lhq/FT501-WCS
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

agv常用请求接口实体和和设备参数获取

Browse Source
This commit is contained in:
lsymicc
2025-06-25 18:01:08 +08:00
parent 65e1e401ae
commit fa4a18adf7
21 changed files with 547 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
ruoyi-admin/src/main/java/com/ruoyi/common/Constant.java Normal file
View File

@@ -0,0 +1,16 @@
package com.ruoyi.common;
public class Constant {
/**
* REST协议接口基础地址
*/
public static final String BASEURL_REST = "http://IP:PORT/rcms/services/rest/hikRpcService/";
/**
* AGV状态协议接口基础地址
*/
public static final String BASEURL_AGV = "http://IP:PORT/rcms-dps/rest/queryAgvStatus/";
}

3
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/cancelTask/CancelTaskRequest.java
View File

@@ -5,6 +5,9 @@ import lombok.Data;
import javax.validation.constraints.NotBlank;
import javax.validation.constraints.Size;
/**
* 【取消任务】请求接口
*/
@Data
public class CancelTaskRequest {

5
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/ContinueTaskRequest.java
View File

@@ -2,6 +2,9 @@ package com.ruoyi.device.agv.domain.continueTask;
import lombok.Data;
/**
* 【继续执行任务】请求接口
*/
@Data
public class ContinueTaskRequest {
@@ -63,5 +66,5 @@ public class ContinueTaskRequest {
* 下一个位置信息
* 在任务类型中配置外部设置时需要传入，否则不需要设置。待现场地图部署、配置完成后可获取。
*/
private NextPositionCode nextPositionCode;
private NextPositionCodeData nextPositionCode;
}

2
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCode.java → ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/continueTask/NextPositionCodeData.java
View File

@@ -1,6 +1,6 @@
package com.ruoyi.device.agv.domain.continueTask;
public class NextPositionCode {
public class NextPositionCodeData {
/**
* 位置编号

5
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/GenAgvSchedulingTaskRequest.java
View File

@@ -5,6 +5,9 @@ import lombok.Data;
import javax.validation.constraints.NotNull;
import java.util.List;
/**
* 【生成AGV任务】请求接口
*/
@Data
public class GenAgvSchedulingTaskRequest {
/**
@@ -76,7 +79,7 @@ public class GenAgvSchedulingTaskRequest {
* 位置路径
* AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取
*/
private List<PositionCode> positionCodePath;
private List<PositionCodeData> positionCodePath;
/**
* 货架编号
* 不指定货架可以为空

2
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCode.java → ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/genAgvSchedulingTask/PositionCodeData.java
View File

@@ -3,7 +3,7 @@ package com.ruoyi.device.agv.domain.genAgvSchedulingTask;
import lombok.Data;
@Data
public class PositionCode {
public class PositionCodeData {
/**
* 位置编号 - 单个编号不超过64位
*/

82
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/AgvStatusData.java Normal file
View File

@@ -0,0 +1,82 @@
package com.ruoyi.device.agv.domain.queryAgvStatus;
import lombok.Data;
import java.util.List;
@Data
public class AgvStatusData {
/**
* 机器人编号
*/
private String robotCode;
/**
* 机器人方向 (范围 -180~360度)
*/
private String robotDir;
/**
* 机器人IP
*/
private String robotIp;
/**
* 机器人电量, 范围: 0-100
*/
private String battery;
/**
* 机器人 x 坐标,单位:毫米
*/
private String posX;
/**
* 机器人 y 坐标,单位:毫米
*/
private String posY;
/**
* 机器人所在地图
*/
private String mapCode;
/**
* 机器人当前速度, 单位: mm/s
*/
private String speed;
/**
* 机器人状态
* AGV常见状态编号和描述见附件6.1
*/
private String status;
/**
* 是否已被排除，被排除后不接受新任务（1-排除，0-正常）
*/
private String exclType;
/**
* 是否暂停 0-否 1-是
*/
private String stop;
/**
* 背货架的编号
*/
private String podCode;
/**
* 背货架的方向
*/
private String podDir;
/**
* 执行路径,单位是毫米, 格式[x,y,dir]
* 示例:["[x,y,dir]","[x,y,dir]"]
*/
private List<String> path;
}

38
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusRequest.java Normal file
View File

@@ -0,0 +1,38 @@
package com.ruoyi.device.agv.domain.queryAgvStatus;
import lombok.Data;
/**
* 通过请求参数, 查询 AGV 状态信息，包括电池电量。
* 调用频次： 100车以下：5秒， 100~200车：10秒， 200 ~300车：15秒
* 调用路径： http://IP:8182/rcms-dps/rest/queryAgvStatus
*/
@Data
public class QueryAgvStatusRequest {
/**
* 请求编号，每个请求都要一个唯一编号，同一个请求重复提交，使用同一编号。
*/
private String reqCode;
/**
* 请求时间戳，格式: "yyyy-MM-dd HH:mm:ss"
*/
private String reqTime;
/**
* 客户端编号，如PDA，HCWMS等。
*/
private String clientCode;
/**
* 令牌号,由调度系统颁发。
*/
private String tokenCode;
/**
* 地图编号
*/
private String mapCode;
}

15
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryAgvStatus/QueryAgvStatusResponse.java Normal file
View File

@@ -0,0 +1,15 @@
package com.ruoyi.device.agv.domain.queryAgvStatus;
import com.ruoyi.device.agv.domain.ResponseBase;
import lombok.Data;
import java.util.List;
@Data
public class QueryAgvStatusResponse extends ResponseBase {
/**
* 数据列表
*/
private List<AgvStatusData> data;
}

43
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusRequest.java Normal file
View File

@@ -0,0 +1,43 @@
package com.ruoyi.device.agv.domain.queryTaskStatus;
import lombok.Data;
import java.util.List;
/**
* 通过任务编号查询任务当前执行状态，支持批量查询。
* 参数错误或者任务单未找到返回均为成功。
*/
@Data
public class QueryTaskStatusRequest {
/**
* 请求编号，每个请求都要一个唯一编号，同一个请求重复提交，使用同一编号。
*/
private String reqCode;
/**
* 请求时间戳，格式: "yyyy-MM-dd HH:mm:ss"
*/
private String reqTime;
/**
* 客户端编号，如PDA，HCWMS等。
*/
private String clientCode;
/**
* 令牌号,由调度系统颁发。
*/
private String tokenCode;
/**
* AGV编号
*/
private String agvCode;
/**
* 任务单编号数组，任务单编号与AGV编号只能传其中之一
*/
private List<String> taskCodes;
}

14
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/QueryTaskStatusResponse.java Normal file
View File

@@ -0,0 +1,14 @@
package com.ruoyi.device.agv.domain.queryTaskStatus;
import com.ruoyi.device.agv.domain.ResponseBase;
import lombok.Data;
import java.util.List;
@Data
public class QueryTaskStatusResponse extends ResponseBase {
/**
* 数据列表
*/
private List<TaskStatusData> data;
}

26
ruoyi-admin/src/main/java/com/ruoyi/device/agv/domain/queryTaskStatus/TaskStatusData.java Normal file
View File

@@ -0,0 +1,26 @@
package com.ruoyi.device.agv.domain.queryTaskStatus;
import lombok.Data;
@Data
public class TaskStatusData {
/**
* 任务单编号
*/
private String taskCode;
/**
* 任务类型
*/
private String taskTyp;
/**
* 任务状态：1-已创建，2-正在执行，5-取消完成，9-已结束, 10-被打断
*/
private String taskStatus;
/**
* AGV编号, 任务分配车后有值
*/
private String agvCode;
}

77
ruoyi-admin/src/main/java/com/ruoyi/schedule/data/ConvConnection.java
View File

@@ -1,7 +1,8 @@
package com.ruoyi.schedule.data;
import com.ruoyi.schedule.plc.domain.ConvPortRead;
import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
import lombok.extern.slf4j.Slf4j;
import org.apache.plc4x.java.PlcDriverManager;
import org.apache.plc4x.java.api.PlcConnection;
@@ -42,13 +43,63 @@ public class ConvConnection {
}
/**
* 获取所有输送机状态参数
* 获取所有PTL入口输送机状态参数
* @return
*/
public List<ConvPortRead> getConvPortStatus() {
public List<ConvPTLInRead> getConvPTLIn() {
List<ConvPortRead> convPorts = new ArrayList<>();
List<ConvPTLInRead> convPTLIn = new ArrayList<>();
for (int i = 0; i < convPortCount; i++) {
try {
PlcReadRequest.Builder builder = convConnection.readRequestBuilder();
builder.addItem("value-test","%M0.0:BOOL");
builder.addItem("conv-inPostion","%DB501.DBW" + (0 + i * 30) + ":INT");
// builder.addItem("conv-height","%DB501.DBW" + (2 + i * 30) + ":INT");
builder.addItem("conv-isException","%DB501.DBD" + (4 + i * 30) + ":DINT");
builder.addItem("conv-free","%DB501.DBW" + (6 + i * 30) + ":INT");
builder.addItem("conv-taskId","%DB501.DBD" + (8 + i * 30) + ":INT");
// builder.addItem("conv-palletId","%DB501.DBD" + (16 + i * 30) + ":STRING");
PlcReadRequest readRequest = builder.build();
PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
convPTLIn.get(i).setInPostion(response.getInteger("conv-inPostion"));
// convPTLIn.get(i).setHeight(response.getInteger("conv-height"));
convPTLIn.get(i).setIsException(response.getInteger("conv-isException"));
convPTLIn.get(i).setFree(response.getInteger("conv-free"));
convPTLIn.get(i).setTaskId(response.getString("conv-taskId"));
// convPTLIn.get(i).setPalletId(response.getString("conv-palletId"));
}else{
log.warn("【获取PTL拣选入口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
return null;
}
} catch (Exception e) {
log.warn("【获取PTL拣选入口输送机状态】获取状态参数失败:" + e.getMessage());
return null;
}
}
return convPTLIn;
}
/**
* 获取所有PTL出口输送机状态参数
* @return
*/
public List<ConvPTLOutRead> getConvPTLOut() {
List<ConvPTLOutRead> convPTLOut = new ArrayList<>();
for (int i = 0; i < convPortCount; i++) {
try {
@@ -67,25 +118,25 @@ public class ConvConnection {
PlcReadResponse response=readRequest.execute().get(2000, TimeUnit.MILLISECONDS);
if (response.getResponseCode("value-test") == PlcResponseCode.OK) {
convPorts.get(i).setInPostion(response.getInteger("conv-inPostion"));
convPorts.get(i).setHeight(response.getInteger("conv-height"));
convPorts.get(i).setIsException(response.getInteger("conv-isException"));
convPorts.get(i).setFree(response.getInteger("conv-free"));
convPorts.get(i).setTaskId(response.getString("conv-taskId"));
convPorts.get(i).setPalletId(response.getString("conv-palletId"));
convPTLOut.get(i).setInPostion(response.getInteger("conv-inPostion"));
convPTLOut.get(i).setHeight(response.getInteger("conv-height"));
convPTLOut.get(i).setIsException(response.getInteger("conv-isException"));
convPTLOut.get(i).setFree(response.getInteger("conv-free"));
convPTLOut.get(i).setTaskId(response.getString("conv-taskId"));
convPTLOut.get(i).setPalletId(response.getString("conv-palletId"));
}else{
log.warn("【获取出入口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
log.warn("【获取PTL拣选出口输送机状态】获取状态参数失败:" + response.getResponseCode("value-test"));
return null;
}
} catch (Exception e) {
log.warn("【获取出入口输送机状态】获取状态参数失败:" + e.getMessage());
log.warn("【获取PTL拣选出口输送机状态】获取状态参数失败:" + e.getMessage());
return null;
}
}
return convPorts;
return convPTLOut;
}

6
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseRead.java
View File

@@ -43,4 +43,10 @@ public class ConvBaseRead {
*/
private Integer inPostionForStockOut;
/**
* 是否异常
* 0-正常 1-异常
*/
private Integer isException;
}

5
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvBaseWrite.java Normal file
View File

@@ -0,0 +1,5 @@
package com.ruoyi.schedule.plc.domain;
public class ConvBaseWrite {
}

25
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInRead.java Normal file
View File

@@ -0,0 +1,25 @@
package com.ruoyi.schedule.plc.domain;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
/**
* PTL拣选输送线入口输送机-读plc状态
*/
@Data
@AllArgsConstructor
public class ConvPTLInRead extends ConvBaseRead {
/**
* 外形检测-高度
* 1-500mm 2-800mm 3-1000mm
*/
// private Integer height;
/**
* 托盘码
*/
// private String palletId;
}

5
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLInWrite.java Normal file
View File

@@ -0,0 +1,5 @@
package com.ruoyi.schedule.plc.domain;
public class ConvPTLInWrite extends ConvBaseWrite {
}

28
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutRead.java Normal file
View File

@@ -0,0 +1,28 @@
package com.ruoyi.schedule.plc.domain;
import lombok.Data;
/**
* PTL拣选输送线出口输送机
*/
@Data
public class ConvPTLOutRead extends ConvBaseRead {
/**
* 是否异常
* 0-正常 1-异常
*/
private Integer isException;
/**
* 外形检测-高度
* 1-500mm 2-800mm 3-1000mm
*/
private Integer height;
/**
* 托盘码
*/
private String palletId;
}

5
ruoyi-admin/src/main/java/com/ruoyi/schedule/plc/domain/ConvPTLOutWrite.java Normal file
View File

@@ -0,0 +1,5 @@
package com.ruoyi.schedule.plc.domain;
public class ConvPTLOutWrite extends ConvBaseWrite{
}

119
ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Execution.java Normal file
View File

@@ -0,0 +1,119 @@
package com.ruoyi.schedule.task;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpResponse;
import com.alibaba.fastjson2.JSON;
import com.ruoyi.common.Constant;
import com.ruoyi.common.utils.StringUtils;
import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskRequest;
import com.ruoyi.device.agv.domain.genAgvSchedulingTask.GenAgvSchedulingTaskResponse;
import com.ruoyi.device.agv.domain.queryAgvStatus.QueryAgvStatusRequest;
import com.ruoyi.device.agv.domain.queryAgvStatus.QueryAgvStatusResponse;
import com.ruoyi.schedule.job.mydojob.domain.MydoJob;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import java.util.List;
/**
* 向AGV/CTU下发指令
*/
@Component
@Slf4j
public class Execution {
/**
* 查询是否有wcs任务
*/
@PostConstruct
public List<MydoJob> getmydoJob(){
String url = "http://127.0.0.1:8080/job/inmydoJob/listAll";
HttpResponse response = HttpRequest.get(url).execute();
List<MydoJob> mydoJobs = JSON.parseArray(response.body(), MydoJob.class);
return mydoJobs;
}
/**
* 向AGV/CTU请求下发指令
* @param request 请求对象
* @return
*/
public boolean sendCommand(GenAgvSchedulingTaskRequest request) {
//下发校验
if (checkForSendCommand(request)) return false;
String jsonString = JSON.toJSONString(request);
//请求源数据输出日志
log.info(jsonString);
//请求接口
HttpResponse response = HttpRequest.post(Constant.BASEURL_REST + "genAgvSchedulingTask")
.body(jsonString)
.header("Content-Type", "application/json")
.execute();
//获取响应对象
GenAgvSchedulingTaskResponse genAgvSchedulingTaskResponse = JSON.parseObject(response.body(), GenAgvSchedulingTaskResponse.class);
//返回请求编号校验
if (genAgvSchedulingTaskResponse.getReqCode() != request.getReqCode()) {
log.error("【下发设备任务】下发任务失败，请求编号错误不一致！");
return false;
}
//返回码
if (genAgvSchedulingTaskResponse.getCode() == 0 ) {
return true;
}else {
log.error("【下发设备任务】下发任务失败，" + genAgvSchedulingTaskResponse.getMessage() + "!");
return false;
}
}
/**
* 下发指令校验
* @param request
* @return
*/
public boolean checkForSendCommand(GenAgvSchedulingTaskRequest request){
//todo：请求信息校验
//1.reqCode空
if (StringUtils.isBlank(request.getReqCode())){
log.warn("【生成AGV任务请求接口】---请求异常，reqCode为空！---");
return false;
}
//2.wbCode和positionCodePath至少填写其中一项，以确定任务中的位置信息。若任务中需要指定多个位置信息，如起点和终点信息等，请使用positionCodePath
if (StringUtils.isBlank(request.getWbCode()) && request.getPositionCodePath().size() < 1){
log.warn("【生成AGV任务请求接口】---请求异常，wbCode和positionCodePath至少填写其中一项！---");
return false;
}
//3.当前区域AGV/CTU是否已存在任务
//todo 请求获取设备状态
if (true){
log.warn("【生成AGV任务请求接口】---当前设备已存在执行中的任务！---");
return false;
}
//4.请求编号一致时避免重复下发
return true;
}
}

43
ruoyi-admin/src/main/java/com/ruoyi/schedule/task/Generation.java Normal file
View File

@@ -0,0 +1,43 @@
package com.ruoyi.schedule.task;
import com.ruoyi.schedule.data.ConvConnection;
import com.ruoyi.schedule.plc.domain.ConvPTLInRead;
import com.ruoyi.schedule.plc.domain.ConvPTLOutRead;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.List;
/**
* 获取任务生成AGV指令
*/
@Component
public class Generation {
@Autowired
ConvConnection conv;
//获取PTL拣选工位入口状态
public List<ConvPTLInRead> getConvPTLInRead() {
List<ConvPTLInRead> convPTLInReads=conv.getConvPTLIn();
for (int i = 0; i < convPTLInReads.size(); i++) {
}
return convPTLInReads;
}
//获取PTL拣选工位出口状态
public List<ConvPTLOutRead> getConvPTLOutRead() {
List<ConvPTLOutRead> convPTLOutReads=conv.getConvPTLOut();
return convPTLOutReads;
}
}