add 仙工AGV请求取放货

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

@@ -96,18 +96,4 @@ public class AgvController {
     public ResponseEntity<Object> queryDevice() throws Exception {
         return new ResponseEntity<>(agvService.queryDeviceStation(), HttpStatus.OK);
     }
-
-    @PostMapping("/xgAGVControlDoorSwitch")
-    @Log("仙工AGV控制门开关")
-    @ApiOperation("仙工AGV控制门开关")
-    public ResponseEntity<JSONObject> xgAGVControlDoorSwitch(@RequestBody JSONObject requestParam) {
-        return new ResponseEntity<>(agvService.xgAGVControlDoorSwitch(requestParam), HttpStatus.OK);
-    }
-
-    @PostMapping("/xgAGVQueryDoorStatus")
-    @Log("仙工AGV查询门状态")
-    @ApiOperation("仙工AGV查询门状态")
-    public ResponseEntity<JSONObject> xgAGVQueryDoorStatus(@RequestBody JSONObject requestParam) {
-        return new ResponseEntity<>(agvService.xgAGVQueryDoorStatus(requestParam), HttpStatus.OK);
-    }
 }

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

@@ -0,0 +1,49 @@
+package org.nl.acs.agv.rest;
+
+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.nl.acs.agv.server.AgvService;
+import org.nl.annotation.Log;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+/**
+ * @author zhangjiangwei
+ */
+@RestController
+@RequestMapping("/api/agv/xg")
+@RequiredArgsConstructor
+@Api(tags = "仙工AGV")
+@Slf4j
+public class XGAGVController {
+
+    private final AgvService agvService;
+
+    @PostMapping("/controlDoor")
+    @Log("仙工AGV控制门开关")
+    @ApiOperation("仙工AGV控制门开关")
+    public ResponseEntity<JSONObject> xgAGVControlDoorSwitch(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(agvService.xgAGVControlDoorSwitch(requestParam), HttpStatus.OK);
+    }
+
+    @PostMapping("/doorStateList")
+    @Log("仙工AGV查询门状态")
+    @ApiOperation("仙工AGV查询门状态")
+    public ResponseEntity<JSONObject> xgAGVQueryDoorStatus(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(agvService.xgAGVQueryDoorStatus(requestParam), HttpStatus.OK);
+    }
+
+    @PostMapping("/waitPointRequest")
+    @Log("仙工AGV请求取放货")
+    @ApiOperation("仙工AGV请求取放货")
+    public ResponseEntity<JSONObject> xgAGVWaitPointRequest(@RequestBody JSONObject requestParam) {
+        return new ResponseEntity<>(agvService.xgAGVWaitPointRequest(requestParam), HttpStatus.OK);
+    }
+}

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

@@ -33,7 +33,7 @@ public interface AgvService {
 
     public HttpResponse queryXZAgvDeviceStatus();
 
-    public HttpResponse queryXZAgvInstStatus(String instCode);
+    public HttpResponse queryXZAgvInstStatus();
 
     Map<String, AgvDto> findAllAgvFromCache();
 
@@ -216,4 +216,6 @@ public interface AgvService {
      *              }
      */
     JSONObject xgAGVQueryDoorStatus(JSONObject requestParam);
+
+    JSONObject xgAGVWaitPointRequest(JSONObject requestParam);
 }

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

@@ -0,0 +1,136 @@
+package org.nl.acs.agv.server;
+
+import cn.hutool.core.util.ObjectUtil;
+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.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsZDServiceImpl;
+import org.nl.acs.instruction.service.InstructionService;
+import org.nl.acs.log.service.LogServer;
+import org.nl.acs.opc.DeviceAppService;
+import org.nl.exception.BadRequestException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+/**
+ * @author: geng by
+ * @createDate: 2022/12/5
+ */
+@Service
+@RequiredArgsConstructor
+@Slf4j
+public class AgvWaitUtil {
+    private final DeviceAppService deviceAppService;
+    private final AcsToWmsZDServiceImpl acsToWmsZDService;
+    private final InstructionService instructionService;
+    private final AcsToWmsService acsToWmsService;
+    @Autowired
+    LogServer logServer;
+
+    //取货前等待
+    public JSONObject waitInGet(String startDeviceCode) {
+        log.info("仙工AGV请求取货，设备号 - {}", startDeviceCode);
+
+        JSONObject requestWMSParam = new JSONObject();
+        requestWMSParam.put("StartStationCode", startDeviceCode);
+        JSONObject responseBody = acsToWmsService.gccQueryStationState(requestWMSParam);
+
+        if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
+            JSONArray data = responseBody.optJSONArray("data");
+            for (int i = 0; i < data.size(); i++) {
+                JSONObject datum = data.getJSONObject(i);
+                if (startDeviceCode.equals(datum.optString("Station_Code"))
+                        && datum.optBoolean("IsHasGoods")) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许取货！");
+                    log.info("允许仙工AGV取货，设备号 - {}", startDeviceCode);
+                    return map;
+                }
+            }
+        }
+
+        throw new BadRequestException("请求失败!");
+    }
+
+    //取货完成等待
+    public JSONObject waitOutGet(String startDeviceCode) {
+        log.info("仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+
+        JSONObject requestWMSParam = new JSONObject();
+        requestWMSParam.put("StartStationCode", startDeviceCode);
+        JSONObject responseBody = acsToWmsService.gccQueryStationState(requestWMSParam);
+
+        if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
+            JSONArray data = responseBody.optJSONArray("data");
+            for (int i = 0; i < data.size(); i++) {
+                JSONObject datum = data.getJSONObject(i);
+                if (startDeviceCode.equals(datum.optString("Station_Code"))
+                        && !datum.optBoolean("IsHasGoods", true)) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许离开！");
+                    log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
+                    return map;
+                }
+            }
+        }
+
+        throw new BadRequestException("请求失败!");
+    }
+
+    //放货前等待
+    public JSONObject waitInPut(String endDeviceCode) {
+        log.info("仙工AGV请求放货，设备号 - {}", endDeviceCode);
+
+        JSONObject requestWMSParam = new JSONObject();
+        requestWMSParam.put("EndStationCode", endDeviceCode);
+        JSONObject responseBody = acsToWmsService.gccQueryStationState(requestWMSParam);
+
+        if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
+            JSONArray data = responseBody.optJSONArray("data");
+            for (int i = 0; i < data.size(); i++) {
+                JSONObject datum = data.getJSONObject(i);
+                if (endDeviceCode.equals(datum.optString("Station_Code"))
+                        && !datum.optBoolean("IsHasGoods", true)) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许放货！");
+                    log.info("允许仙工AGV放货，设备号 - {}", endDeviceCode);
+                    return map;
+                }
+            }
+        }
+
+        throw new BadRequestException("请求失败!");
+    }
+
+
+    //放货完成等待
+    public JSONObject waitOutPut(String endDeviceCode) {
+        log.info("仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
+
+        JSONObject requestWMSParam = new JSONObject();
+        requestWMSParam.put("EndStationCode", endDeviceCode);
+        JSONObject responseBody = acsToWmsService.gccQueryStationState(requestWMSParam);
+
+        if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
+            JSONArray data = responseBody.optJSONArray("data");
+            for (int i = 0; i < data.size(); i++) {
+                JSONObject datum = data.getJSONObject(i);
+                if (endDeviceCode.equals(datum.optString("Station_Code"))
+                        && datum.optBoolean("IsHasGoods")) {
+                    JSONObject map = new JSONObject();
+                    map.put("status", 200);
+                    map.put("message", "允许离开！");
+                    log.info("允许仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode);
+                    return map;
+                }
+            }
+        }
+
+        throw new BadRequestException("请求失败!");
+    }
+}

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;
@@ -9,6 +10,7 @@ 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.AgvWaitUtil;
 import org.nl.acs.agv.server.dto.AgvDto;
 import org.nl.acs.config.AcsConfig;
 import org.nl.acs.config.server.AcsConfigService;
@@ -44,6 +46,7 @@ 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.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
@@ -78,6 +81,12 @@ public class AgvServiceImpl implements AgvService {
 
     private final LogServer logServer;
 
+    @Autowired
+    AgvWaitUtil agvWaitUtil;
+
+    @Value("${agvToAcs.addr}")
+    private String addr;
+
     Map<String, AgvDto> AGVDeviceStatus = new HashMap();
 
     /**
@@ -589,10 +598,12 @@ 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);
 
+
             String agvurl1 = agvurl + ":" + agvport + "/api/route/vehicles";
             String agvurl2 = agvurl + ":" + agvport + "/api/route/vehicleDetails";
 
@@ -604,44 +615,22 @@ public class AgvServiceImpl implements AgvService {
             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());
+                com.alibaba.fastjson.JSONArray ja = (com.alibaba.fastjson.JSONArray) com.alibaba.fastjson.JSONArray.parse(result.body());
+
                 for (int i = 0; i < ja.size(); i++) {
-                    JSONObject jo = (JSONObject) ja.get(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");
-                    JSONObject detailjo = JSONObject.fromObject(result2.body());
+                    com.alibaba.fastjson.JSONObject detailjo = (com.alibaba.fastjson.JSONObject) com.alibaba.fastjson.JSONObject.parse(result2.body());
-                    JSONObject item = (JSONObject) detailjo.get(name);
+                    com.alibaba.fastjson.JSONObject item = (com.alibaba.fastjson.JSONObject) detailjo.get(name);
-                    if (ObjectUtil.isEmpty(detailjo.get(name))) {
-                        continue;
-                    }
                     String x = item.getString("x");
                     String y = item.getString("y");
                     String angle = item.getString("angle");
-                    String battery_temp = item.getString("battery_temp");
-                    String blocked = item.getString("blocked");
-                    String brake = item.getString("brake");
-                    String charging = item.getString("charging");
-                    String controller_temp = item.getString("controller_temp");
-                    String current_map = item.getString("current_map");
-                    String current_station = item.getString("current_station");
-                    String emergency = item.getString("emergency");
-                    String odo = item.getString("odo");
-                    String requestCurrent = item.getString("requestCurrent");
-                    String requestVoltage = item.getString("requestVoltage");
-                    String soft_emc = item.getString("soft_emc");
-                    String today_odo = item.getString("today_odo");
-                    String voltage = item.getString("voltage");
-                    String vx = item.getString("vx");
-                    String vy = item.getString("vy");
-                    String w = item.getString("w");
-
-
                     AgvDto dto = new AgvDto();
                     dto.setName(name);
                     dto.setEnergyLevel(energyLevel);
@@ -650,21 +639,6 @@ public class AgvServiceImpl implements AgvService {
                     dto.setPositionAngle(angle);
                     dto.setPositionX(x);
                     dto.setPositionY(y);
-                    dto.setBattery_temp(battery_temp);
-                    dto.setBlocked(blocked);
-                    dto.setBrake(brake);
-                    dto.setCharging(charging);
-                    dto.setController_temp(controller_temp);
-                    dto.setCurrent_station(current_station);
-                    dto.setEmergency(emergency);
-                    dto.setOdo(odo);
-                    dto.setRequestCurrent(requestCurrent);
-                    dto.setRequestVoltage(requestVoltage);
-                    dto.setVoltage(voltage);
-                    dto.setSoft_emc(soft_emc);
-                    dto.setVx(vx);
-                    dto.setVy(vy);
-                    dto.setW(w);
                     if (AGVDeviceStatus.containsKey(name)) {
                         AGVDeviceStatus.remove(name);
                         AGVDeviceStatus.put(name, dto);
@@ -677,30 +651,28 @@ public class AgvServiceImpl implements AgvService {
         } else {
             return null;
         }
+
+
     }
 
 
     @Override
-    public HttpResponse queryXZAgvInstStatus(String instCode) {
+    public HttpResponse queryXZAgvInstStatus() {
-
         if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-            agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + instCode;
+            agvurl = agvurl + ":" + agvport + "/orders?page=1&size=9999";
 
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
                     .execute();
-            System.out.println("查询agv指令数据:" + result.body());
+            log.info("queryXZAgvInstStatus----查询agv指令数据:{}" + result.body());
-
             return result;
         } else {
 
             return null;
         }
-
-
     }
 
     @Override
@@ -747,25 +719,24 @@ public class AgvServiceImpl implements AgvService {
 
     @Override
     public HttpResponse deleteXZAgvInst(String instCode) {
-
+        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV), "1")) {
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.FORKAGV).toString(), "1")) {
             String agvurl = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
-            agvurl = agvurl + ":" + agvport + "/api/route/transportOrders/" + instCode + "/withdrawal";
+            com.alibaba.fastjson.JSONObject param = new com.alibaba.fastjson.JSONObject();
+            param.put("id", instCode);
+            param.put("disableVehicle", false);
+            agvurl = agvurl + ":" + agvport + "/terminate";
             log.info("删除agv指令请求agvurl:{}", agvurl);
             HttpResponse result = HttpRequest.post(agvurl)
+                    .body(param.toJSONString())
                     .timeout(20000)//超时，毫秒
                     .execute();
             log.info("删除agv指令请求反馈:{}", result);
-
             return result;
-
         } else {
-
             return null;
         }
-
     }
 
     @Override
@@ -1680,33 +1651,17 @@ public class AgvServiceImpl implements AgvService {
 
     @Override
     public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception {
-
+        com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
-        JSONObject jo = new JSONObject();
+        jo.put("id", inst.getInstruction_code());
-        jo.put("intendedVehicle", "");
+        jo.put("complete", true);
-        jo.put("category", "");
+        jo.put("blocks", createBlocksData(inst));
-        jo.put("failureFatal", false);
+        jo.put("priority", inst.getPriority());
-        jo.put("complete", false);
-        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
@@ -1714,7 +1669,6 @@ 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;
@@ -2068,7 +2022,7 @@ public class AgvServiceImpl implements AgvService {
     public JSONObject xgAGVControlDoorSwitch(JSONObject requestParam) {
         try {
             JSONObject requestWMSParam = new JSONObject();
-            requestWMSParam.put("device_code", requestParam.optString("deviceID"));
+            requestWMSParam.put("device_code", requestParam.optString("doorName"));
             requestWMSParam.put("device_status", "1".equals(requestParam.optString("state")) ? "open" : "close");
             JSONObject wmsResult = acsToWmsService.gccControlDoorSwitch(requestWMSParam);
 
@@ -2091,9 +2045,9 @@ public class AgvServiceImpl implements AgvService {
 
     @Override
     public JSONObject xgAGVQueryDoorStatus(JSONObject requestParam) {
-        String[] deviceIDs = requestParam.optString("deviceIDs").split(",");
+        String[] doorNameList = requestParam.optJSONArray("doorNameList").optString(0).split(",");
 
-        if (deviceIDs.length == 1 && StrUtil.isBlank(deviceIDs[0])) {
+        if (doorNameList.length == 1 && StrUtil.isBlank(doorNameList[0])) {
             JSONObject result = new JSONObject();
             result.put("result", 0);
             result.put("message", "操作成功");
@@ -2107,28 +2061,34 @@ public class AgvServiceImpl implements AgvService {
                 JSONObject result = new JSONObject();
                 result.put("result", 0);
                 result.put("message", "操作成功");
-                result.put("data", Arrays.stream(deviceIDs)
+                result.put("data", Arrays.stream(doorNameList)
-                        .map(id -> {
+                        .map(doorName -> {
                             JSONObject door = new JSONObject();
-                            door.put("deviceID", id);
+                            door.put("doorName", doorName);
-                            door.put("doorState", -1);
+                            door.put("state", -1);
-                            door.put("timePoke", System.currentTimeMillis());
+                            door.put("timestamp", System.currentTimeMillis());
                             return door;
                         }).collect(Collectors.toList()));
                 return result;
             }
 
-            List<JSONObject> data = Arrays.stream(deviceIDs).map(id -> {
+            List<JSONObject> data = Arrays.stream(doorNameList).map(doorName -> {
                 JSONObject door = new JSONObject();
-                door.put("deviceID", id);
+                door.put("doorName", doorName);
-                List<Object> list = wmsResult.stream().filter(o -> id.equals(((com.alibaba.fastjson.JSONObject) o).getString("device_code"))).collect(Collectors.toList());
+                List<Object> list = wmsResult.stream().filter(o -> doorName.equals(((com.alibaba.fastjson.JSONObject) o).getString("device_code"))).collect(Collectors.toList());
                 if (list.isEmpty()) {
-                    door.put("doorState", -1);
+                    door.put("state", -1);
                 } else {
                     com.alibaba.fastjson.JSONObject row = (com.alibaba.fastjson.JSONObject) list.get(0);
-                    door.put("doorState", "close".equals(row.getString("device_status")) ? 0 : 1);
+                    int state = 1;
+                    if ("close".equals(row.getString("device_status"))) {
+                        state = 0;
+                    } else if ("open".equals(row.getString("device_status"))) {
+                        state = 2;
                     }
-                door.put("timePoke", System.currentTimeMillis());
+                    door.put("state", state);
+                }
+                door.put("timestamp", System.currentTimeMillis());
                 return door;
             }).collect(Collectors.toList());
 
@@ -2144,4 +2104,150 @@ public class AgvServiceImpl implements AgvService {
             return result;
         }
     }
+
+    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);
+
+//        if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
+//            //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);
+        }
+
+        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 JSONObject xgAGVWaitPointRequest(JSONObject requestParam) {
+        log.info("仙工AGV请求取放货，请求参数 - {}", requestParam);
+        String inst_code = requestParam.getString("task_code");
+        Instruction instructionDto = instructionService.findByCodeFromCache(inst_code);
+        if (ObjectUtil.isEmpty(instructionDto)) {
+            throw new BadRequestException("请求失败，未找到指令！");
+        }
+        String address = requestParam.getString("address");
+        if (StrUtil.isBlank(address)) {
+            throw new BadRequestException("请求失败，地址为空！");
+        }
+
+
+        if (address.contains("IN")) {
+            String deviceCodeNow = address.substring(0, address.length() - 5);
+            if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
+                throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
+            }
+
+            if (address.contains("GET")) {
+                return agvWaitUtil.waitInGet(deviceCodeNow);
+            } else if (address.contains("PUT")) {
+                return agvWaitUtil.waitInPut(deviceCodeNow);
+            }
+        }
+        if (address.contains("OUT")) {
+            String deviceCodeNow = address.substring(0, address.length() - 6);
+            if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
+                throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
+            }
+
+            if (address.contains("GET")) {
+                return agvWaitUtil.waitOutGet(deviceCodeNow);
+            } else if (address.contains("PUT")) {
+                return agvWaitUtil.waitOutPut(deviceCodeNow);
+            }
+        }
+
+        throw new BadRequestException("请求失败，IN OUT 站点错误!");
+    }
 }

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

@@ -139,4 +139,19 @@ public interface AcsToWmsService {
      *              ]
      */
     com.alibaba.fastjson.JSONArray gccQueryDoorStatus();
+
+    /**
+     * 六维广钞厂查询站点有无货状态
+     * @param requestWMSParam 示例：{
+     *                             "StartStationCode":"111",
+     *                             "EndStationCode":"222"
+     *                             }
+     * @return 示例：{
+     *              "errArr":null,
+     *              "data":[{"Station_Code":"1170","IsHasGoods":true},{"Station_Code":"1030","IsHasGoods":true}],
+     *              "status":"200",
+     *              "message":"获取站点相关信息成功"
+     *              }
+     */
+    JSONObject gccQueryStationState(JSONObject requestWMSParam);
 }

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

@@ -559,4 +559,27 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
             return new com.alibaba.fastjson.JSONArray();
         }
     }
+
+    @Override
+    public JSONObject gccQueryStationState(JSONObject requestWMSParam) {
+        try {
+            String wmsurl = acsConfigService.findConfigFromCache().get(AcsConfig.WMSURL);
+            AddressDto addressDto = addressService.findByCode("gccQueryStationState");
+
+            log.info("gccQueryStationState - 请求参数{}", requestWMSParam);
+            String responseBody = HttpRequest
+                    .post(wmsurl + addressDto.getMethods_url())
+                    .body(requestWMSParam.toString())
+                    .execute()
+                    .body();
+            log.info("gccQueryStationState - 响应参数{}", responseBody);
+
+            return JSONObject.fromObject(responseBody);
+        } catch (Exception e) {
+            JSONObject result = new JSONObject();
+            result.put("status", HttpStatus.BAD_REQUEST.value());
+            result.put("message", e.getMessage());
+            return result;
+        }
+    }
 }

hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -242,4 +242,5 @@ public interface InstructionService {
 
     boolean removeByCodeFromCache(String code);
 
+    public Instruction findByInstCodeFromCache(String inst_code);
 }

hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -1209,4 +1209,15 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         Pattern pattern = Pattern.compile("^[-\\+]?[\\d]*$");
         return pattern.matcher(str).matches();
     }
+
+    @Override
+    public Instruction findByInstCodeFromCache(String inst_code) {
+        for (int i = 0; i < this.instructions.size(); i++) {
+            Instruction inst = instructions.get(i);
+            if (StrUtil.equals(inst_code, inst.getInstruction_code())) {
+                return inst;
+            }
+        }
+        return null;
+    }
 }

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

@@ -1069,13 +1069,13 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
 
         }
         //如果属于先知AGV，关闭运单序列
-        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
+//        if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
-            try {
+//            try {
-                agvService.markComplete(entity.getTask_code());
+//                agvService.markComplete(entity.getTask_code());
-            } catch (Exception e) {
+//            } catch (Exception e) {
-                e.printStackTrace();
+//                e.printStackTrace();
-            }
+//            }
-        }
+//        }
     }
 
     @Override
@@ -1121,11 +1121,11 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
         List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(entity.getStart_device_code(), entity.getNext_device_code(), entity.getRoute_plan_code());
         String type = shortPathsList.get(0).getType();
         // != 0 为agv任务
-        if (!StrUtil.equals(type, "0")) {
+//        if (!StrUtil.equals(type, "0")) {
-            if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
+//            if (StrUtil.equals(acsConfigService.findConfigFromCache().get(AcsConfig.AGVTYPE).toString(), "3")) {
-                agvService.markComplete(entity.getTask_code());
+//                agvService.markComplete(entity.getTask_code());
-            }
+//            }
-        }
+//        }
     }
 
     @Override

hd/nladmin-system/src/main/java/org/nl/acs/test/rest/TestController.java

@@ -6,6 +6,7 @@ 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.nl.acs.test.service.TestService;
 import org.nl.annotation.Log;
 import org.springframework.http.HttpStatus;
@@ -35,18 +36,16 @@ public class TestController {
     @ApiOperation("test1")
     @PostMapping("/test1")
     //@PreAuthorize("@el.check('task:add')")
-    public ResponseEntity<Object> test1() throws IOException {
+    public ResponseEntity<Object> test1(@RequestBody JSONObject requestParam) {
-        testService.test1();
+        return new ResponseEntity<>(testService.test1(requestParam), HttpStatus.OK);
-        return new ResponseEntity<>(HttpStatus.CREATED);
     }
 
     @Log("test2")
     @ApiOperation("test2")
     @PostMapping("/test2")
     //@PreAuthorize("@el.check('task:add')")
-    public ResponseEntity<Object> test2() throws IOException {
+    public ResponseEntity<Object> test2(@RequestBody JSONObject requestParam) {
-        testService.test2();
+        return new ResponseEntity<>(testService.test2(requestParam), HttpStatus.OK);
-        return new ResponseEntity<>(HttpStatus.CREATED);
     }
 
     @Log("test3")

hd/nladmin-system/src/main/java/org/nl/acs/test/service/TestService.java

@@ -17,14 +17,14 @@ public interface TestService {
      *
      * @throws IOException
      */
-    void test1() throws IOException;
+    JSONObject test1(JSONObject requestParam);
 
     /**
      * 触发打印
      *
      * @throws IOException
      */
-    void test2() throws IOException;
+    JSONObject test2(JSONObject requestParam);
 
     /**
      * 加载模板

hd/nladmin-system/src/main/java/org/nl/acs/test/service/impl/TestServiceImpl.java

@@ -4,12 +4,14 @@ package org.nl.acs.test.service.impl;
 
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import net.sf.json.JSONArray;
 import net.sf.json.JSONObject;
 import org.nl.acs.test.service.TestService;
 import org.nl.start.auto.run.LetteringSocketConnectionAutoRun;
 import org.springframework.stereotype.Service;
 
 import java.io.IOException;
+import java.util.HashMap;
 import java.util.Map;
 
 /**
@@ -22,32 +24,42 @@ import java.util.Map;
 @Slf4j
 public class TestServiceImpl implements TestService {
 
+    private final HashMap<String, Integer> doors = new HashMap<>();
+
     @Override
-    public void test1() throws IOException {
+    public JSONObject test1(JSONObject requestParam) {
+        log.info("AGV控制门开关 - 请求参数{}", requestParam);
 
-        try {
+        doors.put(requestParam.optString("deviceID"), requestParam.optInt("state") == 0 ? 0 : 1);
-            //返回编译完成信号
-            LetteringSocketConnectionAutoRun.write("SETMSG 26 1" + "\r\n");
-            //返回打印开始信号
-            LetteringSocketConnectionAutoRun.write("SETMSG 2 1" + "\r\n");
-            //返回打印完成信号
-            LetteringSocketConnectionAutoRun.write("SETMSG 3 1" + "\r\n");
-            //返回每次打印的内容
-            LetteringSocketConnectionAutoRun.write("SETMSG 24 1" + "\r\n");
 
-        } catch (Exception e) {
+        JSONObject result = new JSONObject();
-            e.printStackTrace();
+        result.put("result", 0);
-        }
+        result.put("message", "操作成功");
+        log.info("AGV控制门开关 - 响应参数{}", result);
+        return result;
     }
 
 
     @Override
-    public void test2() throws IOException {
+    public JSONObject test2(JSONObject requestParam) {
-        try {
+        log.info("AGV查询门状态 - 请求参数{}", requestParam);
-            LetteringSocketConnectionAutoRun.write("BUFFERCLEAR" + "\r\n");
+
-        } catch (Exception e) {
+        String[] deviceIDs = requestParam.optString("deviceIDs").split(",");
-            e.printStackTrace();
+        JSONArray data = new JSONArray();
+        JSONObject row = new JSONObject();
+        for (String deviceID : deviceIDs) {
+            row.put("deviceID", deviceID);
+            row.put("doorState", doors.get(deviceID) == null ? -1 : doors.get(deviceID));
+            row.put("timePoke", System.currentTimeMillis());
+            data.add(row);
         }
+
+        JSONObject result = new JSONObject();
+        result.put("result", 0);
+        result.put("message", "操作成功");
+        result.put("data", data);
+        log.info("AGV查询门状态 - 响应参数{}", result);
+        return result;
     }
 
     @Override

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java

@@ -1,13 +1,17 @@
 package org.nl.modules.quartz.task;
 
 import cn.hutool.core.map.MapUtil;
+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.JSONObject;
 import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
+import org.nl.acs.task.service.TaskService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
@@ -26,39 +30,51 @@ public class QueryXZAgvTaskStatus {
     @Autowired
     AgvService agvService;
 
+    @Autowired
+    AcsToWmsService acsToWmsService;
+
+    @Autowired
+    TaskService taskService;
 
     public void run() throws Exception {
-        List<Instruction> instList = instructionService.findAllInstFromCache();
+
-        if (instList.size() > 0) {
+        HttpResponse response = agvService.queryXZAgvInstStatus();
-            for (int i = 0; i < instList.size(); i++) {
+        com.alibaba.fastjson.JSONObject jo = JSONArray.parseObject(response.body());
-                Instruction inst = instList.get(i);
+
-                if (!StrUtil.equals(inst.getSend_status(), "1")) continue;
+        JSONArray ja = JSONArray.parseArray(jo.getString("list"));
-                String instcode = inst.getInstruction_code();
+        for (int i = 0; i < ja.size(); i++) {
-                HttpResponse response = agvService.queryXZAgvInstStatus(instcode);
+            com.alibaba.fastjson.JSONObject one = (com.alibaba.fastjson.JSONObject) ja.get(i);
-                JSONObject jo = JSONObject.fromObject(response.body());
+            String inst_code = one.getString("id");
-                if (MapUtil.isEmpty(jo)) continue;
+            Instruction inst = instructionService.findByInstCodeFromCache(inst_code);
-                //反馈结果状态
+            if (ObjectUtil.isEmpty(inst))
-                log.info("instcode：" + instcode + "," + jo.toString());
+                continue;
-                //指令执行状态
+            //子任务状态 待以后处理
-                String state = jo.getString("state");
+            JSONArray blocks = JSONArray.parseArray(one.getString("blocks"));
-                String processingVehicle = "";
+            for(int j=0;j<blocks.size();j++){
-                //正在执行指令agv车号
+                com.alibaba.fastjson.JSONObject blocksjo = (JSONObject) blocks.get(j);
-                if (!StrUtil.isEmpty(jo.getString("processingVehicle"))) {
+                String blockId = blocksjo.getString("blockId");
-                    processingVehicle = jo.getString("processingVehicle");
+                String device_code = blocksjo.getString("location");
-                    inst.setCarno(processingVehicle);
+                String state = blocksjo.getString("state");
+
             }
 
-//                RAW：初始状态
+            String state = one.getString("state");
-//                ACTIVE：业务订单已激活
+            if (!StrUtil.isEmpty(one.getString("vehicle"))) {
-//                DISPATCHABLE：业务订单已通过系统验证，等待被调度执行
+                String carno = one.getString("vehicle");
-//                BEING_PROCESSED：业务订单正在被执行
+                inst.setCarno(carno);
-//                WITHDRAWN：业务订单已被撤销
+            }
-//                FINISHED：业务订单已完成
+
-//                FAILED：业务订单已失败
+//            已创建=CREATED，
-//                UNROUTABLE：无法规划该业务订单的执行路线
+//            待分配=TOBEDISPATCHED，
+//            正在执行=RUNNING，
+//            完成=FINISHED，
+//            失败=FAILED(主动失败)，
+//            终止=STOPPED(被人为终止)，
+//            无法执行=Error(参数错误)，
+//            等待=WAITING
 
             //执行中
-                if ("BEING_PROCESSED".equals(state)) {
+            if ("RUNNING".equals(state) || "CREATED".equals(state) || "TOBEDISPATCHED".equals(state) ||  "WAITING".equals(state)) {
                 if (inst != null) {
                     inst.setInstruction_status("1");
                     instructionService.update(inst);
@@ -68,17 +84,21 @@ public class QueryXZAgvTaskStatus {
                     inst.setInstruction_status("2");
                     instructionService.finish(inst);
                 }
-                } else if ("WITHDRAWN".equals(state) || "FAILED".equals(state)) {
+            } else if ("STOPPED".equals(state) || "FAILED".equals(state) || "Error".equals(state)) {
                 if (inst != null) {
-                        inst.setInstruction_status("4");
+                    inst.setInstruction_status("1");
                     instructionService.update(inst);
-                        //instructionService.removeByCodeFromCache(instcode);
-                    }
-                } else {
-
                 }
-
             }
+//             else if ("STOPPED".equals(state)){
+//                if (inst != null) {
+//                    instructionService.cancel(inst.getInstruction_id());
+//
+//                    TaskDto taskDto = taskService.findByCode(inst.getTask_code());
+//                    taskService.cancel(taskDto.getTask_id());
+//                }
+//            }
         }
+
     }
 }

hd/nladmin-system/src/main/resources/config/application-dev.yml

@@ -8,11 +8,8 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-#      url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:zgln_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
+      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:gcc_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:tg_acs}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true
       username: ${DB_USER:root}
-#      password: ${DB_PWD:P@ssw0rd}
-#      password: ${DB_PWD:Root.123456}
       password: ${DB_PWD:123456}
       # 初始连接数
       initial-size: 5

hd/nladmin-system/src/main/resources/config/application-prod.yml

@@ -135,3 +135,6 @@ file:
   # 文件大小 /M
   maxSize: 100
   avatarMaxSize: 5
+
+agvToAcs:
+  addr: http://192.168.2.96:8010

qd/.env.production

@@ -2,8 +2,8 @@ ENV = 'production'
 
 # 如果使用 Nginx 代理后端接口，那么此处需要改为 '/'，文件查看 Docker 部署篇，Nginx 配置
 # 接口地址，注意协议，如果你没有配置 ssl，需要将 https 改为 http
-VUE_APP_BASE_API  = 'http://192.168.81.122:8010'
+VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
 #VUE_APP_BASE_API  = 'http://127.0.0.1:8010'
 # 如果接口是 http 形式， wss 需要改为 ws
-VUE_APP_WS_API = 'ws://192.168.81.122:8010'
+VUE_APP_WS_API = 'ws://127.0.0.1:8010'
 #VUE_APP_WS_API = 'ws://127.0.0.1:8010'