2")) { agvService.deleteAgvInst(entity.getInstruction_code()); flag = true; @@ -883,7 +890,7 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu flag = true; } } else if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3") - && !StrUtil.equals(entity.getSend_status(),"2")) { + && !StrUtil.equals(entity.getSend_status(), "2")) { agvService.deleteXZAgvInst(entity.getInstruction_code()); flag = true; } else { @@ -1037,7 +1044,8 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu return inst; } } - return null; } + return null; + } @Override public Instruction findByIdFromCache(String id) { diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java index ff38808..bddf23d 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvDeviceStatus.java @@ -1,13 +1,16 @@ 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 net.sf.json.JSONArray; -import net.sf.json.JSONObject; import org.nl.acs.agv.server.AgvService; import org.nl.acs.device_driver.electric_fence.ElectricFenceDeviceDriver; import org.nl.acs.device_driver.feedback_agv_status_site.FeedbackAGVStatusSiteDeviceDriver; import org.nl.acs.instruction.service.InstructionService; +import org.nl.acs.instruction.service.dto.Instruction; import org.nl.acs.opc.Device; import org.nl.acs.opc.DeviceAppService; import org.nl.acs.opc.DeviceAppServiceImpl; @@ -15,6 +18,9 @@ import org.nl.utils.SpringContextHolder; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; +import java.math.RoundingMode; +import java.text.DecimalFormat; + /** * 查询先工AGV设备状态 */ @@ -28,9 +34,11 @@ public class QueryXZAgvDeviceStatus { @Autowired AgvService agvService; + @Autowired + DeviceAppService deviceAppService; + public void run() throws Exception { HttpResponse response = agvService.queryXZAgvDeviceStatus(); } - } diff --git a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java index 72fa923..71b3448 100644 --- a/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java +++ b/hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/ToAgvDevice.java @@ -45,6 +45,7 @@ public class ToAgvDevice { row.put("positionX", agvDto.getPositionX()); row.put("positionY", agvDto.getPositionY()); row.put("positionAngle", agvDto.getPositionAngle()); + row.put("current_map", agvDto.getCurrent_map()); agv_rows.add(row); } // json.put("agv_rows", agv_rows); diff --git a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java index a679fd5..4a574a2 100644 --- a/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java +++ b/hd/nladmin-system/src/main/java/org/nl/start/auto/run/NDCSocketConnectionAutoRun.java @@ -83,14 +83,17 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut); } + @Override public String getCode() { return NDCSocketConnectionAutoRun.class.getSimpleName(); } + @Override public String getName() { return "NDC在线连接"; } + @Override public void autoRun() { try { @@ -780,7 +783,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); + dto.setPositionX(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //Y坐标 @@ -794,7 +797,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); + dto.setPositionY(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //角度 @@ -808,7 +811,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); + dto.setPositionAngle(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //电量 @@ -1407,7 +1410,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); + dto.setPositionX(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //Y坐标 @@ -1420,7 +1423,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); + dto.setPositionY(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //角度 @@ -1434,7 +1437,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); + dto.setPositionAngle(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } @@ -1826,7 +1829,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); + dto.setPositionX(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //Y坐标 @@ -1839,7 +1842,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); + dto.setPositionY(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //角度 @@ -1853,7 +1856,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); + dto.setPositionAngle(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } @@ -2946,7 +2949,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); + dto.setPositionX(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //Y坐标 @@ -2959,7 +2962,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); + dto.setPositionY(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //角度 @@ -2973,7 +2976,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); + dto.setPositionAngle(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } @@ -3596,7 +3599,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionX(String.valueOf(ikey)); + dto.setPositionX(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //Y坐标 @@ -3610,7 +3613,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionY(String.valueOf(ikey)); + dto.setPositionY(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //角度 @@ -3624,7 +3627,7 @@ public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable { dto = new AgvDto(); } dto.setName(String.valueOf(carno)); - dto.setPositionAngle(String.valueOf(ikey)); + dto.setPositionAngle(Float.valueOf(ikey)); AgvService.updateAgvFromCache(dto); } //电量 diff --git a/qd/src/api/acs/angle/acsPointAngle.js b/qd/src/api/acs/angle/acsPointAngle.js new file mode 100644 index 0000000..c09f5aa --- /dev/null +++ b/qd/src/api/acs/angle/acsPointAngle.js @@ -0,0 +1,35 @@ +import request from '@/utils/request' + +export function add(data) { + return request({ + url: 'api/acsPointAngle', + method: 'post', + data + }) +} + +export function del(ids) { + return request({ + url: 'api/acsPointAngle/', + method: 'delete', + data: ids + }) +} + +export function edit(data) { + return request({ + url: 'api/acsPointAngle', + method: 'put', + data + }) +} + +export function updateOn(id, is_active) { + console.log(is_active) + return request({ + url: '/api/acsPointAngle/updateActive?id=' + id + '&is_active=' + is_active, + method: 'get' + }) +} + +export default { add, edit, del, updateOn } diff --git a/qd/src/views/acs/angle/index.vue b/qd/src/views/acs/angle/index.vue new file mode 100644 index 0000000..bec1eb5 --- /dev/null +++ b/qd/src/views/acs/angle/index.vue @@ -0,0 +1,197 @@ + + + + +