fix

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/AgvWaitUtil.java

@@ -6,18 +6,15 @@ import lombok.extern.slf4j.Slf4j;
 import net.sf.json.JSONArray;
 import net.sf.json.JSONObject;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
-import org.nl.acs.ext.wms.service.impl.AcsToWmsZDServiceImpl;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.instruction.service.dto.Instruction;
 import org.nl.acs.log.service.LogServer;
-import org.nl.acs.opc.DeviceAppService;
 import org.nl.exception.BadRequestException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 /**
- * @author: geng by
+ * @author zhangjiangwei
- * @createDate: 2022/12/5
  */
 @Service
 @RequiredArgsConstructor
@@ -27,6 +24,9 @@ public class AgvWaitUtil {
     @Autowired
     LogServer logServer;
 
+    @Autowired
+    InstructionService instructionService;
+
     //取货前等待
     public JSONObject waitInGet(String startDeviceCode, Instruction inst) {
         log.info("仙工AGV请求取货，设备号 - {}", startDeviceCode);
@@ -55,25 +55,15 @@ public class AgvWaitUtil {
     public JSONObject waitOutGet(String startDeviceCode, Instruction inst) {
         log.info("仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
 
-        JSONObject responseBody = acsToWmsService.gccQueryStationState(inst);
+        inst.setExecute_status("2");
+        instructionService.update(inst);
 
-        if (ObjectUtil.isNotEmpty(responseBody) && 200 == responseBody.optInt("status")) {
-            JSONArray data = responseBody.optJSONArray("data");
-            for (int i = 0; i < data.size(); i++) {
-                JSONObject datum = data.getJSONObject(i);
-                if (startDeviceCode.equals(datum.optString("Station_Code"))
-                        && !datum.optBoolean("IsHasGoods", true)) {
         JSONObject map = new JSONObject();
         map.put("status", 200);
         map.put("message", "允许离开！");
         log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
         return map;
     }
-            }
-        }
-
-        throw new BadRequestException("请求失败!");
-    }
 
     //放货前等待
     public JSONObject waitInPut(String endDeviceCode, Instruction inst) {

hd/nladmin-system/src/main/java/org/nl/acs/agv/server/impl/AgvServiceImpl.java

@@ -663,6 +663,21 @@ public class AgvServiceImpl implements AgvService {
             String agvport = acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT);
 
             agvurl = agvurl + ":" + agvport + "/orders?page=1&size=9999";
+            List<Instruction> insts = instructionService.findAllInstFromCache();
+            if (!insts.isEmpty()) {
+                JSONObject where = new JSONObject();
+                where.put("relation", "OR");
+                JSONArray predicates = new JSONArray();
+                where.put("predicates", predicates);
+                for (Instruction instruction : insts) {
+                    JSONArray row = new JSONArray();
+                    row.add("id");
+                    row.add("EQ");
+                    row.add(instruction.getInstruction_code());
+                    predicates.add(row);
+                }
+                agvurl = agvurl+ "&where=" + where;
+            }
 
             HttpResponse result = HttpRequest.get(agvurl)
                     .timeout(20000)//超时，毫秒
@@ -2132,26 +2147,24 @@ public class AgvServiceImpl implements AgvService {
         jo1.put("operation", "JackLoad");
         ja.add(jo1);
 
-//        if ("true".equals(startDevice.getExtraValue().get("ignore_pickup_check"))) {
+        //取货完成等待
-//            //取货完成等待
+        com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
-//            com.alibaba.fastjson.JSONObject jo2 = new com.alibaba.fastjson.JSONObject();
+        jo2.put("blockId", IdUtil.simpleUUID());
-//            jo2.put("blockId", IdUtil.simpleUUID());
+        jo2.put("location", inst.getStart_point_code() + "OUTGET");
-//            jo2.put("location", inst.getStart_point_code() + "OUTGET");
+        jo2.put("operation", "script");
-//            jo2.put("operation", "script");
+        jo2.put("id", inst.getStart_point_code() + "OUTGET");
-//            jo2.put("id", inst.getStart_point_code() + "OUTGET");
+        jo2.put("script_name", "userpy/interact.py");
-//            jo2.put("script_name", "userpy/interact.py");
+        com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
-//            com.alibaba.fastjson.JSONObject script_args2 = new com.alibaba.fastjson.JSONObject();
+        script_args2.put("addr", addr);
-//            script_args2.put("addr", addr);
+        com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
-//            com.alibaba.fastjson.JSONObject data2 = new com.alibaba.fastjson.JSONObject();
+        com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
-//            com.alibaba.fastjson.JSONObject reach2 = new com.alibaba.fastjson.JSONObject();
+        reach2.put("task_code", inst.getInstruction_code());
-//            reach2.put("task_code", inst.getInstruction_code());
+        reach2.put("address", inst.getStart_point_code() + "OUTGET");
-//            reach2.put("address", inst.getStart_point_code() + "OUTGET");
+        data2.put("reach", reach2);
-//            data2.put("reach", reach2);
+        script_args2.put("data", data2);
-//            script_args2.put("data", data2);
+        script_args2.put("protocol", "HTTP");
-//            script_args2.put("protocol", "HTTP");
+        jo2.put("script_args", script_args2);
-//            jo2.put("script_args", script_args2);
+        ja.add(jo2);
-//            ja.add(jo2);
-//        }
 
         Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code());
         if ("true".equals(nextDevice.getExtraValue().get("ignore_release_check"))) {

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/rest/WmsToAcsController.java

@@ -70,4 +70,10 @@ public class WmsToAcsController {
         return new ResponseEntity<>(wmstoacsService.queryDevice(whereJson), HttpStatus.OK);
     }
 
+    @PostMapping("/gccCancelTask")
+    @Log("广钞厂取消任务")
+    @ApiOperation("广钞厂取消任务")
+    public ResponseEntity<Object> gccCancelTask(@RequestBody String whereJson) {
+        return new ResponseEntity<>(wmstoacsService.gccCancelTask(whereJson), HttpStatus.OK);
+    }
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/WmsToAcsService.java

@@ -52,4 +52,6 @@ public interface WmsToAcsService {
      * @return Map<String, Object>
      */
     Map<String, Object> queryDevice(String jsonObject) throws Exception;
+
+    Map<String, Object> gccCancelTask(String whereJson);
 }

hd/nladmin-system/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -1,5 +1,6 @@
 package org.nl.acs.ext.wms.service.impl;
 
+import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import lombok.RequiredArgsConstructor;
@@ -41,6 +42,8 @@ import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
+import org.nl.exception.BadRequestException;
+import org.nl.utils.SecurityUtils;
 import org.nl.utils.SpringContextHolder;
 import org.nl.wql.core.bean.WQLObject;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -938,4 +941,60 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
         return resultJson;
     }
 
+    @Override
+    public Map<String, Object> gccCancelTask(String whereJson) {
+        try {
+            log.info("gccCancelTask 请求参数：{}", whereJson);
+            JSONObject param = JSONObject.fromObject(whereJson);
+            String taskCode = param.optString("task_code");
+            if (StrUtil.isBlank(taskCode)) {
+                throw new BadRequestException("任务号不能为空，操作失败！");
+            }
+
+            TaskDto task = TaskService.findByCode(taskCode);
+            if (task == null) {
+                throw new BadRequestException(taskCode + "不存在，操作失败！");
+            }
+            if ("2".equals(task.getTask_status())) {
+                throw new BadRequestException(taskCode + "已完成，操作失败！");
+            }
+
+            Instruction inst = InstructionService.findByTaskcode(taskCode);
+            if (ObjectUtil.isNotEmpty(inst)) {
+                if (Integer.parseInt(inst.getExecute_status()) >= 2) {
+                    throw new BadRequestException("AGV已取货完成，无法取消！");
+                }
+                InstructionService.cancel(inst.getInstruction_id());
+            }
+
+            String currentUsername = SecurityUtils.getCurrentUsername();
+            String now = DateUtil.now();
+            task.setUpdate_time(now);
+            task.setUpdate_by(currentUsername);
+            task.setTask_status("3");
+
+            WQLObject wo = WQLObject.getWQLObject("acs_task");
+            JSONObject json = JSONObject.fromObject(task);
+            wo.update(json);
+            //清理缓存
+            for (int i = 0; i < TaskService.findAllTaskFromCache().size(); i++) {
+                TaskDto taskDto = TaskService.findAllTaskFromCache().get(i);
+                if (taskDto.getTask_code().equals(taskCode)) {
+                    TaskService.findAllTaskFromCache().remove(i);
+                }
+            }
+        } catch (Exception e) {
+            JSONObject resultJson = new JSONObject();
+            resultJson.put("status", HttpStatus.BAD_REQUEST.value());
+            resultJson.put("message", e.getMessage());
+            log.info("gccCancelTask 响应参数：{}", resultJson);
+            return resultJson;
+        }
+
+        JSONObject resultJson = new JSONObject();
+        resultJson.put("status", HttpStatus.OK.value());
+        resultJson.put("message", "操作成功！");
+        log.info("gccCancelTask 响应参数：{}", resultJson);
+        return resultJson;
+    }
 }

hd/nladmin-system/src/main/java/org/nl/acs/instruction/service/dto/InstructionDto.java

@@ -37,7 +37,7 @@ public class InstructionDto implements Serializable {
      * 执行状态
      */
     //暂定 0就绪 1请求取货 2取货完成 3请求放货 4放货完成 5取货完成离开 6放货完成离开 7请求进入区域 8请求离开区域
-    private String execute_status;
+    private String execute_status = "0";
 
     /**
      * 执行状态描述

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/AutoCreateInst.java

@@ -42,6 +42,8 @@ public class AutoCreateInst {
     protected BusinessLogger execute_log;
     protected NoRepeatBusinessLogger device_log;
 
+    private volatile boolean lock = false;
+
     public AutoCreateInst() {
         this.execute_log = new BusinessLoggerImpl(BusinessDomain.device_execute.name());
         this.device_log = BusinessLoggerFactory.getNoRepeatBusinessLogger(BusinessDomain.device_execute.name());
@@ -53,6 +55,9 @@ public class AutoCreateInst {
      * 创建指令前需要判断是否条件具备：起始位置是否有货、目标位置是否有货
      */
     public void run() throws Exception {
+        if (!lock) {
+            lock = true;
+            try {
                 TaskService taskserver = SpringContextHolder.getBean(TaskService.class);
                 InstructionService instructionService = SpringContextHolder.getBean(InstructionService.class);
                 RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
@@ -404,5 +409,11 @@ public class AutoCreateInst {
                     taskserver.update(acsTask);
 
                 }
+            } finally {
+                if (lock) {
+                    lock = false;
+                }
+            }
+        }
     }
 }

hd/nladmin-system/src/main/java/org/nl/modules/quartz/task/QueryXZAgvTaskStatus.java

@@ -18,7 +18,7 @@ import org.springframework.stereotype.Component;
  * 查询AGV任务状态
  */
 @Slf4j
-@Component
+@Component("queryXZAgvTaskStatus")
 public class QueryXZAgvTaskStatus {
 
     @Autowired
@@ -33,33 +33,23 @@ public class QueryXZAgvTaskStatus {
     @Autowired
     TaskService taskService;
 
-    private boolean lock = false;
+    private volatile boolean lock = false;
 
     public void run() throws Exception {
-
+        if (!lock) {
-        if (!this.lock) {
+            lock = true;
             try {
-                this.lock = true;
+
                 HttpResponse response = agvService.queryXZAgvInstStatus();
                 JSONObject jo = JSONArray.parseObject(response.body());
 
                 JSONArray ja = JSONArray.parseArray(jo.getString("list"));
                 for (int i = 0; i < ja.size(); i++) {
-                    JSONObject one = ja.getJSONObject(i);
+                    JSONObject one = (JSONObject) ja.get(i);
                     String inst_code = one.getString("id");
-                    Instruction inst = instructionService.findByInstCodeFromCache(inst_code);
+                    Instruction inst = instructionService.findByCodeFromCache(inst_code);
-                    if (ObjectUtil.isEmpty(inst)) {
+                    if (ObjectUtil.isEmpty(inst))
                         continue;
-                    }
-//            //子任务状态 待以后处理
-//            JSONArray blocks = JSONArray.parseArray(one.getString("blocks"));
-//            for(int j=0;j<blocks.size();j++){
-//                com.alibaba.fastjson.JSONObject blocksjo = (JSONObject) blocks.get(j);
-//                String blockId = blocksjo.getString("blockId");
-//                String device_code = blocksjo.getString("location");
-//                String state = blocksjo.getString("state");
-//
-//            }
 
                     String state = one.getString("state");
                     if (!StrUtil.isEmpty(one.getString("vehicle"))) {
@@ -93,19 +83,13 @@ public class QueryXZAgvTaskStatus {
                             instructionService.update(inst);
                         }
                     }
-//             else if ("STOPPED".equals(state)){
-//                if (inst != null) {
-//                    instructionService.cancel(inst.getInstruction_id());
-//
-//                    TaskDto taskDto = taskService.findByCode(inst.getTask_code());
-//                    taskService.cancel(taskDto.getTask_id());
-//                }
-//            }
                 }
             } finally {
-                this.lock = false;
+                if (lock) {
+                    lock = false;
                 }
             }
 
         }
     }
+}