450 lines
19 KiB
Python
450 lines
19 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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VWED.robot 模块 - 机器人相关功能
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"""
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import json
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import asyncio
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from typing import Dict, Any, Optional, List
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from utils.logger import get_logger
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from utils.json_parser import safe_parse_dict
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class VWEDRobotModule:
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"""VWED.robot 模块 - 机器人相关功能"""
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def __init__(self, script_id: str):
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self.script_id = script_id
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self.logger = get_logger(f"script.{script_id}.robot")
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async def _get_auth_token(self, auto_get_token: bool = True) -> Optional[str]:
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"""获取认证token的通用方法
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Args:
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auto_get_token: 是否自动获取登录token，默认true
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Returns:
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Optional[str]: 认证令牌，获取失败返回None
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"""
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if not auto_get_token:
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return None
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try:
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from services.sync_service import refresh_token_if_needed
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token = await refresh_token_if_needed()
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if token:
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self.logger.info(f"脚本 {self.script_id} 成功获取到登录token")
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return token
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else:
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self.logger.warning(f"脚本 {self.script_id} 获取登录token失败，继续使用空token")
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return None
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except Exception as e:
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self.logger.warning(f"脚本 {self.script_id} 获取token异常: {str(e)}，继续使用空token")
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return None
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async def is_robot_exist(self, robot_name: str) -> bool:
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"""校验机器人是否存在
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Args:
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robot_name: 机器人名称
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Returns:
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bool: True表示存在，False表示不存在
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"""
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try:
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# 获取认证token
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token = await self._get_auth_token()
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# 调用获取AMR列表接口
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from services.sync_service import get_amr_list
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response = await get_amr_list(token)
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if response and response.get("success") and response.get("result"):
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# 检查机器人名称是否在列表中
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amr_list = response.get("result", {}).get("records", [])
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for amr in amr_list:
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if amr.get("name") == robot_name:
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self.logger.info(f"脚本 {self.script_id} 机器人存在: {robot_name}")
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return True
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self.logger.info(f"脚本 {self.script_id} 机器人不存在: {robot_name}")
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return False
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else:
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self.logger.warning(f"脚本 {self.script_id} 获取机器人信息失败")
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return False
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except Exception as e:
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self.logger.error(f"脚本 {self.script_id} 校验机器人是否存在异常: {str(e)}")
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return False
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async def get_lite_robots_status(self) -> str:
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"""获取机器人基本信息
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Returns:
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str: JSON格式的机器人信息列表
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"""
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try:
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# 获取认证token
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token = await self._get_auth_token()
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# 调用获取AMR列表接口
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from services.sync_service import get_amr_list
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response = await get_amr_list(token)
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if response and response.get("success") and response.get("result"):
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amr_list = response.get("result", {}).get("records", [])
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# 转换所有字段为蛇形命名
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robots_info = []
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for amr in amr_list:
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robot_info = {
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"id": amr.get("id", ""),
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"tenant_id": amr.get("tenantId", ""),
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"brand_id": amr.get("brandId", ""),
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"type_id": amr.get("typeId", ""),
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"ip_address": amr.get("ipAddress", ""),
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"name": amr.get("name", ""),
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"scene_id": amr.get("sceneId", ""),
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"group_id": amr.get("groupId", ""),
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"online_station_id": amr.get("onlineStationId", ""),
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"is_online": amr.get("isOnline", 0),
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"is_simulation": amr.get("isSimulation", 0),
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"is_available": amr.get("isAvailable", 0),
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"is_accept_task": amr.get("isAcceptTask", 0),
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"length": amr.get("length", 0.0),
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"width": amr.get("width", 0.0),
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"min_power": amr.get("minPower", 0),
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"max_power": amr.get("maxPower", 0),
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"charge_power": amr.get("chargePower", 0),
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"task_power": amr.get("taskPower", 0),
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"exchange_power": amr.get("exchangePower", 0),
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"amr_status": amr.get("amrStatus", 0),
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"create_by": amr.get("createBy", ""),
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"create_time": amr.get("createTime", "")
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}
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robots_info.append(robot_info)
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result = json.dumps(robots_info, ensure_ascii=False)
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self.logger.info(f"脚本 {self.script_id} 成功获取机器人信息，共 {len(robots_info)} 个机器人")
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return result
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else:
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self.logger.warning(f"脚本 {self.script_id} 获取机器人信息失败")
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return json.dumps([], ensure_ascii=False)
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except Exception as e:
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self.logger.error(f"脚本 {self.script_id} 获取机器人信息异常: {str(e)}")
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return json.dumps([], ensure_ascii=False)
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async def get_lite_robots_status_by_id(self, agv_id: str) -> str:
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"""根据ID获取机器人基本信息
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Args:
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agv_id: 机器人ID
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Returns:
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str: JSON格式的机器人信息
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"""
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try:
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# 获取认证token
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token = await self._get_auth_token()
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# 调用获取AMR列表接口
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from services.sync_service import get_amr_list
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response = await get_amr_list(token)
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if response and response.get("success") and response.get("result"):
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amr_list = response.get("result", {}).get("records", [])
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# 查找指定ID的机器人
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for amr in amr_list:
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if amr.get("id") == agv_id or amr.get("name") == agv_id:
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robot_info = {
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"id": amr.get("id", ""),
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"tenant_id": amr.get("tenantId", ""),
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"brand_id": amr.get("brandId", ""),
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"type_id": amr.get("typeId", ""),
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"ip_address": amr.get("ipAddress", ""),
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"name": amr.get("name", ""),
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"scene_id": amr.get("sceneId", ""),
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"group_id": amr.get("groupId", ""),
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"online_station_id": amr.get("onlineStationId", ""),
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"is_online": amr.get("isOnline", 0),
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"is_simulation": amr.get("isSimulation", 0),
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"is_available": amr.get("isAvailable", 0),
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"is_accept_task": amr.get("isAcceptTask", 0),
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"length": amr.get("length", 0.0),
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"width": amr.get("width", 0.0),
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"min_power": amr.get("minPower", 0),
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"max_power": amr.get("maxPower", 0),
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"charge_power": amr.get("chargePower", 0),
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"task_power": amr.get("taskPower", 0),
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"exchange_power": amr.get("exchangePower", 0),
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"amr_status": amr.get("amrStatus", 0),
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"create_by": amr.get("createBy", ""),
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"create_time": amr.get("createTime", "")
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}
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result = json.dumps(robot_info, ensure_ascii=False)
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self.logger.info(f"脚本 {self.script_id} 成功获取机器人信息: {agv_id}")
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return result
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# 未找到机器人，返回空对象
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self.logger.warning(f"脚本 {self.script_id} 未找到机器人: {agv_id}")
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return "{}"
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else:
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self.logger.warning(f"脚本 {self.script_id} 获取机器人信息失败")
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return "{}"
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except Exception as e:
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self.logger.error(f"脚本 {self.script_id} 获取机器人信息异常: {str(e)}")
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return "{}"
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async def get_vehicle_station(self, agv_id: str) -> str:
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"""根据机器人ID获取机器人位置
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Args:
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agv_id: 机器人ID
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Returns:
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str: JSON格式的位置信息，如果与调度断连返回空对象
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"""
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try:
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# 获取认证token
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token = await self._get_auth_token()
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# 调用获取AMR信息接口
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from services.sync_service import get_amr_info
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response = await get_amr_info(token)
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if response and response.get("success") and response.get("result"):
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amr_list = response.get("result", [])
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# 查找指定ID的机器人
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for amr in amr_list:
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if amr.get("id") == agv_id or amr.get("name") == agv_id:
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station_info = {
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"last_station": amr.get("lastNodeName", ""),
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"station": amr.get("lastNodeName", "")
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}
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result = json.dumps(station_info, ensure_ascii=False)
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self.logger.info(f"脚本 {self.script_id} 成功获取机器人位置: {agv_id}")
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return result
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# 未找到机器人，返回空对象
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return "{}"
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else:
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# 与调度断连，返回空对象
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return "{}"
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except Exception as e:
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self.logger.error(f"脚本 {self.script_id} 获取机器人位置异常: {str(e)}")
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return "{}"
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async def get_core_alarms(self) -> Optional[str]:
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"""获取Core报错信息
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Returns:
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Optional[str]: JSON格式的报错信息，断连时返回None
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"""
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## TODO
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async def get_core_alarms_by_id(self, code: int) -> Optional[str]:
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"""根据ID获取Core报错信息
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Args:
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code: 错误码
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Returns:
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Optional[str]: JSON格式的报错信息，断连时返回None
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"""
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## TODO
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async def get_rbk_alarms(self) -> Optional[str]:
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"""获取Rbk报错信息
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Returns:
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Optional[str]: JSON格式的报错信息，断连时返回None
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"""
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## TODO
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async def get_rbk_alarms_by_id(self, code: int) -> Optional[str]:
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"""根据ID获取Rbk报错信息
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Args:
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code: 错误码
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Returns:
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Optional[str]: JSON格式的报错信息，断连时返回None
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"""
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## TODO
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async def set_soft_stop(self, vehicle_id: str, status: bool) -> bool:
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"""设置机器人软急停
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Args:
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vehicle_id: 机器人名称
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status: True表示设置软急停，False表示取消软急停
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Returns:
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bool: True表示成功，False表示失败
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"""
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## TODO
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async def get_robots_status(self) -> Optional[str]:
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"""获取机器人所有信息
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Returns:
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Optional[str]: JSON格式的详细机器人信息，断连时返回None
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"""
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## TODO
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async def query_charge_param(self) -> Optional[str]:
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"""查询所有机器人充电阈值
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Returns:
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Optional[str]: JSON格式的充电阈值信息，断连时返回None
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"""
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try:
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# 获取认证token
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token = await self._get_auth_token()
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# 调用充电参数查询接口
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from services.sync_service import get_amr_charge_params
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response = await get_amr_charge_params(token)
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if response and response.get("success") and response.get("result"):
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charge_params = response.get("result", [])
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result = json.dumps(charge_params, ensure_ascii=False)
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self.logger.info(f"脚本 {self.script_id} 成功查询所有机器人充电阈值，共 {len(charge_params)} 个机器人")
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return result
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else:
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self.logger.warning(f"脚本 {self.script_id} 查询所有机器人充电阈值失败")
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return json.dumps([], ensure_ascii=False)
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except Exception as e:
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self.logger.error(f"脚本 {self.script_id} 查询所有机器人充电阈值异常: {str(e)}")
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
async def query_charge_param_by_vehicles(self, vehicles: str) -> Optional[str]:
|
|||
|
|
"""查询指定机器人充电阈值
|
|||
|
|
|
|||
|
|
Args:
|
|||
|
|
vehicles: JSON格式的机器人名称列表字符串
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
Optional[str]: JSON格式的充电阈值信息
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
# 解析机器人列表
|
|||
|
|
vehicle_list = json.loads(vehicles) if isinstance(vehicles, str) else vehicles
|
|||
|
|
|
|||
|
|
# 获取认证token
|
|||
|
|
token = await self._get_auth_token()
|
|||
|
|
|
|||
|
|
# 调用指定机器人充电参数查询接口
|
|||
|
|
from services.sync_service import get_amr_charge_params_by_vehicles
|
|||
|
|
response = await get_amr_charge_params_by_vehicles(vehicle_list, token)
|
|||
|
|
|
|||
|
|
if response and response.get("success") and response.get("result"):
|
|||
|
|
charge_params = response.get("result", [])
|
|||
|
|
result = json.dumps(charge_params, ensure_ascii=False)
|
|||
|
|
self.logger.info(f"脚本 {self.script_id} 成功查询指定机器人充电阈值，共 {len(charge_params)} 个机器人")
|
|||
|
|
return result
|
|||
|
|
else:
|
|||
|
|
self.logger.warning(f"脚本 {self.script_id} 查询指定机器人充电阈值失败")
|
|||
|
|
return json.dumps([], ensure_ascii=False)
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
self.logger.error(f"脚本 {self.script_id} 查询指定机器人充电阈值异常: {str(e)}")
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
async def modify_charge_param(self, param: str) -> bool:
|
|||
|
|
"""修改机器人充电阈值
|
|||
|
|
|
|||
|
|
Args:
|
|||
|
|
param: JSON格式的修改参数字符串，包含id（机器人ID或名称）和要修改的充电参数
|
|||
|
|
|
|||
|
|
Returns:
|
|||
|
|
bool: True表示修改成功，False表示修改失败
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
# 解析修改参数
|
|||
|
|
param_data = safe_parse_dict(param, self.script_id)
|
|||
|
|
if param_data is None:
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 获取机器人ID或名称
|
|||
|
|
amr_identifier = param_data.get("id")
|
|||
|
|
if not amr_identifier:
|
|||
|
|
self.logger.error(f"脚本 {self.script_id} 修改机器人充电阈值失败: 缺少机器人ID")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 获取认证token
|
|||
|
|
token = await self._get_auth_token()
|
|||
|
|
|
|||
|
|
# 首先获取所有AMR信息，找到对应的机器人并获取当前充电参数
|
|||
|
|
from services.sync_service import get_amr_list
|
|||
|
|
response = await get_amr_list(token)
|
|||
|
|
|
|||
|
|
if not response or not response.get("success") or not response.get("result"):
|
|||
|
|
self.logger.warning(f"脚本 {self.script_id} 获取机器人信息失败")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 查找对应的机器人，获取真实的ID和当前充电参数
|
|||
|
|
amr_list = response.get("result", {}).get("records", [])
|
|||
|
|
actual_amr_id = None
|
|||
|
|
current_charge_params = None
|
|||
|
|
|
|||
|
|
for amr in amr_list:
|
|||
|
|
if amr.get("id") == amr_identifier or amr.get("name") == amr_identifier:
|
|||
|
|
actual_amr_id = amr.get("id")
|
|||
|
|
# 获取当前的充电参数作为默认值
|
|||
|
|
current_charge_params = {
|
|||
|
|
"exchange_power": amr.get("exchangePower", 0),
|
|||
|
|
"task_power": amr.get("taskPower", 0),
|
|||
|
|
"charge_power": amr.get("chargePower", 0),
|
|||
|
|
"min_power": amr.get("minPower", 0),
|
|||
|
|
"max_power": amr.get("maxPower", 0)
|
|||
|
|
}
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
if not actual_amr_id or current_charge_params is None:
|
|||
|
|
self.logger.error(f"脚本 {self.script_id} 修改机器人充电阈值失败: 未找到机器人 {amr_identifier}")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
# 准备充电参数 - 从当前参数开始，用用户传入的参数覆盖对应字段
|
|||
|
|
charge_params = current_charge_params.copy()
|
|||
|
|
# 蛇形命名字段列表
|
|||
|
|
snake_fields = ["exchange_power", "task_power", "charge_power", "min_power", "max_power"]
|
|||
|
|
|
|||
|
|
has_changes = False
|
|||
|
|
# 用用户传入的参数覆盖对应字段
|
|||
|
|
for snake_field in snake_fields:
|
|||
|
|
if snake_field in param_data:
|
|||
|
|
charge_params[snake_field] = param_data[snake_field]
|
|||
|
|
has_changes = True
|
|||
|
|
|
|||
|
|
if not has_changes:
|
|||
|
|
self.logger.error(f"脚本 {self.script_id} 修改机器人充电阈值失败: 没有要修改的充电参数")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
self.logger.info(f"脚本 {self.script_id} 准备修改机器人 {amr_identifier} 的充电参数: {charge_params}")
|
|||
|
|
|
|||
|
|
# 调用修改充电参数接口，使用真实的机器人ID，传入完整的5个参数
|
|||
|
|
from services.sync_service import modify_amr_charge_param
|
|||
|
|
response = await modify_amr_charge_param(actual_amr_id, charge_params, token)
|
|||
|
|
|
|||
|
|
if response and response.get("success"):
|
|||
|
|
self.logger.info(f"脚本 {self.script_id} 成功修改机器人充电阈值: {amr_identifier} (ID: {actual_amr_id})")
|
|||
|
|
return True
|
|||
|
|
else:
|
|||
|
|
error_msg = response.get("message", "未知错误") if response else "接口调用失败"
|
|||
|
|
self.logger.warning(f"脚本 {self.script_id} 修改机器人充电阈值失败: {error_msg}")
|
|||
|
|
return False
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
self.logger.error(f"脚本 {self.script_id} 修改机器人充电阈值异常: {str(e)}")
|
|||
|
|
return False
|