#

vincentlu

2026-04-22 11cda98620d8758c8a167da9af47270f252c7d9d

#

 zy-acs-flow/src/i18n/en.js

@@ -964,6 +964,7 @@
                    type: {
                        MOVE: 'MOVE',
                        TO_CHARGE: 'TO_CHARGE',
                        STOP_CHARGING: 'STOP_CHARGING',
                        TO_STANDBY: 'TO_STANDBY',
                        LOC_TO_LOC: 'LOC_TO_LOC',
                        LOC_TO_STA: 'LOC_TO_STA',

 zy-acs-flow/src/i18n/zh.js

@@ -965,6 +965,7 @@
                        MOVE: '移动',
                        TO_STANDBY: '去待机位',
                        TO_CHARGE: '去充电',
                        STOP_CHARGING: '断开充电',
                        LOC_TO_LOC: '库位到库位',
                        LOC_TO_STA: '库位到站点',
                        STA_TO_LOC: '站点到库位',

 zy-acs-flow/src/map/http.js

@@ -322,6 +322,27 @@
    })
}

export const handleStopChargingAgv = async (param, callback) => {
    await request.post('/handler/control/agv/charge/stop', param, {
        headers: {
            'appKey': HANDLE_APP_KEY
        }
    }).then((res) => {
        const { code, msg, data } = res.data;
        if (code === 200) {
            notify.success(msg);
            if (callback) {
                callback(data)
            }
        } else {
            notify.error(msg);
        }
    }).catch((error) => {
        notify.error(error.message);
        console.error(error.message);
    })
}

export const handleRestoreAgvAll = async (param, callback) => {
    await request.post('/handler/restore/agv', param, {
        headers: {

 zy-acs-flow/src/map/insight/agv/AgvControl.jsx

@@ -13,15 +13,14 @@
    Toolbar,
    useTheme,
    Autocomplete,
    CircularProgress,
} from '@mui/material';
import CheckOutlinedIcon from '@mui/icons-material/CheckOutlined';
import RestartAltIcon from '@mui/icons-material/RestartAlt';
import useCoolHook from './useCoolHook';
import { handleControlAgv } from '../../http';
import { handleControlAgv, handleStopChargingAgv } from '../../http';

function AgvControl(props) {
    const { curAgvNo } = props;
    const { curAgvNo, curAgvInfo } = props;
    const theme = useTheme();
    const translate = useTranslate();

@@ -37,14 +36,19 @@
        },
    });

    const isUnderdriveAgv = curAgvInfo?.agvModelType === 'UNDERDRIVE_AGV';
    const taskModes = [
        { value: 'MOVE', label: translate('page.map.insight.control.type.MOVE') },
        { value: 'TO_CHARGE', label: translate('page.map.insight.control.type.TO_CHARGE') },
        { value: 'TO_STANDBY', label: translate('page.map.insight.control.type.TO_STANDBY') },
        { value: 'LOC_TO_LOC', label: translate('page.map.insight.control.type.LOC_TO_LOC') },
        { value: 'LOC_TO_STA', label: translate('page.map.insight.control.type.LOC_TO_STA') },
        { value: 'STA_TO_LOC', label: translate('page.map.insight.control.type.STA_TO_LOC') },
        { value: 'STA_TO_STA', label: translate('page.map.insight.control.type.STA_TO_STA') },
        { value: 'TO_CHARGE', label: translate('page.map.insight.control.type.TO_CHARGE') },
        ...(isUnderdriveAgv ? [{
            value: 'STOP_CHARGING',
            label: translate('page.map.insight.control.type.STOP_CHARGING')
        }] : []),
    ];

    useEffect(() => {
@@ -53,6 +57,12 @@

    const onSubmit = (data) => {
        if (curAgvNo) {
            if (data.taskMode === 'STOP_CHARGING') {
                handleStopChargingAgv({ agvNo: curAgvNo }, () => {

                });
                return;
            }
            handleControlAgv({ agvNo: curAgvNo, ...data }, () => {

            });

 zy-acs-flow/src/map/insight/agv/index.jsx

@@ -75,6 +75,7 @@
                {activeTab === 1 && (
                    <AgvControl
                        curAgvNo={curAgvNo}
                        curAgvInfo={curAgvInfo}
                    />
                )}
                {activeTab === 2 && (
@@ -88,4 +89,4 @@
    )
}

export default AgvInsight;
export default AgvInsight;

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/HandlerController.java

@@ -53,6 +53,8 @@
    @Autowired
    private TaskService taskService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private MainService mainService;
    @Autowired
    private MainLockWrapService mainLockWrapService;
@@ -495,6 +497,33 @@
        return R.ok();
    }

    @PreAuthorize("hasAuthority('manager:agv:update')")
    @PostMapping("/control/agv/charge/stop")
    public R stopCharging(@RequestHeader String appKey,
                          @RequestBody HandlerPublishParam param) {
        if (Cools.isEmpty(param.getAgvNo(), appKey)) {
            return R.error();
        }
        if (!APP_KEY.equals(appKey)) {
            return R.error();
        }

        Agv agv = agvService.selectByUuid(param.getAgvNo());
        if (agv == null) {
            return R.error("AGV不存在");
        }
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        if (agvModel == null || !AgvModelType.UNDERDRIVE_AGV.toString().equals(agvModel.getType())) {
            return R.error("当前AGV车型不支持断开充电");
        }
        if (!hikInstantActionPublishService.support(agv.getId())) {
            return R.error("当前AGV协议不支持断开充电");
        }

        hikInstantActionPublishService.publishStopCharging(agv.getUuid());
        return R.ok("断开充电指令已发送");
    }

    private void publishRestoreCancelIfNeeded(Agv agv) {
        if (agv == null) {
            return;

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/hik/HikInstantActionPublishService.java

@@ -50,21 +50,15 @@
            throw new CoolException("agvNo can not be blank");
        }

        HkInstantActionMessage message = new HkInstantActionMessage();
        message.setHeaderId(snowflakeIdWorker.nextId());
        message.setTimestamp(Instant.now().toString());
        message.setVersion(hikOrderProperties.getMajorVersion());
        message.setManufacturer(hikOrderProperties.getManufacturer());
        message.setSerialNumber(agvNo);
        message.setActions(Utils.singletonList(buildCancelOrderAction()));
        publish(agvNo, buildCancelOrderAction(), "cancelOrder");
    }

        HkInstantActionDown down = new HkInstantActionDown();
        down.setAgvNo(agvNo);
        down.setInstantActionMessage(message);
        redis.pushStrict(RedisConstant.HK_AGV_INSTANT_ACTION_DOWN_FLAG, down);
    public void publishStopCharging(String agvNo) {
        if (!StringUtils.hasText(agvNo)) {
            throw new CoolException("agvNo can not be blank");
        }

        log.info("push hik cancelOrder instant action to redis, agvNo={}, redisKey={}",
                agvNo, RedisConstant.HK_AGV_INSTANT_ACTION_DOWN_FLAG);
        publish(agvNo, buildStopChargingAction(), "stopCharging");
    }

    private HkAction buildCancelOrderAction() {
@@ -81,4 +75,31 @@
        action.setActionParameters(parameters);
        return action;
    }

    private HkAction buildStopChargingAction() {
        HkAction action = new HkAction();
        action.setActionId("stopCharging-" + snowflakeIdWorker.nextId());
        action.setActionType(HkActionType.STOP_CHARGING);
        action.setBlockingType(HkBlockingType.HARD);
        action.setActionParameters(new ArrayList<>());
        return action;
    }

    private void publish(String agvNo, HkAction action, String actionName) {
        HkInstantActionMessage message = new HkInstantActionMessage();
        message.setHeaderId(snowflakeIdWorker.nextId());
        message.setTimestamp(Instant.now().toString());
        message.setVersion(hikOrderProperties.getMajorVersion());
        message.setManufacturer(hikOrderProperties.getManufacturer());
        message.setSerialNumber(agvNo);
        message.setActions(Utils.singletonList(action));

        HkInstantActionDown down = new HkInstantActionDown();
        down.setAgvNo(agvNo);
        down.setInstantActionMessage(message);
        redis.pushStrict(RedisConstant.HK_AGV_INSTANT_ACTION_DOWN_FLAG, down);

        log.info("push hik {} instant action to redis, agvNo={}, redisKey={}",
                actionName, agvNo, RedisConstant.HK_AGV_INSTANT_ACTION_DOWN_FLAG);
    }
}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/MapController.java

@@ -59,6 +59,8 @@
    @Autowired
    private AgvDetailService agvDetailService;
    @Autowired
    private AgvModelService agvModelService;
    @Autowired
    private FloydNavigateService floydNavigateService;
    @Autowired
    private MapService mapService;
@@ -175,6 +177,10 @@
        MapAgvVo vo = new MapAgvVo();
        vo.setAgvId(agv.getId());
        vo.setAgvNo(agv.getUuid());
        AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
        if (agvModel != null) {
            vo.setAgvModelType(agvModel.getType());
        }
        vo.setStatus(agv.getStatus());
        if (null != agvDetail) {
            vo.setOnline(agvService.judgeOnline(agvDetail.getAgvId()));

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/result/MapAgvVo.java

@@ -16,6 +16,8 @@

    private String agvNo;

    private String agvModelType;

    private Integer status;

    private Boolean online = Boolean.FALSE;