更新

acs/nladmin-system/src/main/java/org/nl/acs/AcsConfig.java

@@ -56,4 +56,6 @@ public interface AcsConfig {
     String MAXSENDTASKTIME = "maxSendTaskTime";
     //指令下发立库
     String INSTSENDLK = "instSendLk";
+
+    String SEND_INST = "sendInst";
 }

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

@@ -75,7 +75,22 @@ public class NDCAgvServiceImpl implements NDCAgvService {
     public void sendAgvInstToNDC(String agv_system_type, Instruction inst) {
         if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), "1")) {
             String instcode = inst.getInstruction_code();
-            int type = Integer.parseInt(inst.getAgv_inst_type());
+
+            String start_height_str = inst.getStart_height();
+            String next_height_str = inst.getNext_height();
+            int type;
+            if (StrUtil.isNotBlank(start_height_str) && StrUtil.isNotBlank(next_height_str)) {
+                type = 1;
+            } else if (StrUtil.isNotBlank(start_height_str)) {
+                type = 2;
+            } else if (StrUtil.isNotBlank(next_height_str)) {
+                type = 3;
+            } else {
+                type = 4;
+            }
+            int start_height = Integer.parseInt(start_height_str);
+            int next_height = Integer.parseInt(next_height_str);
+
             int priority = Integer.parseInt(inst.getPriority()) + 128;
             DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
             DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
@@ -90,6 +105,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             byte fhdhigh = (byte) IntToHexHigh(nextAddress);
             byte fhdlow = (byte) IntToHexLow(nextAddress);
             byte prioritylow = (byte) IntToHexLow(priority);
+            byte qhghigh = (byte) IntToHexHigh(start_height);
+            byte qhglow = (byte) IntToHexLow(start_height);
+            byte fhghigh = (byte) IntToHexHigh(next_height);
+            byte fhglow = (byte) IntToHexLow(next_height);
             String str = "十进制下发：";
             String str1 = "十六进制下发：";
             str += "ikey:" + (Integer.parseInt(instcode));
@@ -102,6 +121,10 @@ public class NDCAgvServiceImpl implements NDCAgvService {
             str1 += "/fhd:" + hexToString(fhdhigh & 0xFF) + hexToString(fhdlow & 0xFF);
             str += "/priority:" + (priority);
             str1 += "/priority:" + hexToString(prioritylow & 0xFF);
+            str += "/qhg:" + (start_height);
+            str1 += "/qhg:" + hexToString(qhghigh & 0XFF) + hexToString(qhglow & 0XFF);
+            str += "/fhg:" + (next_height);
+            str1 += "/fhg:" + hexToString(fhghigh & 0XFF) + hexToString(fhglow & 0XFF);
             System.out.println(str);
             System.out.println(str1);
             byte[] b = new byte[]{(byte) 0X87, (byte) 0XCD,
@@ -116,7 +139,9 @@ public class NDCAgvServiceImpl implements NDCAgvService {
                     (byte) ikeyhigh, (byte) ikeylow,
                     (byte) typehigh, (byte) typelow,
                     (byte) qhdhigh, (byte) qhdlow,
-                    (byte) fhdhigh, (byte) fhdlow
+                    (byte) fhdhigh, (byte) fhdlow,
+                    (byte) qhghigh, (byte) qhglow,
+                    (byte) fhghigh, (byte) fhglow
             };
             log.info("下发AGV作业指令--{}", str1);
             OneNDCSocketConnectionAutoRun.write(b);

acs/nladmin-system/src/main/java/org/nl/acs/ext/wms/data/CreateTaskRequest.java

@@ -53,6 +53,16 @@ public class CreateTaskRequest extends BaseRequest  {
      */
     String remark;
 
+    /**
+     * 起点高度
+     */
+    String start_height;
+
+    /**
+     * 终点高度
+     */
+    String next_height;
+
     /**
      * 扩展属性
      */

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

@@ -98,4 +98,11 @@ public class WmsToAcsController {
         return new ResponseEntity<>(wmstoacsService.putPlusPullAction(whereJson), HttpStatus.OK);
     }
 
+    @PostMapping("/deviceOption")
+    @Log(value = "WMS下发设备暂停恢复", isInterfaceLog = true, interfaceLogType = InterfaceLogType.LMS_TO_ACS)
+    @ApiOperation("WMS下发设备暂停恢复")
+    @SaIgnore
+    public ResponseEntity<Object> deviceOption(@RequestBody String whereJson) {
+        return new ResponseEntity<>(wmstoacsService.deviceOption(whereJson), HttpStatus.OK);
+    }
 }

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

@@ -83,4 +83,11 @@ public interface WmsToAcsService {
     Map<String, Object> putPlusPullAction(String whereJson);
 
 
+    /**
+     * 设备暂停恢复
+     *
+     * @param whereJson 条件
+     * @return JSONObject
+     */
+    JSONObject deviceOption(String whereJson);
 }

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

@@ -10,6 +10,8 @@ import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.AcsConfig;
+import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
+import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
 import org.nl.acs.common.IDriverService;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.basedriver.cargo_lift_conveyor.CargoLiftConveyorDeviceDriver;
@@ -32,6 +34,7 @@ import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.dto.ParamDto;
 import org.nl.modules.wql.core.bean.WQLObject;
 import org.nl.modules.wql.exception.WDKException;
 import org.nl.modules.wql.util.SpringContextHolder;
@@ -59,6 +62,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
     private final RouteLineService routeLineService;
     private final AcsToLiKuService acsToLiKuService;
 
+    private final ParamService paramService;
+
 
     private String log_file_type = "log_file_type";
     private String log_type = "LMS请求ACS";
@@ -469,6 +474,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 String task_type = req.getTask_type();
                 String remark = req.getRemark();
                 Map<String, String> params = req.getParams();
+                String start_height = req.getStart_height();
+                String next_height = req.getNext_height();
 
                 String start_point_code = "";
                 String next_point_code = "";
@@ -570,6 +577,8 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                 jo.put("remark", remark);
                 jo.put("params", params);
                 jo.put("task_type", StrUtil.isEmpty(task_type) ? 1 : Integer.parseInt(task_type));
+                jo.put("start_height", start_height);
+                jo.put("next_height", next_height);
 
                 TaskDto task_dto = jo.toJavaObject(TaskDto.class);
                 try {
@@ -604,5 +613,76 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
 
     }
 
+    /**
+     * 设备暂停恢复
+     *
+     * @param whereJson 条件
+     * @return JSONObject
+     */
+    @Override
+    public JSONObject deviceOption(String whereJson) {
+        try {
+            MDC.put(log_file_type, log_type);
+            log.info("deviceOption-----输入参数{}", whereJson);
+            String option = JSONObject.parseObject(whereJson).getString("option");
+
+            JSONObject resultJSON = new JSONObject();
+            switch (option) {
+                case "1":
+                    // 急停AGV车辆
+                    byte[] bytes1 = {
+                            (byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X0C,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X32, (byte) 0X80,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X01
+                    };
+                    OneNDCSocketConnectionAutoRun.write(bytes1);
+                    System.out.println("下发agv指令数据:" + NDCAgvServiceImpl.Bytes2HexString(bytes1));
+                    break;
+                case "2":
+                    // 恢复急停AGV车辆
+                    byte[] bytes2 = {
+                            (byte) 0X87, (byte) 0XCD,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X00, (byte) 0X0C,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X71,
+                            (byte) 0X00, (byte) 0X08,
+                            (byte) 0X32, (byte) 0X80,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X01,
+                            (byte) 0X00, (byte) 0X00
+                    };
+                    OneNDCSocketConnectionAutoRun.write(bytes2);
+                    System.out.println("下发agv指令数据:" + NDCAgvServiceImpl.Bytes2HexString(bytes2));
+                    break;
+                case "3":
+                    ParamDto sysParam3 = paramService.findByCode(AcsConfig.SEND_INST);
+                    sysParam3.setValue("0");
+                    paramService.update(sysParam3);
+                    break;
+                case "4":
+                    ParamDto sysParam4 = paramService.findByCode(AcsConfig.SEND_INST);
+                    sysParam4.setValue("1");
+                    paramService.update(sysParam4);
+                    break;
+                default:
+                    resultJSON.put("status", HttpStatus.BAD_REQUEST.value());
+                    resultJSON.put("message", "未知操作类型");
+                    return resultJSON;
+            }
 
+            resultJSON.put("status", HttpStatus.OK.value());
+            resultJSON.put("message", "操作成功");
+            return resultJSON;
+        } finally {
+            MDC.remove(log_file_type);
+        }
+    }
 }

acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java

@@ -348,4 +348,14 @@ public class InstructionDto implements Serializable {
      */
     private String agv_system_type;
 
+    /**
+     * 起点高度
+     */
+    private String start_height;
+
+    /**
+     * 终点高度
+     */
+    private String next_height;
+
 }

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

@@ -302,8 +302,6 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
         }
         if (task.getTask_type().equals("1") || task.getTask_type().equals("2")) {
             dto.setInstruction_type(task.getTask_type());
-        } else if (false) {
-
         } else {
             dto.setInstruction_type("3");
         }

acs/nladmin-system/src/main/java/org/nl/acs/task/service/dto/TaskDto.java

@@ -290,4 +290,14 @@ public class TaskDto implements Serializable {
      * 烘箱温度
      */
     private String temperature;
+
+    /**
+     * 起点高度
+     */
+    private String start_height;
+
+    /**
+     * 终点高度
+     */
+    private String next_height;
 }

acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

@@ -5,6 +5,7 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
+import org.nl.acs.AcsConfig;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.opc.DeviceAppService;
@@ -13,6 +14,8 @@ import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.modules.system.service.ParamService;
+import org.nl.modules.system.service.dto.ParamDto;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.springframework.stereotype.Component;
 
@@ -31,6 +34,10 @@ public class AutoCreateInst {
      * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
      */
     public void run() throws Exception {
+        ParamService paramService = SpringContextHolder.getBean(ParamService.class);
+
+        ParamDto sendInst = paramService.findByCode(AcsConfig.SEND_INST);
+        if ("1".equals(sendInst.getValue())) {
             TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
             InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
             RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@@ -70,6 +77,9 @@ public class AutoCreateInst {
                 String vehicleType = acsTask.getVehicle_type();
                 String agv_system_type = acsTask.getAgv_system_type();
 
+                String start_height = acsTask.getStart_height();
+                String next_height = acsTask.getNext_height();
+
 
                 if (StrUtil.equals(is_send, "0")) {
                     continue;
@@ -142,6 +152,9 @@ public class AutoCreateInst {
                 instdto.setAgv_inst_type("1");
 
 
+                instdto.setStart_height(start_height);
+                instdto.setNext_height(next_height);
+
                 try {
                     instructionService.create(instdto);
                 } catch (Exception e) {
@@ -156,3 +169,4 @@ public class AutoCreateInst {
             }
         }
     }
+}