pallet 无法出现的问题

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -1,9 +1,7 @@
 package com.galaxis.rcs.ptr;
 
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
-import com.galaxis.rcs.common.enums.LCCDirection;
+import com.galaxis.rcs.common.enums.*;
-import com.galaxis.rcs.common.enums.PlanTaskStatus;
-import com.galaxis.rcs.common.enums.PlanTaskType;
 import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector;
 import com.galaxis.rcs.plan.PlanTaskSequence;
 import com.galaxis.rcs.plan.path.PathUtils;
@@ -13,6 +11,7 @@ import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
 import com.google.common.collect.Queues;
+import com.yvan.entity.AgvStatusVo;
 import com.yvan.logisticsModel.ExecutorItem;
 import com.yvan.logisticsModel.LogisticsRuntime;
 import com.yvan.logisticsModel.StaticItem;
@@ -36,40 +35,40 @@ public abstract class PtrAgvItem extends ExecutorItem {
     private static final Redis redis = RedisAdmin.getRedis();
 
     // ip
-    public String ip;
+    public volatile String ip;
     // agv名称
-    public String agvName;
+    public volatile String agvName;
     // agv类型
-    public String agvType;
+    public volatile String agvType;
     // agv型号
-    public String agvModel;
+    public volatile String agvModel;
     // AMR功能型号
-    public String agvFnModel;
+    public volatile String agvFnModel;
     // 电池信息
-    public CurBatteryData battery;
+    public volatile CurBatteryData battery;
     // agv当前x坐标
-    public double x;
+    public volatile double x;
     // agv当前y坐标
-    public double y;
+    public volatile double y;
     // agv当前z坐标
-    public double z;
+    public volatile double z;
     // 当前所在站点的逻辑X坐标 Int32
-    public int logicX;
+    public volatile int logicX;
     // 当前所在站点的逻辑Y坐标 Int32
-    public int logicY;
+    public volatile int logicY;
     // 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
-    public short direction;
+    public volatile short direction;
     // agv当前转动角度值
-    public double orientation;
+    public volatile double orientation;
-    public boolean isBlocked = false;
+
+    private volatile boolean isPaused = false;
+
+    private volatile PosDirection lastPausedPosition;
 
     // 任务模式
     @Getter
-    private AmrTaskMode __taskMode;
+    private volatile AmrTaskMode __taskMode;
 
-    private volatile boolean isPaused = false;
-    private volatile PosDirection lastPausedPosition;
-    private volatile boolean isOnline = false;
 
     // 执行中的任务
     public List<PtrAgvDeviceTask> runningDeviceTaskList = new ArrayList<>();
@@ -848,4 +847,39 @@ public abstract class PtrAgvItem extends ExecutorItem {
         return String.format("lcc:%s:%s:device:%s:%s",
             runtime.projectUuid, runtime.envId, this.getId(), type);
     }
+
+    public AgvStatusVo getState() {
+        var ptr = this;
+        int taskCompleted = 0;
+        int taskTotalCount = 0;
+        if (ptr.planTaskSequence != null) {
+            taskCompleted = ptr.planTaskSequence.completedCount();
+            taskTotalCount = ptr.planTaskSequence.taskTotalCount();
+        }
+        return new AgvStatusVo(
+            ptr.id,
+            ptr.getT(),
+            ptr.isOnline,
+            ptr.isSystemManaged,
+            ptr.x,
+            ptr.y,
+            ptr.z,
+            ptr.logicX,
+            ptr.logicY,
+            PathUtils.getDirectionByArmDirection(ptr.direction),
+            ptr.orientation,
+            ptr.battery == null ? 0 : ptr.battery.SOC,
+            ptr.get__taskMode(),
+            ptr.getTaskStatus(),
+            ptr.isBlocked,
+            taskCompleted,
+            taskTotalCount,
+            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getBizTaskId(),
+            ptr.planTaskSequence == null ? null : BizTaskType.fromString(ptr.planTaskSequence.bizTask.getBizType()),
+            ptr.planTaskSequence == null ? null : BizTaskStatus.fromString(ptr.planTaskSequence.bizTask.getBizTaskStatus()),
+            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getTaskFrom(),
+            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getTaskTo(),
+            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getLpn()
+        );
+    }
 }

servo/src/main/java/com/yvan/entity/AgvStatusVo.java

@@ -7,19 +7,21 @@ import com.galaxis.rcs.ptr.AmrTaskMode;
 
 public record AgvStatusVo(String id,
                           String type,
-                          double x,
+                          Boolean isOnline,
-                          double y,
+                          Boolean isSystemManaged,
-                          double z,
+                          Double x,
-                          int logicX,
+                          Double y,
-                          int logicY,
+                          Double z,
+                          Integer logicX,
+                          Integer logicY,
                           LCCDirection direction,
-                          double orientation,
+                          Double orientation,
-                          double soc,
+                          Double soc,
                           AmrTaskMode mode,
                           String taskStatus,
-                          boolean isBlocked,
+                          Boolean isBlocked,
-                          int taskCompleted,
+                          Integer taskCompleted,
-                          int taskTotalCount,
+                          Integer taskTotalCount,
                           // 业务任务ID
                           Long bizTaskId,
                           BizTaskType bizTaskType,

servo/src/main/java/com/yvan/logisticsModel/ExecutorItem.java

@@ -1,6 +1,8 @@
 package com.yvan.logisticsModel;
 
 import com.galaxis.rcs.plan.PlanTaskSequence;
+import lombok.Getter;
+import lombok.Setter;
 
 import java.util.Map;
 
@@ -10,11 +12,31 @@ import java.util.Map;
  */
 public abstract class ExecutorItem extends BaseItem {
 
+    /**
+     * 是否在线
+     */
+    @Getter
+    @Setter
+    public Boolean isOnline = true;
+
+    /**
+     * 是否阻挡
+     */
+    @Setter
+    @Getter
+    public Boolean isBlocked = false;
+
+    /**
+     * 是否系统托管
+     */
+    @Setter
+    @Getter
+    public boolean isSystemManaged = true;
+
     public ExecutorItem(LogisticsRuntime logisticsRuntime, Map<String, Object> raw) {
         super(logisticsRuntime, raw);
     }
 
-
     /**
      * 执行器是否空闲
      */

servo/src/main/java/com/yvan/logisticsModel/LogisticsRuntime.java

@@ -166,11 +166,25 @@ public class LogisticsRuntime {
             switch (type) {
                 case ONLINE:
                     // AGV上线
+                    sender.setIsOnline(true);
                     this.frontendMessagePushService.pushDeviceAlive(sender.id, sender.getT(), true);
                     break;
 
                 case OFFLINE:
                     // AGV下线
+                    sender.setIsOnline(false);
+                    this.frontendMessagePushService.pushDeviceAlive(sender.id, sender.getT(), true);
+                    break;
+
+                case BLOCKED:
+                    // AGV上线
+                    sender.setIsBlocked(true);
+                    this.frontendMessagePushService.pushDeviceAlive(sender.id, sender.getT(), true);
+                    break;
+
+                case BLOCKED_RECOVER:
+                    // AGV上线
+                    sender.setIsBlocked(false);
                     this.frontendMessagePushService.pushDeviceAlive(sender.id, sender.getT(), true);
                     break;
 
@@ -182,8 +196,7 @@ public class LogisticsRuntime {
                 case PLAN_TASK_SEQUENCE_CANCEL:
                 case PLAN_TASK_SEQUENCE_PAUSE:
                 case PLAN_TASK_SEQUENCE_RESUME:
-                case BLOCKED:
+
-                case BLOCKED_RECOVER:
                 case POS_CHANGED:
                 case DIRECTION_CHANGED:
                 case LOW_BATTERY:
@@ -191,36 +204,7 @@ public class LogisticsRuntime {
                     // 设备状态变化
                     if (sender instanceof PtrAgvItem) {
                         var ptr = (PtrAgvItem) sender;
-                        int taskCompleted = 0;
+                        this.frontendMessagePushService.pushDeviceStatus(sender.id, ptr.getState());
-                        int taskTotalCount = 0;
-                        if (ptr.planTaskSequence != null) {
-                            taskCompleted = ptr.planTaskSequence.completedCount();
-                            taskTotalCount = ptr.planTaskSequence.taskTotalCount();
-                        }
-                        var status = new AgvStatusVo(
-                            sender.id,
-                            sender.getT(),
-                            ptr.x,
-                            ptr.y,
-                            ptr.z,
-                            ptr.logicX,
-                            ptr.logicY,
-                            PathUtils.getDirectionByArmDirection(ptr.direction),
-                            ptr.orientation,
-                            ptr.battery.SOC,
-                            ptr.get__taskMode(),
-                            ptr.getTaskStatus(),
-                            ptr.isBlocked,
-                            taskCompleted,
-                            taskTotalCount,
-                            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getBizTaskId(),
-                            ptr.planTaskSequence == null ? null : BizTaskType.fromString(ptr.planTaskSequence.bizTask.getBizType()),
-                            ptr.planTaskSequence == null ? null : BizTaskStatus.fromString(ptr.planTaskSequence.bizTask.getBizTaskStatus()),
-                            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getTaskFrom(),
-                            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getTaskTo(),
-                            ptr.planTaskSequence == null ? null : ptr.planTaskSequence.bizTask.getLpn()
-                        );
-                        this.frontendMessagePushService.pushDeviceStatus(sender.id, status);
 
                     } else {
                         log.error("AGV事件类型 {} 仅支持 PtrAgvItem 类型的执行器", type);

servo/src/main/java/com/yvan/workbench/controller/LccController.java

@@ -1,7 +1,11 @@
 package com.yvan.workbench.controller;
 
 import com.galaxis.rcs.RCSService;
+import com.galaxis.rcs.ptr.PtrAgvItem;
 import com.google.common.base.Strings;
+import com.google.common.collect.Lists;
+import com.yvan.entity.AgvStatusVo;
+import com.yvan.logisticsModel.LogisticsRuntimeService;
 import com.yvan.workbench.SpringContext;
 import com.yvan.workbench.service.LccMapService;
 import org.clever.core.Conv;
@@ -92,8 +96,8 @@ public class LccController {
                 )
             )
             .innerJoin(lccBasContainer).on(
-                lccInvLpn.lpn.eq(lccInvLpn.lpn).and(
+                lccInvLpn.lpn.eq(lccBasContainer.lpn).and(
-                    lccInvLpn.envId.eq(lccInvLpn.envId)
+                    lccInvLpn.envId.eq(lccBasContainer.envId)
                 )
             )
             .where(lccInvLpn.envId.eq(envId));
@@ -128,6 +132,32 @@ public class LccController {
         return R.success(list);
     }
 
+    public static R<?> queryDeviceInfoList(@RequestBody Map<String, Object> params) {
+        String projectUuid = Conv.asString(params.get("projectUUID"));
+        Long envId = Conv.asLong(params.get("envId"));
+
+        if (Strings.isNullOrEmpty(projectUuid)) {
+            return R.fail("projectUUID Must not be empty");
+        }
+        if (envId == null || envId < 0) {
+            return R.fail("envId Must not be empty");
+        }
+
+        var runtime = LogisticsRuntimeService.INSTANCE.getByProjectEnv(projectUuid, envId);
+        if (runtime == null) {
+            return R.fail("Project environment is not running");
+        }
+
+        // 拿到所有的车
+        List<AgvStatusVo> agvStatusList = Lists.newArrayList();
+        for (var executor : runtime.executorItemMap.values()) {
+            if (executor instanceof PtrAgvItem) {
+                agvStatusList.add(((PtrAgvItem) executor).getState());
+            }
+        }
+        return R.success(agvStatusList);
+    }
+
     public static R<?> saveAndSyncScripts(@RequestBody Map<String, Object> params) {
         String projectUuid = Conv.asString(params.get("projectUUID"));
         Long envId = Conv.asLong(params.get("envId"));