后台代码更新

imcs-admin-boot/imcs-business-biz/pom.xml

@@ -122,6 +122,11 @@
             <artifactId>sdk-server</artifactId>
             <version>0.6.0</version>
         </dependency>
+        <dependency>
+            <groupId>com.hierynomus</groupId>
+            <artifactId>sshj</artifactId>
+            <version>0.34.0</version>
+        </dependency>
 
         <!--<dependency>-->
             <!--<groupId>com.matlab.tool</groupId>-->

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/util/KEDEUtils.java

@@ -1,6 +1,10 @@
 package com.github.zuihou.business.util;
 
-import com.google.common.collect.Lists;
+import com.github.zuihou.common.util.StringUtil;
+import jline.internal.InputStreamReader;
+import net.schmizz.sshj.SSHClient;
+import net.schmizz.sshj.sftp.SFTPClient;
+import net.schmizz.sshj.transport.verification.PromiscuousVerifier;
 import org.apache.commons.lang.StringUtils;
 import org.eclipse.milo.opcua.sdk.client.OpcUaClient;
 import org.eclipse.milo.opcua.sdk.client.api.identity.AnonymousProvider;
@@ -10,25 +14,42 @@ import org.eclipse.milo.opcua.stack.core.types.builtin.LocalizedText;
 import org.eclipse.milo.opcua.stack.core.types.builtin.NodeId;
 import org.eclipse.milo.opcua.stack.core.types.builtin.unsigned.UInteger;
 import org.eclipse.milo.opcua.stack.core.types.enumerated.TimestampsToReturn;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
+import org.w3c.dom.Document;
+import org.w3c.dom.Element;
+import org.xml.sax.InputSource;
 
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import java.io.*;
+import java.net.Socket;
+import java.net.UnknownHostException;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
 
 @Component
 public class KEDEUtils {
-
+    private static Logger log = LoggerFactory.getLogger(KEDEUtils.class);
     private List<NodeId> list=new ArrayList<NodeId>(){};
 
     private OpcUaClient opcUaClient = null;
 
     private String endPointUrl = "opc.tcp://192.168.11.63:12686";
 
+    private static final String USER = "root";
+    private static final String HOST = "192.168.11.39";
+    private static final int PORT = 8081;
+    private static final String PASSWORD = "root";
+
     public OpcUaClient createOpcClient(String endPointUrl)  throws Exception {
         //opc ua服务端地址
         //String endPointUrl = "opc.tcp://192.168.11.63:12686";
@@ -81,4 +102,173 @@ public class KEDEUtils {
 
         return listCompletableFuture;
     }
+
+    public static void uploadFile(String url){
+        String localFilePath = "D:\\temp2.txt";
+        String remoteDir = "/testNc/";
+        String path = StringUtil.isEmpty(url)? HOST:url;
+        SSHClient ssh = new SSHClient();
+        try {
+            // Disable host key checking for demo purposes
+            ssh.addHostKeyVerifier(new PromiscuousVerifier());
+
+            // Connect to the remote host
+            ssh.connect(path, PORT);
+
+            // Authenticate with the provided username and password
+            ssh.authPassword(USER, PASSWORD);
+
+            // Open SFTP session
+            SFTPClient sftpClient = ssh.newSFTPClient();
+
+            // Upload file to the remote directory
+            File localFile = new File(localFilePath);
+            String remoteFilePath = remoteDir + localFile.getName(); // Remote file path
+            sftpClient.put(localFilePath, remoteFilePath);
+
+            System.out.println("File uploaded successfully to " + remoteFilePath);
+
+            // Close the SFTP session
+            sftpClient.close();
+        } catch (IOException e) {
+            e.printStackTrace();
+        } finally {
+            try {
+                ssh.disconnect();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    public void downloadFile(String url) {
+        String remoteFilePath = "/testNc/temp2.txt";
+        String localDirectoryPath = "D:/"; // Local directory path (ensure this path is writable)
+        String path = StringUtil.isEmpty(url)? HOST:url;
+        try (SSHClient ssh = new SSHClient()) {
+            // Disable host key checking for demo purposes
+            ssh.addHostKeyVerifier(new PromiscuousVerifier());
+            // Connect and authenticate
+            ssh.connect(path, PORT);
+            ssh.authPassword(USER, PASSWORD);
+
+            // Open SFTP session
+            try (SFTPClient sftpClient = ssh.newSFTPClient()) {
+                // Download file
+                sftpClient.get(remoteFilePath,localDirectoryPath);
+            }
+
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    public void deFile(String url) {
+        String remoteFilePath = "/testNc/temp2.txt";
+        String path = StringUtil.isEmpty(url)? HOST:url;
+        try (SSHClient ssh = new SSHClient()) {
+            ssh.addHostKeyVerifier(new PromiscuousVerifier());
+            ssh.connect(path, PORT);
+            ssh.authPassword(USER, PASSWORD);
+
+            // Open SFTP session
+            try (SFTPClient sftpClient = ssh.newSFTPClient()) {
+                // Download file
+                sftpClient.rm(remoteFilePath);
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * socket 请求
+     * @param hostName
+     * @param portNumber
+     * @param xmlBuilder
+     * @return
+     */
+    public static String sendSocket(String hostName, int portNumber,String xmlBuilder) {
+        String responseLine = null;
+        try (Socket echoSocket = new Socket(hostName, portNumber);
+             PrintWriter out = new PrintWriter(echoSocket.getOutputStream(), true);
+             BufferedReader in = new BufferedReader(new InputStreamReader(echoSocket.getInputStream()));
+             BufferedReader stdIn = new BufferedReader(new InputStreamReader(System.in))) {
+            // 发送XML到服务器
+            out.println(xmlBuilder);
+            out.println(); // 空行表示XML的结束
+            // 接收服务器的响应
+            responseLine = in.readLine();
+            log.info("sendSocket - 服务器的回应XML：：\n" + responseLine);
+        } catch (UnknownHostException e) {
+            log.info("sendSocket - 无法找到主机：" + hostName +"错误原因"+  e.getMessage());
+            System.exit(1);
+        } catch (IOException e) {
+            log.info("I/O错误" + hostName +"错误原因"+ e.getMessage());
+            e.printStackTrace();
+        }
+        return responseLine;
+    }
+
+    public static Map<String, Object> resultMap(String xmlString, List<String> paramList) {
+        Map<String, Object> dataMap = new HashMap<String, Object>();
+        try {
+            // 创建DocumentBuilderFactory实例
+            DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
+            // 创建DocumentBuilder实例
+            DocumentBuilder builder = factory.newDocumentBuilder();
+            // 使用StringReader包装XML字符串，并将其解析为Document对象
+            Document doc = builder.parse(new InputSource(new StringReader(xmlString)));
+            // 规范化文档（可选）
+            doc.getDocumentElement().normalize();
+            // 获取根元素
+            Element rootElement = doc.getDocumentElement();
+            for(String param : paramList){
+                // 获取元素
+                Element valueElement = (Element) rootElement.getElementsByTagName(param).item(0);
+                // 提取值
+                String title = valueElement.getTextContent();
+                // 输出结果
+                dataMap.put(param,title);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return dataMap;
+    }
+
+    public void test(){
+        // 机床ip
+        String deviceIp = "192.168.11.39";
+        // 机床端口
+        Integer devicePost = 62937;
+        // 通过sftp上传的nc名称
+        String ncName = "testN.nc";
+        // 通过sftp上传到机床NC的地址,注①必须使用"/" 斜杠，不能使用"\",②末尾必须加上/
+        String ncPath = "D:/NCprog/testNc/";
+
+        StringBuffer xmlBuffer = new StringBuffer();
+        xmlBuffer.append("<select>"); // 固定写法
+        xmlBuffer.append("<sub>exe</sub>");// 固定写法
+        xmlBuffer.append("<level>file</level>");// 固定写法
+        xmlBuffer.append("<st>nc1</st>");// 固定写法
+        xmlBuffer.append("<name>").append(ncName).append("</name>"); // NC程序名
+        xmlBuffer.append("<path>").append(ncPath).append("</path>"); // NC程序地址①必须使用"/" 斜杠，不能使用"\",②末尾必须加上/
+        xmlBuffer.append("<req>yes</req>");// 固定写法
+        xmlBuffer.append("</select>");// 固定写法
+
+        log.info("选中nc程序请求id{}，port{}，par{}", deviceIp, devicePost, xmlBuffer);
+        String xmlResult = this.sendSocket(deviceIp, devicePost,  xmlBuffer.toString());
+        log.info("选中nc程序请求返回结果{}", xmlResult);
+
+        StringBuffer checkBuffer = new StringBuffer();
+        checkBuffer.append("<ncda><var>prg</var></ncda>");
+        String checkResult = this.sendSocket(deviceIp, devicePost,  checkBuffer.toString());
+        log.info("检查机床当前使用nc程序{}", checkResult);
+//
+//        List<String> paramList = new ArrayList<>();
+//        paramList.add("AUTO IWO3");
+//        Map<String, Object> stringObjectMap = SocketUtil.resultMap(xmlResult, paramList);
+//        log.info("请求结果解析{}", stringObjectMap);
+    }
 }

imcs-admin-boot/imcs-business-controller/src/main/java/com/github/zuihou/business/controller/externalApi/HikAgvControl.java

@@ -147,11 +147,11 @@ public class HikAgvControl extends SuperController<AgvHikOrderInfoService, Long,
         Boolean agvOkFlag =(agvOkObj==null?true:(Boolean)agvOkObj);
         // 托板已经到位
         String autoNodeTaskInfo = redisTemplate.opsForValue().get(taskCode)!=null? redisTemplate.opsForValue().get(taskCode).toString():null;
-        if(StringUtil.isEmpty(autoNodeTaskInfo)){
+        if(StringUtil.isEmpty(autoNodeTaskInfo) && agvHikOrderInfo.getResponseCode().equals("0")){
             log.warn("AGV{}节点回调信息不存在", taskCode);
             return HikR.fail("AGV回调信息不存在");
         }
-        if(!autoNodeTaskInfo.contains("-")){
+        if(StringUtil.isNotEmpty(autoNodeTaskInfo) && !autoNodeTaskInfo.contains("-")){
             log.warn("AGV{}节点回调信息格式不正确{}", taskCode, autoNodeTaskInfo);
             return HikR.fail("AGV回调信息格式不正确");
         }