diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java index fb91d9c..2ec4619 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/XianGongAgvService.java @@ -1,6 +1,7 @@ package org.nl.acs.agv.server; import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import org.nl.acs.agv.server.dto.AgvDto; import org.nl.acs.instruction.service.dto.Instruction; @@ -45,7 +46,7 @@ public interface XianGongAgvService { */ public HttpResponse queryXZAgvDeviceStatus(); - public HttpResponse queryXZAgvInstStatus(String instCode); + public HttpResponse queryXZAgvInstStatus(); /** * 删除先知任务 @@ -67,6 +68,7 @@ public interface XianGongAgvService { public HttpResponse addOrderSequences(Instruction inst) throws Exception; + public JSONArray createBlocksData(Instruction inst); /** * 组织json数据 * diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index b4832e6..42830f3 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.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; @@ -168,19 +169,17 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { @LokiLog(type = LokiLogType.AGV) @Override - public HttpResponse queryXZAgvInstStatus(String instCode) { - + public HttpResponse queryXZAgvInstStatus() { if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - agvurl = agvurl + ":" + agvport + "/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 { @@ -211,31 +210,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { @Override public HttpResponse sendOrderSequencesToXZ(Instruction inst) throws Exception { JSONObject jo = new JSONObject(); - jo.put("intendedVehicle", ""); - jo.put("category", ""); - jo.put("failureFatal", false); - 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); - + jo.put("id", inst.getInstruction_code()); + jo.put("complete", true); + jo.put("blocks", createBlocksData(inst)); + jo.put("priority", inst.getPriority()); 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(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) { String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); String agvport = paramService.findByCode(AcsConfig.AGVPORT).getValue(); - - agvurl = agvurl + ":" + agvport + "/api/route/orderSequences/" + inst.getTask_code(); + agvurl = agvurl + ":" + agvport + "/setOrder"; HttpResponse result = HttpRequest.post(agvurl) .body(String.valueOf(jo))//表单内容 @@ -243,13 +227,28 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { .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; } } + @Override + public JSONArray createBlocksData(Instruction inst) { + JSONArray ja = new JSONArray(); + JSONObject jo = new JSONObject(); + jo.put("blockId", IdUtil.simpleUUID()); + jo.put("location",inst.getStart_point_code()); + jo.put("operation","JackLoad"); + ja.add(jo); + JSONObject jo1 = new JSONObject(); + jo1.put("blockId",IdUtil.simpleUUID()); + jo1.put("location",inst.getNext_point_code()); + jo1.put("operation","JackUnload"); + ja.add(jo1); + return ja; + } + @LokiLog(type = LokiLogType.AGV) @Override public HttpResponse addOrderSequences(Instruction inst) throws Exception { diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java index fa8a5fd..46960c5 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/InstructionService.java @@ -266,4 +266,13 @@ public interface InstructionService { boolean removeByCodeFromCache(String code); + + /** + * 根据指令号缓存查询 + * + * @param inst_code inst_code + * @return Instruction + */ + Instruction findByInstCodeFromCache(String inst_code); + } diff --git a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index 3ec7fee..dee7aaa 100644 --- a/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -301,59 +301,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu CargoLiftConveyorDeviceDriver cargoLiftConveyorDeviceDriver; HaoKaiAutoConveyorDeviceDriver haoKaiAutoConveyorDeviceDriver; StandardCoveyorControlWithScannerDeviceDriver standardCoveyorControlWithScannerDeviceDriver; - //输送线相关需要给任务字段进行赋值，通过任务来判断输送线当前执行到哪一步 - if (startdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver) { - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) startdevice.getDeviceDriver(); - cargoLiftConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code())); - if (nextdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver){ - standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) nextdevice.getDeviceDriver(); - standardCoveyorControlWithScannerDeviceDriver.writing(1,1); - String address = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("address").toString(); - if (StrUtil.isEmpty(address)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置电气调度号！"); - } - String door = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("door").toString(); - if (StrUtil.isEmpty(door)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置门！"); - } - String floor = standardCoveyorControlWithScannerDeviceDriver.getExtraValue().get("floor").toString(); - if (StrUtil.isEmpty(floor)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！"); - } - standardCoveyorControlWithScannerDeviceDriver.writing(2, Integer.parseInt(address)); - standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.parseInt(task_code)); - standardCoveyorControlWithScannerDeviceDriver.writing(4, Integer.parseInt(door)); - standardCoveyorControlWithScannerDeviceDriver.writing(5, Integer.parseInt(floor)); - } - } - if (startdevice.getDeviceDriver() instanceof StandardCoveyorControlWithScannerDeviceDriver) { - standardCoveyorControlWithScannerDeviceDriver = (StandardCoveyorControlWithScannerDeviceDriver) startdevice.getDeviceDriver(); - standardCoveyorControlWithScannerDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code())); - if (nextdevice.getDeviceDriver() instanceof CargoLiftConveyorDeviceDriver){ - cargoLiftConveyorDeviceDriver = (CargoLiftConveyorDeviceDriver) nextdevice.getDeviceDriver(); - cargoLiftConveyorDeviceDriver.writing(1,1); - String address = cargoLiftConveyorDeviceDriver.getExtraValue().get("address").toString(); - if (StrUtil.isEmpty(address)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置电气调度号！"); - } - String door = cargoLiftConveyorDeviceDriver.getExtraValue().get("door").toString(); - if (StrUtil.isEmpty(door)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置门！"); - } - String floor = cargoLiftConveyorDeviceDriver.getExtraValue().get("floor").toString(); - if (StrUtil.isEmpty(floor)){ - throw new BadRequestException("设备："+nextdevice.getDevice_code()+"未设置楼层！"); - } - cargoLiftConveyorDeviceDriver.writing(2, Integer.parseInt(address)); - cargoLiftConveyorDeviceDriver.writing(3, Integer.parseInt(task_code)); - cargoLiftConveyorDeviceDriver.writing(4, Integer.parseInt(door)); - cargoLiftConveyorDeviceDriver.writing(5, Integer.parseInt(floor)); - } - } - if (startdevice.getDeviceDriver() instanceof HaoKaiAutoConveyorDeviceDriver) { - haoKaiAutoConveyorDeviceDriver = (HaoKaiAutoConveyorDeviceDriver) startdevice.getDeviceDriver(); - haoKaiAutoConveyorDeviceDriver.writing(3, Integer.valueOf(dto.getInstruction_code())); - } try { String start_device_code = task.getStart_device_code(); @@ -374,13 +321,26 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu throw new BadRequestException("未查询到相关路由！"); } if (StrUtil.equals(route.getType(), "1")) { - ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class); - HttpResponse result = zheDaAgvService.sendAgvInstToAgv(dto); - if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) { - dto.setSend_status("2"); + XianGongAgvService xgAgvService = SpringContextHolder.getBean(XianGongAgvService.class); + + if (StrUtil.equals(task.getRequest_again_success(), "1")) { + //追加订单 + HttpResponse result = xgAgvService.sendOrderSequencesToXZ(dto); + if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) { + dto.setSend_status("2"); + } else { + dto.setSend_status("1"); + } } else { - dto.setSend_status("1"); + //创建订单序列 + HttpResponse result = xgAgvService.sendOrderSequencesToXZ(dto); + if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) { + dto.setSend_status("2"); + } else { + dto.setSend_status("1"); + } } + } } catch (Exception e) { @@ -1231,6 +1191,20 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu return false; } + + + @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; + } + + public Instruction findByContainer(String container_code) { Iterator var3 = instructions.iterator(); diff --git a/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java new file mode 100644 index 0000000..c1e7d16 --- /dev/null +++ b/acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java @@ -0,0 +1,101 @@ +package org.nl.modules.quartz.task; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import lombok.extern.slf4j.Slf4j; +import org.nl.acs.agv.server.XianGongAgvService; +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; + +/** + * 查询AGV任务状态 + */ +@Slf4j +@Component +public class QueryXZAgvTaskStatus { + + @Autowired + InstructionService instructionService; + + @Autowired + XianGongAgvService agvService; + + @Autowired + AcsToWmsService acsToWmsService; + + @Autowired + TaskService taskService; + + public void run() throws Exception { + + HttpResponse response = agvService.queryXZAgvInstStatus(); + JSONObject jo = JSONArray.parseObject(response.body()); + + JSONArray ja = JSONArray.parseArray(jo.getString("list")); + for (int i = 0; i < ja.size(); i++) { + JSONObject one = (JSONObject) ja.get(i); + String inst_code = one.getString("id"); + Instruction inst = instructionService.findByInstCodeFromCache(inst_code); + if (ObjectUtil.isEmpty(inst)) + continue; + //子任务状态 待以后处理 + JSONArray blocks = JSONArray.parseArray(one.getString("blocks")); + for(int j=0;j