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opt:1.去除点位路由。2.仙工任务参数修改。

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This commit is contained in:
liejiu946
2025-06-27 15:03:03 +08:00
parent fafb1daca8
commit 90812171e4
4 changed files with 171 additions and 170 deletions
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198
acs/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java
View File

@@ -377,32 +377,32 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
}
public com.alibaba.fastjson.JSONArray createBlocksData(Instruction inst) {
com.alibaba.fastjson.JSONArray ja = new com.alibaba.fastjson.JSONArray();
com.alibaba.fastjson.JSONObject jo9 = new com.alibaba.fastjson.JSONObject();
jo9.put("blockId", IdUtil.simpleUUID());
jo9.put("location", inst.getStart_point_code() + "INGET");
jo9.put("binTask", "ForkLoad");
ja.add(jo9);
Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
//取货前等待
com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
jo.put("blockId", IdUtil.simpleUUID());
jo.put("location", inst.getStart_point_code() + "INGET");
jo.put("operation", "script");
jo.put("id", inst.getStart_point_code() + "INGET");
jo.put("script_name", "userpy/interact1.py");
com.alibaba.fastjson.JSONObject script_args = new com.alibaba.fastjson.JSONObject();
script_args.put("addr", addr);
com.alibaba.fastjson.JSONObject data = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach = new com.alibaba.fastjson.JSONObject();
reach.put("task_code", inst.getInstruction_code());
reach.put("address", inst.getStart_point_code() + "INGET");
data.put("reach", reach);
script_args.put("data", data);
script_args.put("protocol", "HTTP");
jo.put("script_args", script_args);
ja.add(jo);
}
// com.alibaba.fastjson.JSONObject jo9 = new com.alibaba.fastjson.JSONObject();
// jo9.put("blockId", IdUtil.simpleUUID());
// jo9.put("location", inst.getStart_point_code() + "INGET");
// jo9.put("binTask", "ForkLoad");
// ja.add(jo9);
// Device startDevice = deviceAppService.findDeviceByCode(inst.getStart_device_code());
// if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
// //取货前等待
// com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject();
// jo.put("blockId", IdUtil.simpleUUID());
// jo.put("location", inst.getStart_point_code() + "INGET");
// jo.put("operation", "script");
// jo.put("id", inst.getStart_point_code() + "INGET");
// jo.put("script_name", "userpy/interact1.py");
// com.alibaba.fastjson.JSONObject script_args = new com.alibaba.fastjson.JSONObject();
// script_args.put("addr", addr);
// com.alibaba.fastjson.JSONObject data = new com.alibaba.fastjson.JSONObject();
// com.alibaba.fastjson.JSONObject reach = new com.alibaba.fastjson.JSONObject();
// reach.put("task_code", inst.getInstruction_code());
// reach.put("address", inst.getStart_point_code() + "INGET");
// data.put("reach", reach);
// script_args.put("data", data);
// script_args.put("protocol", "HTTP");
// jo.put("script_args", script_args);
// ja.add(jo);
// }
com.alibaba.fastjson.JSONObject jo1 = new com.alibaba.fastjson.JSONObject();
jo1.put("blockId", IdUtil.simpleUUID());
jo1.put("location", inst.getStart_point_code());
@@ -410,85 +410,85 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
ja.add(jo1);
//取货完成等待
com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
jo2.put("blockId", IdUtil.simpleUUID());
jo2.put("location", inst.getStart_point_code() + "OUTGET");
jo2.put("operation", "script");
jo2.put("id", inst.getStart_point_code() + "OUTGET");
jo2.put("script_name", "userpy/interact1.py");
com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
script_args2.put("addr", addr);
com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
reach2.put("task_code", inst.getInstruction_code());
reach2.put("address", inst.getStart_point_code() + "OUTGET");
data2.put("reach", reach2);
script_args2.put("data", data2);
script_args2.put("protocol", "HTTP");
jo2.put("script_args", script_args2);
ja.add(jo2);
com.alibaba.fastjson.JSONObject jo6 = new com.alibaba.fastjson.JSONObject();
jo6.put("blockId", IdUtil.simpleUUID());
jo6.put("location", inst.getStart_point_code() + "OUTGET");
jo6.put("binTask", "ForkUnload");
ja.add(jo6);
com.alibaba.fastjson.JSONObject jo7 = new com.alibaba.fastjson.JSONObject();
jo7.put("blockId", IdUtil.simpleUUID());
jo7.put("location", inst.getNext_point_code() + "INPUT");
jo7.put("binTask", "ForkLoad");
ja.add(jo7);
Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
//放货前等待
com.alibaba.fastjson.JSONObject jo3 = new com.alibaba.fastjson.JSONObject();
jo3.put("blockId", IdUtil.simpleUUID());
jo3.put("location", inst.getNext_point_code() + "INPUT");
jo3.put("operation", "script");
jo3.put("id", inst.getNext_point_code() + "INPUT");
jo3.put("script_name", "userpy/interact1.py");
com.alibaba.fastjson.JSONObject script_args3 = new com.alibaba.fastjson.JSONObject();
script_args3.put("addr", addr);
com.alibaba.fastjson.JSONObject data3 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach3 = new com.alibaba.fastjson.JSONObject();
reach3.put("task_code", inst.getInstruction_code());
reach3.put("address", inst.getNext_point_code() + "INPUT");
data3.put("reach", reach3);
script_args3.put("data", data3);
script_args3.put("protocol", "HTTP");
jo3.put("script_args", script_args3);
ja.add(jo3);
}
// com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
// jo2.put("blockId", IdUtil.simpleUUID());
// jo2.put("location", inst.getStart_point_code() + "OUTGET");
// jo2.put("operation", "script");
// jo2.put("id", inst.getStart_point_code() + "OUTGET");
// jo2.put("script_name", "userpy/interact1.py");
// com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
// script_args2.put("addr", addr);
// com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
// com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
// reach2.put("task_code", inst.getInstruction_code());
// reach2.put("address", inst.getStart_point_code() + "OUTGET");
// data2.put("reach", reach2);
// script_args2.put("data", data2);
// script_args2.put("protocol", "HTTP");
// jo2.put("script_args", script_args2);
// ja.add(jo2);
// com.alibaba.fastjson.JSONObject jo6 = new com.alibaba.fastjson.JSONObject();
// jo6.put("blockId", IdUtil.simpleUUID());
// jo6.put("location", inst.getStart_point_code() + "OUTGET");
// jo6.put("binTask", "ForkUnload");
// ja.add(jo6);
// com.alibaba.fastjson.JSONObject jo7 = new com.alibaba.fastjson.JSONObject();
// jo7.put("blockId", IdUtil.simpleUUID());
// jo7.put("location", inst.getNext_point_code() + "INPUT");
// jo7.put("binTask", "ForkLoad");
// ja.add(jo7);
// Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
// if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
// //放货前等待
// com.alibaba.fastjson.JSONObject jo3 = new com.alibaba.fastjson.JSONObject();
// jo3.put("blockId", IdUtil.simpleUUID());
// jo3.put("location", inst.getNext_point_code() + "INPUT");
// jo3.put("operation", "script");
// jo3.put("id", inst.getNext_point_code() + "INPUT");
// jo3.put("script_name", "userpy/interact1.py");
// com.alibaba.fastjson.JSONObject script_args3 = new com.alibaba.fastjson.JSONObject();
// script_args3.put("addr", addr);
// com.alibaba.fastjson.JSONObject data3 = new com.alibaba.fastjson.JSONObject();
// com.alibaba.fastjson.JSONObject reach3 = new com.alibaba.fastjson.JSONObject();
// reach3.put("task_code", inst.getInstruction_code());
// reach3.put("address", inst.getNext_point_code() + "INPUT");
// data3.put("reach", reach3);
// script_args3.put("data", data3);
// script_args3.put("protocol", "HTTP");
// jo3.put("script_args", script_args3);
// ja.add(jo3);
// }
com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
jo4.put("blockId", IdUtil.simpleUUID());
jo4.put("location", inst.getNext_point_code());
jo4.put("binTask", "ForkUnload");
ja.add(jo4);
if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
//放货完成等待
com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
jo5.put("blockId", IdUtil.simpleUUID());
jo5.put("location", inst.getNext_point_code() + "OUTPUT");
jo5.put("operation", "script");
jo5.put("id", inst.getNext_point_code() + "OUTPUT");
jo5.put("script_name", "userpy/interact1.py");
com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
script_args5.put("addr", addr);
com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
reach5.put("task_code", inst.getInstruction_code());
reach5.put("address", inst.getNext_point_code() + "OUTPUT");
data5.put("reach", reach5);
script_args5.put("data", data5);
script_args5.put("protocol", "HTTP");
jo5.put("script_args", script_args5);
ja.add(jo5);
}
com.alibaba.fastjson.JSONObject jo8 = new com.alibaba.fastjson.JSONObject();
jo8.put("blockId", IdUtil.simpleUUID());
jo8.put("location", inst.getNext_point_code() + "OUTPUT");
jo8.put("binTask", "ForkUnload");
ja.add(jo8);
// if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {
// //放货完成等待
// com.alibaba.fastjson.JSONObject jo5 = new com.alibaba.fastjson.JSONObject();
// jo5.put("blockId", IdUtil.simpleUUID());
// jo5.put("location", inst.getNext_point_code() + "OUTPUT");
// jo5.put("operation", "script");
// jo5.put("id", inst.getNext_point_code() + "OUTPUT");
// jo5.put("script_name", "userpy/interact1.py");
// com.alibaba.fastjson.JSONObject script_args5 = new com.alibaba.fastjson.JSONObject();
// script_args5.put("addr", addr);
// com.alibaba.fastjson.JSONObject data5 = new com.alibaba.fastjson.JSONObject();
// com.alibaba.fastjson.JSONObject reach5 = new com.alibaba.fastjson.JSONObject();
// reach5.put("task_code", inst.getInstruction_code());
// reach5.put("address", inst.getNext_point_code() + "OUTPUT");
// data5.put("reach", reach5);
// script_args5.put("data", data5);
// script_args5.put("protocol", "HTTP");
// jo5.put("script_args", script_args5);
// ja.add(jo5);
// }
// com.alibaba.fastjson.JSONObject jo8 = new com.alibaba.fastjson.JSONObject();
// jo8.put("blockId", IdUtil.simpleUUID());
// jo8.put("location", inst.getNext_point_code() + "OUTPUT");
// jo8.put("binTask", "ForkUnload");
// ja.add(jo8);
return ja;
}

40
acs/nladmin-system/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -361,27 +361,27 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
String start_device_code = dto.getStart_device_code();
String next_device_code = dto.getNext_device_code();
String route_plan_code = task.getRoute_plan_code();
List<RouteLineDto> shortPathsList =
routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
RouteLineDto route = null;
for (int i = 0; i < shortPathsList.size(); i++) {
RouteLineDto routeLineDto = shortPathsList.get(i);
String route_device = routeLineDto.getDevice_code();
String route_next_device = routeLineDto.getNext_device_code();
if (route_device.equals(dto.getStart_device_code())
&& route_next_device.equals(dto.getNext_device_code())) {
route = routeLineDto;
break;
}
}
if (ObjectUtil.isEmpty(route)) {
throw new BadRequestException("未查询到相关路由！");
}
// List<RouteLineDto> shortPathsList =
// routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
// RouteLineDto route = null;
// for (int i = 0; i < shortPathsList.size(); i++) {
// RouteLineDto routeLineDto = shortPathsList.get(i);
// String route_device = routeLineDto.getDevice_code();
// String route_next_device = routeLineDto.getNext_device_code();
// if (route_device.equals(dto.getStart_device_code())
// && route_next_device.equals(dto.getNext_device_code())) {
// route = routeLineDto;
// break;
// }
// }
// if (ObjectUtil.isEmpty(route)) {
// throw new BadRequestException("未查询到相关路由！");
// }
if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
// if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
try {
if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
// if (StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGVTYPE).getValue().toString(),String.valueOf(AgvSystemEnum.Maigic.getIndex()))) {
HttpResponse result = magicAgvService.sendAgvInstToMagic(dto);
if (ObjectUtils.isEmpty(result) || result.getStatus() != 200) {
@@ -415,13 +415,13 @@ public class InstructionServiceImpl implements InstructionService, ApplicationAu
ZheDaAgvService zheDaAgvService = SpringContextHolder.getBean(ZheDaAgvService.class);
zheDaAgvService.sendAgvInstToAgv(dto);
}
}
// }
} catch (Exception e) {
dto.setSend_status("2");
e.printStackTrace();
}
}
// }
} catch (Exception e) {
dto.setSend_status("2");
e.printStackTrace();

56
acs/nladmin-system/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -475,12 +475,12 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
// 判断起点终点设备类型
String startDeviceType = deviceAppService.findDeviceTypeByCode(dto.getStart_device_code());
String nextDeviceType = deviceAppService.findDeviceTypeByCode(dto.getNext_device_code());
if (routelineserver
.getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code)
.size()
== 0) {
throw new Exception(dto.getStart_point_code() + "->" + dto.getNext_point_code() + "路由不通!");
}
// if (routelineserver
// .getShortPathLines(dto.getStart_device_code(), dto.getNext_device_code(), plan_code)
// .size()
// == 0) {
// throw new Exception(dto.getStart_point_code() + "->" + dto.getNext_point_code() + "路由不通!");
// }
String createTaskCheck = paramService.findByCode(AcsConfig.CREATETASKCHECK).getValue();
DeviceService deviceService = SpringContextHolder.getBean(DeviceServiceImpl.class);
DeviceAppService appService = SpringContextHolder.getBean(DeviceAppServiceImpl.class);
@@ -1097,28 +1097,28 @@ public class TaskServiceImpl implements TaskService, ApplicationAutoInitial {
String agv_system_type = acsTask.getAgv_system_type();
String task_type = acsTask.getTask_type();
/** 开始平均分解校验 */
String this_device_code =
this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
if (StrUtil.isEmpty(this_device_code)) {
List<RouteLineDto> shortPathsList =
routeLineService.getShortPathLines(
start_device_code, acsTask.getNext_device_code(), route_plan_code);
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
} else {
next_device_code = this_device_code;
}
// String this_device_code =
// this.queryAssignedByDevice(acsTask.getStart_device_code(), acsTask.getNext_device_code());
// if (StrUtil.isEmpty(this_device_code)) {
// List<RouteLineDto> shortPathsList =
// routeLineService.getShortPathLines(
// start_device_code, acsTask.getNext_device_code(), route_plan_code);
// RouteLineDto routeLineDto = shortPathsList.get(0);
// String path = routeLineDto.getPath();
// String type = routeLineDto.getType();
// String[] str = path.split("->");
// List<String> pathlist = Arrays.asList(str);
// int index = 0;
// for (int m = 0; m < pathlist.size(); m++) {
// if (pathlist.get(m).equals(start_device_code)) {
// index = m + 1;
// break;
// }
// }
// next_device_code = pathlist.get(index);
// } else {
// next_device_code = this_device_code;
// }
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();

47
acs/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java
View File

@@ -76,30 +76,30 @@ public class AutoCreateInst {
}
//校验路由关系
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList)) {
acsTask.setRemark("路由不通无法生成指令");
taskserver.updateByCodeFromCache(acsTask);
continue;
}
// List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
// if (ObjectUtils.isEmpty(shortPathsList)) {
// acsTask.setRemark("路由不通无法生成指令");
// taskserver.updateByCodeFromCache(acsTask);
// continue;
// }
if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
continue;
}
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 1;
break;
}
}
next_device_code = pathlist.get(index);
// if (!StrUtil.equals(shortPathsList.get(0).getType(), "1")) {
// continue;
// }
//
// RouteLineDto routeLineDto = shortPathsList.get(0);
// String path = routeLineDto.getPath();
// String type = routeLineDto.getType();
// String[] str = path.split("->");
// List<String> pathlist = Arrays.asList(str);
// int index = 0;
// for (int m = 0; m < pathlist.size(); m++) {
// if (pathlist.get(m).equals(start_device_code)) {
// index = m + 1;
// break;
// }
// }
// next_device_code = pathlist.get(index);
if (StrUtil.equals(appService.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + acsTask.getTo_y() + "-" + acsTask.getTo_z();
@@ -146,6 +146,7 @@ public class AutoCreateInst {
instructionService.create(instdto);
} catch (Exception e) {
acsTask.setRemark(e.getMessage());
log.info("自动创建指令失败,任务号:{},失败消息:{}",acsTask.getTask_code(),e.getMessage());
taskserver.updateByCodeFromCache(acsTask);
continue;
}