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rev：控制逻辑

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gengby
2025-06-11 10:55:58 +08:00
parent 43d8d78a36
commit 1363bea736
14 changed files with 533 additions and 890 deletions
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144
nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/conveyor/appearance_inspection_scannner_conveyor/AppearanceInspectionScannerConveyorDeviceDriver.java
View File

@@ -22,7 +22,6 @@ import org.nl.acs.device.driver.conveyor.strip_conveyor.StripConveyorDeviceDrive
import org.nl.acs.device.driver.storage.standard_storage.StandardStorageDeviceDriver;
import org.nl.acs.ext.UnifiedResponse;
import org.nl.acs.ext.hk.service.AcsToHkService;
import org.nl.acs.ext.hk.service.data.BaseReq;
import org.nl.acs.ext.hk.service.data.BoxApplyPassReq;
import org.nl.acs.ext.socket.Online;
import org.nl.acs.ext.wms.data.req.CommonRequest;
@@ -46,8 +45,6 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
import org.nl.config.lucene.service.dto.LuceneLogDto;
import org.nl.system.service.param.ISysParamService;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;
import java.util.concurrent.CopyOnWriteArrayList;
import java.util.concurrent.TimeUnit;
@@ -276,7 +273,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")){
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: " + ErrorEnum.getLabel(this.error));
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
@@ -315,6 +312,19 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
.build();
UnifiedResponse<JSONObject> response = acsToWmsService.apply(request);
if (!response.isSuccess()) {
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "反馈拣选工位启停状态失败！请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "反馈拣选工位启停状态失败, 原因:" + response.getMessage()));
}
}
@@ -341,9 +351,6 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
.taskCode(this.reqTakeInstCode)
.type("1")
.build();
// BaseReq<BoxApplyPassReq> req = BaseReq.<BoxApplyPassReq>builder()
// .data(bapReq)
// .build();
UnifiedResponse<String> unifiedResponse = acsToHkService.boxApplyPass(bapReq, String.class);
if (unifiedResponse.isSuccess()) {
this.reqTakeRequireSuccess = false;
@@ -360,9 +367,6 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
.taskCode(this.reqPutInstCode)
.type("2")
.build();
// BaseReq<BoxApplyPassReq> req = BaseReq.<BoxApplyPassReq>builder()
// .data(bapReq)
// .build();
UnifiedResponse<String> unifiedResponse = acsToHkService.boxApplyPass(bapReq, String.class);
if (unifiedResponse.isSuccess()) {
this.reqPutRequireSuccess = false;
@@ -455,6 +459,23 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
this.writing("toHeight", type);
this.writing("toCommand", this.mode);
this.requireSuccess = true;
} else {
if (isErrorTimeValid(currentTimeMillis)) {
this.errorRequireTime = currentTimeMillis;
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "申请载具类型高度失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
}
}
}
}
@@ -498,7 +519,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")){
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
@@ -540,7 +561,7 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")){
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "申请任务失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
@@ -773,7 +794,6 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
AppearanceInspectionScannerConveyorDeviceDriver appearanceInspectionScannerConveyorDeviceDriver = (AppearanceInspectionScannerConveyorDeviceDriver) cacheDevice.getDeviceDriver();
checkoutStartDeviceCode = appearanceInspectionScannerConveyorDeviceDriver.getExtraDeviceCodes("checkoutStartDeviceCode");
}
List<TaskDto> taskDtos = taskService.findReadyTasksByNextDeviceCode(deviceCode, checkoutStartDeviceCode);
TaskDto taskDto = taskService.findReadyTaskByNextDeviceCode(deviceCode, checkoutStartDeviceCode);
Instruction instDto = instructionService.findReadyInstByEnd(deviceCode);
if (ObjectUtil.isNotEmpty(taskDto) && ObjectUtil.isEmpty(instDto)) {
@@ -789,8 +809,10 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
return;
}
DeviceAssignedDto assignedDto = null;
//如果有多个对路由信息
if (assignedDtos.size() > 1) {
Map<Integer, List<DeviceAssignedDto>> tempAss = new HashMap<>();
//遍历路由信息
for (int i = 0; i < assignedDtos.size(); i++) {
DeviceAssignedDto deviceAssignedDto = assignedDtos.get(i);
String inst_nextDevice_code = deviceAssignedDto.getInst_nextDevice_code();
@@ -802,64 +824,12 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
}
deviceAssignedDtos.add(deviceAssignedDto);
}
Integer from_y = Integer.parseInt(taskDto.getFrom_y());
if (bindTaskCode.contains(taskDto.getTask_code())) {
for (DeviceAssignedDto dto : assignedDtos) {
String inst_nextDevice_code = dto.getInst_nextDevice_code();
Device inst_nextDevice = deviceAppService.findDeviceByCode(inst_nextDevice_code);
if (inst_nextDevice != null) {
Boolean isFront = Optional.ofNullable(inst_nextDevice.getExtraValue().get("isFront")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
if (from_y % 4 == 1 || from_y % 4 == 2) {
//分配后叉
if (!isFront) {
assignedDto = dto;
break;
}
} else if (from_y % 4 == 3 || from_y % 4 == 0) {
//分配前叉
if (isFront) {
assignedDto = dto;
break;
}
}
}
}
} else {
TaskDto bindTaskDto = this.isBind(taskDtos, taskDto, taskDto.getTask_code());
if (bindTaskDto != null) {
bindTaskCode.add(bindTaskDto.getTask_code());
for (DeviceAssignedDto dto : assignedDtos) {
String inst_nextDevice_code = dto.getInst_nextDevice_code();
Device inst_nextDevice = deviceAppService.findDeviceByCode(inst_nextDevice_code);
if (inst_nextDevice != null) {
Boolean isFront = Optional.ofNullable(inst_nextDevice.getExtraValue().get("isFront")).map(Object::toString).map(Boolean::parseBoolean).orElse(false);
if (from_y % 4 == 1 || from_y % 4 == 2) {
//分配后叉
if (!isFront) {
assignedDto = dto;
break;
}
} else if (from_y % 4 == 3 || from_y % 4 == 0) {
//分配前叉
if (isFront) {
assignedDto = dto;
break;
}
}
}
}
} else {
Set<Integer> keys = tempAss.keySet();
Integer minKey = Collections.min(keys);
Integer maxKey = Collections.max(keys);
List<DeviceAssignedDto> minList = tempAss.get(minKey);
List<DeviceAssignedDto> maxList = tempAss.get(maxKey);
if (minList.size() == maxList.size()) {
}
assignedDto = minList.get(0);
}
}
Set<Integer> keys = tempAss.keySet();
Integer minKey = Collections.min(keys);
Integer maxKey = Collections.max(keys);
List<DeviceAssignedDto> minList = tempAss.get(minKey);
//List<DeviceAssignedDto> maxList = tempAss.get(maxKey);
assignedDto = minList.get(0);
} else {
assignedDto = assignedDtos.get(0);
}
@@ -975,32 +945,6 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
}
}
private TaskDto isBind(List<TaskDto> taskDtos, TaskDto link_task, String task_code) {
String from_x = link_task.getFrom_x();
String from_y = link_task.getFrom_y();
String from_z = link_task.getFrom_z();
return taskDtos.stream()
.filter(taskDto -> !taskDto.getTask_code().equals(task_code))
.filter(taskDto -> taskDto.getTask_status().equals(TaskStatusEnum.READY.getIndex()))
.filter(taskDto -> taskDto.getFrom_x().equals(from_x) && taskDto.getFrom_z().equals(from_z))
.filter(taskDto -> {
int frontFromY = Integer.parseInt(from_y);
int taskDtoFromY = Integer.parseInt(taskDto.getFrom_y());
int frontGroup = (frontFromY - 1) / 4;
int taskDtoGroup = (taskDtoFromY - 1) / 4;
if (frontGroup != taskDtoGroup) {
return false;
}
int frontMod = frontFromY % 4;
int taskDtoMod = taskDtoFromY % 4;
return (frontMod + taskDtoMod == 2 || frontMod + taskDtoMod == 4);
})
.sorted(Comparator.comparing(TaskDto::getPriority)
.thenComparing(taskDto -> LocalDateTime.parse(taskDto.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst()
.orElse(null);
}
/**
* 下发输送线指令
*/
@@ -1017,14 +961,8 @@ public class AppearanceInspectionScannerConveyorDeviceDriver extends AbstractOpc
if (next_device != null && next_device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
List<String> targetDeviceCode = this.getExtraDeviceCodes("targetDeviceCode");
if (targetDeviceCode != null && targetDeviceCode.contains(next_device_code)) {
// if (StrUtil.equals(String.valueOf(this.task), inst.getInstruction_code())) {
// this.writing(Arrays.asList(ItemProtocol.TO_COMMAND.getKey()), Arrays.asList(CommandEnum.COMMAND_1.getValue()));
// this.requireSuccess = true;
// } else {
Integer address = Optional.ofNullable(next_device.getExtraValue().get("address")).map(Object::toString).map(Integer::parseInt).orElse(0);
this.writing(Arrays.asList(ItemProtocol.TO_TASK.getKey(), ItemProtocol.TO_TARGET.getKey()), Arrays.asList(inst.getInstruction_code(), address));
//this.writing(Arrays.asList(ItemProtocol.TO_TARGET.getKey()), Arrays.asList(address));
// }
this.requireSuccess = true;
}
}

790
nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/driver/stacker/double_stacker/StandardStackerDeviceDriver.java
View File

@@ -10,6 +10,7 @@ import com.alibaba.fastjson.JSONObject;
import com.google.common.util.concurrent.Uninterruptibles;
import lombok.*;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.collections4.CollectionUtils;
import org.nl.acs.device.device.domain.Device;
import org.nl.acs.device.device.service.DeviceAppService;
import org.nl.acs.device.driver.*;
@@ -45,9 +46,7 @@ import java.util.stream.Collectors;
/**
* @Description 1、适用于单/双堆垛机;
* 2、默认优先执行移库任务;
* 3、其次按照堆垛机设置的策略(入库优先(含拣选出库)策略、出库优先策略、时间顺序策略、一进一出策略)执行;
* 4、除移库任务是从任务列表中查找，其余任务都是从指令列表中查找就绪状态下的信息
* 2、默认优先执行移库任务,其次执行换层任务,再按照堆垛机所在位置执行一进一出的出入库任务;
* @Author Gengby
* @Date 2024/6/26
*/
@@ -360,6 +359,16 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
private List<Integer> HAS_GOODS = Arrays.asList(2, 3, 6, 7, 10, 11, 14, 15, 18, 19, 22, 23, 26, 27, 30, 31);
/**
* 任务申请失败通知时间
*/
private long errorRequireTime = System.currentTimeMillis();
/**
* 任务申请失败请求间隔时间
*/
private long errorRequireTimeOut = 60000L;
private Map<String, Map<String, List<String>>> createFloorMappingPoint() {
List<JSONObject> floorPoint = this.getExtraListValue("floorPoint");
Map<String, Map<String, List<String>>> floorMappingPoint = new HashMap<>();
@@ -506,7 +515,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")){
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "设备" + this.currentDeviceCode + "报警, 报警信息: 前叉 " + ErrorEnum.getDesc(this.front_Zerror) + ", 后叉 " + ErrorEnum.getDesc(this.back_Zerror));
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
@@ -537,11 +546,13 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
if (this.back_command != this.lastBack_command || this.front_command != this.lastFront_command) {
this.requireSuccess = false;
}
if (this.front_Zerror != this.lastFront_Zerror || this.back_Zerror != this.lastBack_Zerror) {
if (AGAIN_ERROR.contains(this.front_Zerror) || AGAIN_ERROR.contains(this.back_Zerror)) {
this.againRequireSuccess = false;
}
}
if (this.front_Zerror == ErrorEnum.MR.getCode()) {
if (!this.againRequireSuccess) {
this.mR(this.front_task, ForkTypeEnum.FRONT.getCode());
@@ -551,6 +562,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
this.mR(this.back_task, ForkTypeEnum.BACK.getCode());
}
}
if (this.front_Zerror == ErrorEnum.KC.getCode() && this.back_Zerror == ErrorEnum.KC.getCode()) {
if (!this.againRequireSuccess) {
this.kC(this.front_task);
@@ -573,6 +585,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
}
}
if (this.front_Zerror == ErrorEnum.ZD.getCode() && this.back_Zerror == ErrorEnum.ZD.getCode()
&& NO_HAS_GOODS.contains(this.front_forkCargo) && NO_HAS_GOODS.contains(this.back_forkCargo)
) {
@@ -686,52 +699,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
//出库
else if (instanceStorage(back_start_device) && instanceAppearance(back_next_device)) {
String getLinkDeviceCode = this.handExtraStringValue(back_next_device, "getLinkDeviceCode");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
if (ObjectUtil.isEmpty(frontInst)) {
frontInst = instructionService.findReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList);
if (ObjectUtil.isNotEmpty(frontInst)) {
String qPoint = getZdPoint(frontInst.getStart_point_code());
TaskDto taskDto = taskService.findByStartPointCode(qPoint);
if (ObjectUtil.isNotEmpty(taskDto)) {
String task_start_device_code = taskDto.getStart_device_code();
String task_next_device_code = taskDto.getNext_device_code();
Device task_start_device = deviceAppService.findDeviceByCode(task_start_device_code);
Device task_next_devcice = deviceAppService.findDeviceByCode(task_next_device_code);
if (task_start_device != null && task_next_devcice != null && instanceStorage(task_start_device) && instanceStorage(task_next_devcice)) {
Instruction instruction = instructionService.findByTaskCodeFromCache(taskDto.getTask_code());
if (ObjectUtil.isEmpty(instruction)) {
frontInst = new Instruction();
setInstruction(frontInst, taskDto);
try {
instructionService.create(frontInst);
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(taskDto);
} catch (Exception e) {
this.unExecutedMessage = "后叉出库任务，取货完成后，创建前叉移库指令时出现异常,原因:" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "后叉出库任务，取货完成后，创建前叉移库指令时出现异常,原因:" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因:" + e.getMessage()));
this.sendPutInfoToPlc(null, backInst);
return;
}
this.frontWrite(frontInst);
} else {
if (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
this.frontWrite(instruction);
} else {
this.sendPutInfoToPlc(null, backInst);
}
}
} else {
this.sendPutInfoToPlc(null, backInst);
}
} else {
this.frontWrite(frontInst);
}
} else {
this.sendPutInfoToPlc(null, backInst);
}
}
//前叉有货，后叉无货，后叉取货完成
this.backGetFinish(back_next_device, frontInst, backInst, getFrontDeviceCodeList);
this.requireSuccess = true;
} else {
this.sendPutInfoToPlc(frontInst, backInst);
@@ -773,52 +742,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
//出库
else if (instanceStorage(front_start_device) && instanceAppearance(front_next_device)) {
String getLinkDeviceCode = this.handExtraStringValue(front_next_device, "getLinkDeviceCode");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
if (ObjectUtil.isEmpty(backInst)) {
backInst = instructionService.findReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList);
if (ObjectUtil.isNotEmpty(backInst)) {
String qPoint = getZdPoint(backInst.getStart_point_code());
TaskDto taskDto = taskService.findByStartPointCode(qPoint);
if (ObjectUtil.isNotEmpty(taskDto)) {
String task_start_device_code = taskDto.getStart_device_code();
String task_next_device_code = taskDto.getNext_device_code();
Device task_start_device = deviceAppService.findDeviceByCode(task_start_device_code);
Device task_next_devcice = deviceAppService.findDeviceByCode(task_next_device_code);
if (task_start_device != null && task_next_devcice != null && instanceStorage(task_start_device) && instanceStorage(task_next_devcice)) {
Instruction instruction = instructionService.findByTaskCodeFromCache(taskDto.getTask_code());
if (ObjectUtil.isEmpty(instruction)) {
backInst = new Instruction();
setInstruction(backInst, taskDto);
try {
instructionService.create(backInst);
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(taskDto);
} catch (Exception e) {
this.unExecutedMessage = "前叉出库任务，取货完成后，创建后叉移库指令时出现异常,原因:" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "前叉出库任务，取货完成后，创建后叉移库指令时出现异常,原因:" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因:" + e.getMessage()));
this.sendPutInfoToPlc(frontInst, null);
return;
}
this.backWrite(backInst);
} else {
if (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
this.backWrite(instruction);
} else {
this.sendPutInfoToPlc(frontInst, null);
}
}
} else {
this.sendPutInfoToPlc(frontInst, null);
}
} else {
this.backWrite(backInst);
}
} else {
this.sendPutInfoToPlc(frontInst, null);
}
}
//前叉有货，后叉无货，前叉取货完成
this.frontGetFinish(front_next_device, frontInst, backInst, getBackDeviceCodeList);
this.requireSuccess = true;
} else {
this.sendPutInfoToPlc(frontInst, backInst);
@@ -878,60 +803,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
//出库
else if (instanceStorage(front_start_device) && instanceAppearance(front_next_device)) {
String getLinkDeviceCode = this.handExtraStringValue(front_next_device, "getLinkDeviceCode");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
if (ObjectUtil.isEmpty(backInst)) {
backInst = instructionService.findShallowReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList);
if (ObjectUtil.isNotEmpty(backInst)) {
this.backWrite(backInst);
} else {
backInst = instructionService.findDeepReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList);
if (ObjectUtil.isNotEmpty(backInst)) {
String qPoint = getZdPoint(backInst.getStart_point_code());
TaskDto taskDto = taskService.findByStartPointCode(qPoint);
if (ObjectUtil.isNotEmpty(taskDto)) {
String task_start_device_code = taskDto.getStart_device_code();
String task_next_device_code = taskDto.getNext_device_code();
Device task_start_device = deviceAppService.findDeviceByCode(task_start_device_code);
Device task_next_devcice = deviceAppService.findDeviceByCode(task_next_device_code);
if (task_start_device != null && task_next_devcice != null && instanceStorage(task_start_device) && instanceStorage(task_next_devcice)) {
Instruction instruction = instructionService.findByTaskCodeFromCache(taskDto.getTask_code());
if (ObjectUtil.isEmpty(instruction)) {
backInst = new Instruction();
setInstruction(backInst, taskDto);
try {
instructionService.create(backInst);
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(taskDto);
} catch (Exception e) {
this.unExecutedMessage = "前叉出库任务，取货完成后，创建后叉移库指令时出现异常,原因:" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "前叉出库任务，取货完成后，创建后叉移库指令时出现异常,原因:" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因:" + e.getMessage()));
this.sendPutInfoToPlc(frontInst, null);
return;
}
this.backWrite(backInst);
} else {
if (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
this.backWrite(instruction);
} else {
this.sendPutInfoToPlc(frontInst, null);
}
}
} else {
this.sendPutInfoToPlc(frontInst, null);
}
} else {
this.backWrite(backInst);
}
} else {
//下发前叉放货信息
this.sendPutInfoToPlc(frontInst, backInst);
}
}
} else {
this.sendPutInfoToPlc(frontInst, backInst);
}
//前叉取货完成
this.frontGetFinish(front_next_device, frontInst, backInst, getBackDeviceCodeList);
} else if (instanceAppearance(front_start_device) && instanceAppearance(front_next_device)) {
if (ObjectUtil.isEmpty(backInst)) {
// List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
@@ -992,60 +865,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
//出库
else if (instanceStorage(back_start_device) && instanceAppearance(back_next_device)) {
String getLinkDeviceCode = this.handExtraStringValue(back_next_device, "getLinkDeviceCode");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
if (ObjectUtil.isEmpty(frontInst)) {
frontInst = instructionService.findShallowReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList);
if (ObjectUtil.isNotEmpty(frontInst)) {
this.frontWrite(frontInst);
} else {
frontInst = instructionService.findDeepReadyInstByLinkDeviceCodeAndNextDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList);
if (ObjectUtil.isNotEmpty(frontInst)) {
String qPoint = getZdPoint(frontInst.getStart_point_code());
TaskDto taskDto = taskService.findByStartPointCode(qPoint);
if (ObjectUtil.isNotEmpty(taskDto)) {
String task_start_device_code = taskDto.getStart_device_code();
String task_next_device_code = taskDto.getNext_device_code();
Device task_start_device = deviceAppService.findDeviceByCode(task_start_device_code);
Device task_next_devcice = deviceAppService.findDeviceByCode(task_next_device_code);
if (task_start_device != null && task_next_devcice != null && instanceStorage(task_start_device) && instanceStorage(task_next_devcice)) {
Instruction instruction = instructionService.findByTaskCodeFromCache(taskDto.getTask_code());
if (ObjectUtil.isEmpty(instruction)) {
frontInst = new Instruction();
setInstruction(frontInst, taskDto);
try {
instructionService.create(frontInst);
taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(taskDto);
} catch (Exception e) {
this.unExecutedMessage = "后叉出库任务，取货完成后，创建前叉移库指令时出现异常,原因:" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "后叉出库任务，取货完成后，创建前叉移库指令时出现异常,原因:" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因:" + e.getMessage()));
this.sendPutInfoToPlc(null, backInst);
return;
}
this.frontWrite(frontInst);
} else {
if (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
this.frontWrite(instruction);
} else {
this.sendPutInfoToPlc(null, backInst);
}
}
} else {
this.sendPutInfoToPlc(null, backInst);
}
} else {
this.frontWrite(frontInst);
}
} else {
//下发前叉放货信息
this.sendPutInfoToPlc(frontInst, backInst);
}
}
} else {
this.sendPutInfoToPlc(frontInst, backInst);
}
//后叉取货完成
this.backGetFinish(back_next_device, frontInst, backInst, getFrontDeviceCodeList);
} else if (instanceAppearance(back_start_device) && instanceAppearance(back_next_device)) {
if (ObjectUtil.isEmpty(frontInst)) {
//List<String> getFrontDeviceCodeList = this.getExtraDeviceCodes("frontDeviceCodeList");
@@ -1079,9 +900,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
this.clearInfoToPlc();
} else if (this.lastFront_command != CommandEnum.UNLOAD.getStatus() && this.front_command != CommandEnum.STANDY.getStatus()) {
this.clearInfoToPlc();
} else {
this.requireSuccess = true;
}
this.requireSuccess = true;
}
//请求卸货
else if (mode == ModeEnum.MODE_3.getNum() && this.isUnload() && !requireSuccess) {
@@ -1274,18 +1094,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
} else {
String strategyValue = Optional.ofNullable(this.getExtraValue().get("strategyValue")).map(Object::toString).orElse("");
switch (strategyValue) {
case "2":
this.applyOutTask();
break;
case "3":
this.applyTaskByTime();
break;
case "4":
this.applyTaskOneInOneOut();
break;
default:
this.applyInTask();
break;
}
}
} else {
@@ -1304,7 +1115,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
/**
* 拣选出库
* 堆垛机换层任务
*
* @return
*/
@@ -1360,230 +1171,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
return true;
}
/**
* 入库
*/
private void applyInTask() {
boolean flag = this.applySpecialTask();
if (flag) {
this.unExecutedMessage = null;
return;
}
if (!prohibitInWarehouse) {
List<String> getFrontDeviceCodeList = this.getExtraDeviceCodes("frontDeviceCodeList");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
List<Instruction> frontInsts = instructionService.findReadyInstByStartDeviceCode(getFrontDeviceCodeList, frontNoY);
Instruction frontInst = null;
Instruction backInst = null;
Device front_start_device = null;
Device back_start_device = null;
if (CollectionUtil.isNotEmpty(frontInsts)) {
frontInst = frontInsts.get(0);
if (ObjectUtil.isNotEmpty(frontInst)) {
String front_start_device_code = frontInst.getStart_device_code();
front_start_device = deviceAppService.findDeviceByCode(front_start_device_code);
if (front_start_device != null) {
String getLinkDeviceCode = this.handExtraStringValue(front_start_device, "getLinkDeviceCode");
backInst = instructionService.findReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, backNoY, getBackDeviceCodeList);
if (ObjectUtil.isEmpty(backInst)) {
Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode);
if (ObjectUtil.isNotEmpty(inst)) {
return;
}
}
}
}
} else {
if (this.stackerNum == 2) {
List<Instruction> backInsts = instructionService.findReadyInstByStartDeviceCode(getBackDeviceCodeList, backNoY);
if (CollectionUtil.isNotEmpty(backInsts)) {
backInst = backInsts.get(0);
}
if (ObjectUtil.isNotEmpty(backInst)) {
String back_start_device_code = backInst.getStart_device_code();
back_start_device = deviceAppService.findDeviceByCode(back_start_device_code);
if (back_start_device != null) {
String getLinkDeviceCode = this.handExtraStringValue(back_start_device, "getLinkDeviceCode");
front_start_device = deviceAppService.findDeviceByCode(getLinkDeviceCode);
if (front_start_device != null) {
frontInst = instructionService.findReadyInstByLinkDeviceCodeAndStartDeviceCode(getLinkDeviceCode, frontNoY, getFrontDeviceCodeList);
if (ObjectUtil.isEmpty(frontInst)) {
Instruction inst = instructionService.findBusyInstByNextDeviceCode(getLinkDeviceCode);
if (ObjectUtil.isNotEmpty(inst)) {
return;
}
}
}
}
}
}
}
if (ObjectUtil.isNotEmpty(frontInst) && ObjectUtil.isNotEmpty(backInst)) {
this.FBWrite(front_start_device, frontInst, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else if (ObjectUtil.isNotEmpty(frontInst)) {
this.frontWrite(front_start_device, frontInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else if (ObjectUtil.isNotEmpty(backInst)) {
this.backWrite(back_start_device, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else {
String strategyValue = Optional.ofNullable(this.getExtraValue().get("strategyValue")).map(Object::toString).orElse("");
if (ObjectUtil.equals(strategyValue, StrategyEnum.IN.getValue())) {
this.applyOutTask();
} else if (ObjectUtil.equals(strategyValue, StrategyEnum.OUT.getValue()) && !ObjectUtil.equals(strategyValue, StrategyEnum.TIME.getValue())) {
this.unExecutedMessage = "堆垛机未查询到就绪状态下可执行的任务或指令信息";
}
}
} else {
if (this.prohibitOutWarehouse) {
this.unExecutedMessage = "堆垛机设置为禁止出库、禁止入库";
return;
}
this.applyOutTask();
}
}
/**
* 出库(含拣选)
*/
private void applyOutTask() {
if (!this.prohibitOutWarehouse) {
List<String> getFrontDeviceCodeList = this.getExtraDeviceCodes("frontDeviceCodeList");
List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
List<Instruction> frontInsts = instructionService.findReadyInstByNextDeviceCode(getFrontDeviceCodeList, frontNoY);
Instruction frontInst = null;
Instruction backInst = null;
if (CollectionUtil.isNotEmpty(frontInsts)) {
frontInst = frontInsts.get(0);
if (ObjectUtil.isNotEmpty(frontInst) && this.stackerNum == 2) {
String front_next_device_code = frontInst.getNext_device_code();
Device front_next_device = deviceAppService.findDeviceByCode(front_next_device_code);
if (front_next_device != null) {
String getLinkDeviceCode = this.handExtraStringValue(front_next_device, "getLinkDeviceCode");
backInst = instructionService.findReadyInstByNextDeviceCode(frontInst, getLinkDeviceCode, backNoY);
}
}
} else {
if (this.stackerNum == 2) {
List<Instruction> backInsts = instructionService.findReadyInstByNextDeviceCode(getBackDeviceCodeList, backNoY);
if (CollectionUtil.isNotEmpty(backInsts)) {
backInst = backInsts.get(0);
}
}
}
if (ObjectUtil.isNotEmpty(frontInst) && ObjectUtil.isNotEmpty(backInst)) {
this.FBWrite(frontInst, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else if (ObjectUtil.isNotEmpty(frontInst)) {
this.frontWrite(frontInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else if (ObjectUtil.isNotEmpty(backInst)) {
this.backWrite(backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else {
String strategyValue = Optional.ofNullable(this.getExtraValue().get("strategyValue")).map(Object::toString).orElse("");
if (ObjectUtil.equals(strategyValue, StrategyEnum.OUT.getValue())) {
this.applyInTask();
} else if (ObjectUtil.equals(strategyValue, StrategyEnum.IN.getValue()) && !ObjectUtil.equals(strategyValue, StrategyEnum.TIME.getValue())) {
this.unExecutedMessage = "堆垛机未查询到就绪状态下可执行的任务或指令信息";
}
}
} else {
if (this.prohibitInWarehouse) {
this.unExecutedMessage = "堆垛机设置为禁止出库、禁止入库";
return;
}
this.applyInTask();
}
}
/**
* 时间顺序策略
*/
private void applyTaskByTime() {
boolean flag = this.applySpecialTask();
if (flag) {
this.unExecutedMessage = null;
return;
}
List<String> getFrontDeviceCodeList = this.getExtraDeviceCodes("frontDeviceCodeList");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
List<Instruction> frontInsts = instructionService.findReadyInstByDeviceCode(getFrontDeviceCodeList, frontNoY);
Instruction frontInst = null;
if (CollectionUtil.isNotEmpty(frontInsts)) {
frontInst = frontInsts.get(0);
}
if (ObjectUtil.isNotEmpty(frontInst)) {
String front_start_device_code = frontInst.getStart_device_code();
Device front_start_device = deviceAppService.findDeviceByCode(front_start_device_code);
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
if (front_start_device != null && front_start_device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
String getLinkDeviceCode = this.handExtraStringValue(front_start_device, "getLinkDeviceCode");
Instruction backInst = instructionService.findReadyInstByStartDeviceCode(frontInst, getLinkDeviceCode, backNoY);
if (ObjectUtil.isNotEmpty(getLinkDeviceCode) && deviceAppService.findDeviceByCode(getLinkDeviceCode) != null && ObjectUtil.isNotEmpty(backInst)) {
this.FBWrite(front_start_device, frontInst, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else {
this.frontWrite(front_start_device, frontInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
}
} else if (front_start_device != null && front_start_device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
String next_device_code = frontInst.getNext_device_code();
Device next_device = deviceAppService.findDeviceByCode(next_device_code);
if (next_device != null && next_device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
String getLinkDeviceCode = Optional.ofNullable(next_device.getExtraValue().get("getLinkDeviceCode")).map(Object::toString).orElse(null);
Instruction backInst = instructionService.findReadyInstByNextDeviceCode(frontInst, getLinkDeviceCode, backNoY);
if (ObjectUtil.isNotEmpty(getLinkDeviceCode) && deviceAppService.findDeviceByCode(getLinkDeviceCode) != null && ObjectUtil.isNotEmpty(backInst)) {
this.FBWrite(frontInst, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else {
this.frontWrite(frontInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
}
}
}
} else {
List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
List<Instruction> backInsts = instructionService.findReadyInstByDeviceCode(getBackDeviceCodeList, backNoY);
Instruction backInst = null;
if (CollectionUtil.isNotEmpty(backInsts)) {
backInst = backInsts.get(0);
}
if (ObjectUtil.isNotEmpty(backInst)) {
String back_start_device_code = backInst.getStart_device_code();
Device back_start_device = deviceAppService.findDeviceByCode(back_start_device_code);
if (back_start_device != null && back_start_device.getDeviceDriver() instanceof AppearanceInspectionScannerConveyorDeviceDriver) {
this.backWrite(back_start_device, backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
} else if (back_start_device != null && back_start_device.getDeviceDriver() instanceof StandardStorageDeviceDriver) {
this.backWrite(backInst);
this.unExecutedMessage = null;
this.requireSuccess = true;
}
} else {
this.unExecutedMessage = "堆垛机未查询到就绪状态下可执行的任务或指令信息";
}
}
}
/**
* 一进一出策略
* 根据楼层优先级
@@ -1884,9 +1471,34 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
List<String> getBackDeviceCodeList = this.getExtraDeviceCodes("backDeviceCodeList");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
List<Instruction> frontInsts = instructionService.findShallowReadyInstByNextDeviceCode(getFrontDeviceCodeList, frontNoY);
if (CollectionUtil.isNotEmpty(frontInsts)) {
frontInst = frontInsts.get(0);
//先根据优先级和时间顺序查看指令信息
List<Instruction> frontInsts = instructionService.findAllInstByPriorityCreateTime(getFrontDeviceCodeList, frontNoY);
//如果查询到的是浅货位的指令信息，则直接下发
if (CollectionUtils.isNotEmpty(frontInsts)) {
for (Instruction inst : frontInsts) {
String start_device_code = inst.getStart_device_code();
//判断当前库位是深库位还是浅库位
int x = Integer.parseInt(getNumericPart(start_device_code));
//如果是深库位
if (x == 1 || x == 4) {
//查询对应的浅货位编码
String shallStartPointCode = getZdPoint(inst.getStart_point_code());
//查询对应的浅库位是否存在就绪的指令信息
Instruction shallInst = instructionService.findReadyInstByStartPointCode(shallStartPointCode);
if (shallInst != null) {
frontInst = shallInst;
break;
}
//若不存在，则查询是否存在就绪的任务信息
TaskDto shallTask = taskService.findReadyByStartPointCode(shallStartPointCode);
if (shallTask != null) {
continue;
}
//如果不存在就绪的指令信息和任务信息，直接结束循环
}
frontInst = inst;
break;
}
if (ObjectUtil.isNotEmpty(frontInst) && this.stackerNum == 2) {
String front_next_device_code = frontInst.getNext_device_code();
Device front_next_device = deviceAppService.findDeviceByCode(front_next_device_code);
@@ -1899,28 +1511,30 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
} else {
if (this.stackerNum == 2) {
List<Instruction> backInsts = instructionService.findShallowReadyInstByNextDeviceCode(getBackDeviceCodeList, backNoY);
if (CollectionUtil.isNotEmpty(backInsts)) {
backInst = backInsts.get(0);
} else {
frontInsts = instructionService.findDeepReadyInstByNextDeviceCode(getFrontDeviceCodeList, frontNoY);
if (CollectionUtil.isNotEmpty(frontInsts)) {
frontInst = frontInsts.get(0);
if (ObjectUtil.isNotEmpty(frontInst) && this.stackerNum == 2) {
String front_next_device_code = frontInst.getNext_device_code();
Device front_next_device = deviceAppService.findDeviceByCode(front_next_device_code);
if (front_next_device != null) {
String getLinkDeviceCode = this.handExtraStringValue(front_next_device, "getLinkDeviceCode");
if (StrUtil.isNotEmpty(getLinkDeviceCode)) {
backInst = instructionService.findDeepReadyInstByNextDeviceCode(frontInst, getLinkDeviceCode, backNoY, getBackDeviceCodeList);
}
List<Instruction> backInsts = instructionService.findAllInstByPriorityCreateTime(getBackDeviceCodeList, backNoY);
if (CollectionUtils.isNotEmpty(backInsts)) {
for (Instruction inst : backInsts) {
String start_device_code = inst.getStart_device_code();
//判断当前库位是深库位还是浅库位
int x = Integer.parseInt(getNumericPart(start_device_code));
//如果是深库位
if (x == 1 || x == 4) {
//查询对应的浅货位编码
String shallStartPointCode = getZdPoint(inst.getStart_point_code());
//查询对应的浅库位是否存在就绪的指令信息
Instruction shallInst = instructionService.findReadyInstByStartPointCode(shallStartPointCode);
if (shallInst != null) {
backInst = shallInst;
break;
}
//若不存在，则查询是否存在就绪的任务信息
TaskDto shallTask = taskService.findReadyByStartPointCode(shallStartPointCode);
if (shallTask != null) {
continue;
}
}
} else {
backInsts = instructionService.findDeepReadyInstByNextDeviceCode(getBackDeviceCodeList, backNoY);
if (CollectionUtil.isNotEmpty(backInsts)) {
backInst = backInsts.get(0);
}
backInst = inst;
break;
}
}
}
@@ -2208,7 +1822,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
Device front_device = deviceAppService.findDeviceByCode(front_start_device_code);
Device back_device = deviceAppService.findDeviceByCode(back_start_device_code);
String back_device_code = this.handExtraStringValue(front_device, "getLinkDeviceCode");
if (instanceStorage(front_device) && instanceStorage(back_device)) {
String front_from_x = frontInst.getFrom_x();
String front_from_y = frontInst.getFrom_y();
@@ -2334,6 +1947,11 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
this.requireSuccess = true;
}
private boolean isErrorTimeValid(long errorCurrentTimeMillis) {
return errorCurrentTimeMillis - this.errorRequireTime >= this.errorRequireTimeOut;
}
/**
* 满入
*/
@@ -2369,6 +1987,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
this.againRequireSuccess = true;
}
} else {
if (isErrorTimeValid(currentTimeMillis)) {
this.errorRequireTime = currentTimeMillis;
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "堆垛机满入申请重新分配库位失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
}
}
}
}
@@ -2400,6 +2035,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
instructionService.cancelInstAndTask(inst.getInstruction_id());
this.writing(ItemProtocol.TO_COMMAND.getKey(), SendSignalEnum.COMMAND_FIVE.getSignalNum());
this.againRequireSuccess = true;
} else {
if (isErrorTimeValid(currentTimeMillis)) {
this.errorRequireTime = currentTimeMillis;
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "堆垛机空出反馈WMS失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
}
}
}
}
@@ -2441,6 +2093,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
this.writing(ItemProtocol.TO_COMMAND.getKey(), SendSignalEnum.COMMAND_FIVE.getSignalNum());
this.againRequireSuccess = true;
} else {
if (isErrorTimeValid(currentTimeMillis)) {
this.errorRequireTime = currentTimeMillis;
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "堆垛机取货时浅货位有货反馈WMS失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
}
}
}
}
@@ -2497,6 +2166,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
}
}
this.againRequireSuccess = true;
} else {
if (isErrorTimeValid(currentTimeMillis)) {
this.errorRequireTime = currentTimeMillis;
String notifyValue = Optional.ofNullable(sysParamService.findByCode("is_notify"))
.map(notify -> notify.getValue())
.orElse("0");
if (notifyValue.equals("1")) {
JSONObject dataParam = new JSONObject();
dataParam.put("msg", "堆垛机放货时浅货位有货申请重新分配库位失败! 请求参数: " + request + "响应信息: " + response.getMessage());
CommonRequest<JSONObject> requestParam = CommonRequest.<JSONObject>builder()
.service("ErrorInfo")
.type("1")
.data(dataParam)
.build();
acsToWmsService.apply(requestParam);
}
}
}
}
}
@@ -2603,4 +2289,178 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
instdto.setInstruction_type(taskDto.getTask_type());
}
}
/**
* 出库时，后叉取货完成，下发前叉取/后叉放货信息
*
* @param back_next_device
* @param frontInst
* @param getFrontDeviceCodeList
*/
private void backGetFinish(Device back_next_device, Instruction frontInst, Instruction backInst, List<String> getFrontDeviceCodeList) {
List<String> xDeviceCodeList = this.getExtraDeviceCodes("xDeviceCodeList");
String getLinkDeviceCode = this.handExtraStringValue(back_next_device, "getLinkDeviceCode");
String frontNoY = this.handExtraStringValue(this.getDevice(), "frontNoY");
if (ObjectUtil.isEmpty(frontInst)) {
//前叉无货，后叉有货，前叉无指令信息，后叉有指令信息
//根据后叉关联点位，按照优先级、创建时间去查询前叉指令信息
List<Instruction> frontInsts = instructionService.findAllInstByPriorityCreateTime(getLinkDeviceCode, getFrontDeviceCodeList, frontNoY);
//遍历前叉指令信息，判断前叉指令起点是深库位还是浅库位
if (CollectionUtils.isNotEmpty(frontInsts)) {
for (Instruction inst : frontInsts) {
String start_device_code = inst.getStart_device_code();
//判断当前库位是深库位还是浅库位
int x = Integer.parseInt(getNumericPart(start_device_code));
//如果是深库位
if (x == 1 || x == 4) {
//查询对应的浅货位编码
String shallStartPointCode = getZdPoint(inst.getStart_point_code());
//查询对应的浅库位是否存在就绪的指令信息
Instruction shallInst = instructionService.findReadyInstByStartPointCode(shallStartPointCode);
if (shallInst != null) {
//判断该就绪的指令信息是否是堆垛机库内移库指令信息
String next_device_code = shallInst.getNext_device_code();
if (xDeviceCodeList.contains(next_device_code)) {
Set<String> currentNoY = frontNoY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(frontNoY.split(",")));
//如果是的话，判断终点是否前叉可达的，
if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallInst.getFrom_y())))) {
// 如果前叉可达，则下发前叉移库指令的取货信息 break;
this.frontWrite(shallInst);
break;
}
// 否则直接下发后叉放货信息 break
this.sendPutInfoToPlc(null, backInst);
break;
}
continue;
}
//若不存在，则查询是否存在就绪的任务信息
TaskDto shallTask = taskService.findReadyByStartPointCode(shallStartPointCode);
if (shallTask != null) {
//判断该就绪的任务信息是否是堆垛机库内移库任务信息
String next_device_code = shallTask.getNext_device_code();
if (xDeviceCodeList.contains(next_device_code)) {
Set<String> currentNoY = frontNoY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(frontNoY.split(",")));
//如果是的话，判断终点是否前叉可达的，
if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallTask.getFrom_y())))) {
// 如果前叉可达，则创建移库指令，并下发前叉移库指令的取货信息 break;
frontInst = new Instruction();
setInstruction(frontInst, shallTask);
try {
instructionService.create(frontInst);
shallTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(shallTask);
} catch (Exception e) {
this.unExecutedMessage = "后叉出库任务，取货完成后，创建前叉移库指令时出现异常，原因：" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "后叉出库任务，取货完成后，创建前叉移库指令时出现异常，原因：" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因：" + e.getMessage()));
this.sendPutInfoToPlc(null, backInst);
return;
}
}
// 否则直接下发后叉放货信息 break
this.sendPutInfoToPlc(null, backInst);
break;
}
continue;
}
}
frontInst = inst;
this.frontWrite(frontInst);
//直接下发前叉取货信息
break;
}
} else {
this.sendPutInfoToPlc(null, backInst);
}
}
}
/**
* 出库时，前叉取货完成，下发后叉取/前叉放货信息
*
* @param front_next_device
* @param frontInst
* @param backInst
* @param getBackDeviceCodeList
*/
private void frontGetFinish(Device front_next_device, Instruction frontInst, Instruction backInst, List<String> getBackDeviceCodeList) {
List<String> xDeviceCodeList = this.getExtraDeviceCodes("xDeviceCodeList");
String getLinkDeviceCode = this.handExtraStringValue(front_next_device, "getLinkDeviceCode");
String backNoY = this.handExtraStringValue(this.getDevice(), "backNoY");
if (ObjectUtil.isEmpty(backInst)) {
//根据后叉关联点位，按照优先级、创建时间去查询后叉指令信息
List<Instruction> backInsts = instructionService.findAllInstByPriorityCreateTime(getLinkDeviceCode, getBackDeviceCodeList, backNoY);
//遍历后叉指令信息，判断后叉指令起点是深库位还是浅库位
if (CollectionUtils.isNotEmpty(backInsts)) {
for (Instruction inst : backInsts) {
String start_device_code = inst.getStart_device_code();
//判断当前库位是深库位还是浅库位
int x = Integer.parseInt(getNumericPart(start_device_code));
//如果是深库位
if (x == 1 || x == 4) {
//查询对应的浅货位编码
String shallStartPointCode = getZdPoint(inst.getStart_point_code());
//查询对应的浅库位是否存在就绪的指令信息
Instruction shallInst = instructionService.findReadyInstByStartPointCode(shallStartPointCode);
if (shallInst != null) {
//判断该就绪的指令信息是否是堆垛机库内移库指令信息
String next_device_code = shallInst.getNext_device_code();
if (xDeviceCodeList.contains(next_device_code)) {
Set<String> currentNoY = backNoY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(backNoY.split(",")));
//如果是的话，判断终点是否后叉可达的，
if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallInst.getFrom_y())))) {
// 如果后叉可达，则下发后叉移库指令的取货信息 break;
this.backWrite(shallInst);
break;
}
// 否则直接下发前叉放货信息 break
this.sendPutInfoToPlc(frontInst, null);
break;
}
continue;
}
//若不存在，则查询是否存在就绪的任务信息
TaskDto shallTask = taskService.findReadyByStartPointCode(shallStartPointCode);
if (shallTask != null) {
//判断该就绪的任务信息是否是堆垛机库内移库任务信息
String next_device_code = shallTask.getNext_device_code();
if (xDeviceCodeList.contains(next_device_code)) {
Set<String> currentNoY = backNoY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(backNoY.split(",")));
//如果是的话，判断终点是否后叉可达的，
if (!currentNoY.contains(String.valueOf(Integer.parseInt(shallTask.getFrom_y())))) {
// 如果后叉可达，则创建移库指令，并下发后叉移库指令的取货信息 break;
backInst = new Instruction();
setInstruction(backInst, shallTask);
try {
instructionService.create(backInst);
shallTask.setTask_status(TaskStatusEnum.BUSY.getIndex());
taskService.update(shallTask);
} catch (Exception e) {
this.unExecutedMessage = "前叉出库任务，取货完成后，创建后叉移库指令时出现异常，原因：" + e.getMessage();
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "前叉出库任务，取货完成后，创建后叉移库指令时出现异常，原因：" + e.getMessage()));
logService.deviceExecuteLog(new LuceneLogDto(this.currentDeviceCode, "创建指令失败, 原因：" + e.getMessage()));
this.sendPutInfoToPlc(frontInst, null);
return;
}
}
// 否则直接下发前叉放货信息 break
this.sendPutInfoToPlc(frontInst, null);
break;
}
continue;
}
}
//直接下发后叉取货信息
backInst = inst;
this.backWrite(backInst);
break;
}
} else {
this.sendPutInfoToPlc(frontInst, null);
}
}
}
}

56
nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java
View File

@@ -493,32 +493,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
* @return
*/
List<Instruction> findReadyInstByNextDeviceCode(List<String> next_device_code_list, String noY);
List<Instruction> findDeepReadyInstByNextDeviceCode(List<String> next_device_code_list, String noY);
List<Instruction> findShallowReadyInstByNextDeviceCode(List<String> next_device_code_list, String noY);
/**
* 用于时间顺序出入库策略
* 查询前叉或后叉可达设备的指令信息
*
* @param device_code_list
* @param noY
* @return
*/
List<Instruction> findReadyInstByDeviceCode(List<String> device_code_list, String noY);
/**
* 用于优先入库策略和时间顺序策略
* 主要是根据前叉指令排列层信息及前叉指令起点关联设备
* 一般是入库时根据指令起点查询是否可组成双叉指令
*
* @param frontInst
* @param link_device_code
* @param noY
* @return
*/
Instruction findReadyInstByStartDeviceCode(Instruction frontInst, String link_device_code, String noY);
/**
* @param linkDeviceCode
@@ -541,10 +515,6 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
*/
Instruction findShallowReadyInstByLinkDeviceCodeAndStartDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList);
Instruction findReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList);
Instruction findDeepReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY,List<String> getDeviceCodeList);
Instruction findShallowReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY,List<String> getDeviceCodeList);
/**
* 用于优先出库策略和时间顺序策略 -出库
* 主要是根据前叉指令的排列层、前叉指令终点的关联设备，查询后叉指令信息
@@ -556,7 +526,8 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
* @return
*/
Instruction findReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY);
Instruction findDeepReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY, List<String> getDeviceCodeList);
Instruction findShallowReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY, List<String> getDeviceCodeList);
@@ -572,6 +543,8 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
Instruction findReadyInstByEnd(String next_device_code);
Instruction findReadyInstByStartPointCode(String start_point_code);
int findReadyInstNumByEnd(String next_device_code);
Instruction findReadyInstByVehicleCode(String vehicleCode);
@@ -586,9 +559,26 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
void cancelInstAndTaskNoSendWms(String instruction_id);
List<Instruction> findReadyInstByXDeviceCode(List<String> xDeviceCodeList, String noY);
List<Instruction> findReadyInstByXDeviceCode(List<String> xDeviceCodeList, String noY);
Instruction findByNextPointCode(String nextPointCode);
List<Instruction> findInstsByNextDeviceCode(String deviceCode);
/**
* 根据优先级和创建时间顺序去查找前/后叉可取指令信息
*
* @param next_device_code_list
* @param noY
* @return
*/
List<Instruction> findAllInstByPriorityCreateTime(List<String> next_device_code_list, String noY);
/**
* 根据前后叉对接位关联点位及优先级和创建时间顺序去查找前/后叉可取指令信息
*
* @param next_device_code_list
* @param noY
* @return
*/
List<Instruction> findAllInstByPriorityCreateTime(String link_device_code, List<String> next_device_code_list, String noY);
}

251
nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java
View File

@@ -1954,59 +1954,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.collect(Collectors.toList());
}
@Override
public List<Instruction> findDeepReadyInstByNextDeviceCode(List<String> next_device_code_list, String noY) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> next_device_code_list.contains(inst.getNext_device_code()))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.filter(inst -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 1 || Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 0)
// .sorted(Comparator.comparingInt((Instruction inst) -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4).reversed()
.sorted(Comparator.comparingInt((Instruction inst) -> {
int startCode = Integer.parseInt(getNumericPart(inst.getStart_device_code()));
if (startCode == 1 || startCode == 4) {
return 0;
} else {
return 1;
}
})
.thenComparing(inst -> Integer.parseInt(inst.getNext_device_code()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_z()) ? "0" : inst.getFrom_z()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_y()) ? "0" : inst.getFrom_y()))
.thenComparing(Comparator.comparing(Instruction::getPriority))
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.collect(Collectors.toList());
}
@Override
public List<Instruction> findShallowReadyInstByNextDeviceCode(List<String> next_device_code_list, String noY) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> next_device_code_list.contains(inst.getNext_device_code()))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.filter(inst -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 2 || Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 3 == 0)
// .sorted(Comparator.comparingInt((Instruction inst) -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4).reversed()
.sorted(Comparator.comparingInt((Instruction inst) -> {
int startCode = Integer.parseInt(getNumericPart(inst.getStart_device_code()));
if (startCode == 2 || startCode == 3) {
return 0;
} else {
return 1;
}
})
.thenComparing(inst -> inst.getNext_device_code())
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_z()) ? "0" : inst.getFrom_z()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_y()) ? "0" : inst.getFrom_y()))
.thenComparing(Comparator.comparing(Instruction::getPriority))
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.collect(Collectors.toList());
}
private String getNumericPart(String device_c0de) {
Pattern pattern = Pattern.compile("\\d+");
@@ -2017,49 +1964,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
return "0";
}
@Override
public List<Instruction> findReadyInstByDeviceCode(List<String> device_code_list, String noY) {
//String currentNoY = noY == null ? "" : noY;
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> (device_code_list.contains(inst.getStart_device_code()) && ObjectUtil.isNotEmpty(inst.getTo_y()) && !currentNoY.contains(inst.getTo_y())) || (device_code_list.contains(inst.getNext_device_code()) && ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(inst.getFrom_y())))
.sorted(Comparator.comparing(Instruction::getPriority)
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.collect(Collectors.toList());
}
@Override
public Instruction findReadyInstByStartDeviceCode(Instruction frontInst, String link_device_code, String noY) {
//String currentNoY = noY == null ? "" : noY;
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getStart_device_code().equals(link_device_code))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getTo_y()) && !currentNoY.contains(inst.getTo_y()))
.filter(inst -> Integer.parseInt(StringUtil.handleString(inst.getTo_x())) == Integer.parseInt(StringUtil.handleString(frontInst.getTo_x())))
// .filter(inst -> ((Integer.parseInt(frontInst.getTo_y()) - 1) / 4 == (Integer.parseInt(inst.getTo_y()) - 1) / 4) && (((Integer.parseInt(frontInst.getTo_y()) % 4) + (Integer.parseInt(inst.getTo_y()) % 4) == 2) || (Integer.parseInt(frontInst.getTo_y()) % 4) + (Integer.parseInt(inst.getTo_y()) % 4) == 4))
.filter(inst -> {
int frontToY = Integer.parseInt(frontInst.getTo_y());
int instToY = Integer.parseInt(inst.getTo_y());
int frontGroup = (frontToY - 1) / 4;
int instGroup = (instToY - 1) / 4;
if (frontGroup != instGroup) {
return false;
}
int frontMod = frontToY % 4;
int instMod = instToY % 4;
return (frontMod + instMod == 2 || frontMod + instMod == 4);
})
.filter(inst -> Integer.parseInt(inst.getTo_z()) == Integer.parseInt(frontInst.getTo_z()))
.sorted(Comparator.comparing(Instruction::getPriority)
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst().orElse(null);
}
@Override
public Instruction findReadyInstByLinkDeviceCodeAndStartDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList) {
@@ -2112,64 +2016,8 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.orElse(null);
}
@Override
public Instruction findReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getNext_device_code().equals(linkDeviceCode))
.filter(inst -> getDeviceCodeList.contains(inst.getNext_device_code()))
.filter(inst -> StrUtil.isNotBlank(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.sorted(Comparator.comparingInt((Instruction inst) -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4).reversed()
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_z()) ? "0" : inst.getFrom_z()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_y()) ? "0" : inst.getFrom_y()))
.thenComparing(Comparator.comparing(Instruction::getPriority))
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst()
.orElse(null);
}
@Override
public Instruction findDeepReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getNext_device_code().equals(linkDeviceCode))
.filter(inst -> getDeviceCodeList.contains(inst.getNext_device_code()))
.filter(inst -> StrUtil.isNotBlank(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.filter(inst -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 1 || Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 0)
.sorted(Comparator.comparingInt((Instruction inst) -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4).reversed()
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_z()) ? "0" : inst.getFrom_z()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_y()) ? "0" : inst.getFrom_y()))
.thenComparing(Comparator.comparing(Instruction::getPriority))
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst()
.orElse(null);
}
@Override
public Instruction findShallowReadyInstByLinkDeviceCodeAndNextDeviceCode(String linkDeviceCode, String noY, List<String> getDeviceCodeList) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getNext_device_code().equals(linkDeviceCode))
.filter(inst -> getDeviceCodeList.contains(inst.getNext_device_code()))
.filter(inst -> StrUtil.isNotBlank(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.filter(inst -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 2 || Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 3)
.sorted(Comparator.comparingInt((Instruction inst) -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4).reversed()
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_z()) ? "0" : inst.getFrom_z()))
.thenComparing(inst -> Integer.parseInt(ObjectUtil.isEmpty(inst.getFrom_y()) ? "0" : inst.getFrom_y()))
.thenComparing(Comparator.comparing(Instruction::getPriority))
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst()
.orElse(null);
}
@Override
public Instruction findReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY) {
@@ -2202,36 +2050,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.findFirst().orElse(null);
}
@Override
public Instruction findDeepReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY, List<String> getDeviceCodeList) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getNext_device_code().equals(link_device_code))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(inst.getFrom_y()))
.filter(inst -> Integer.parseInt(StringUtil.handleString(inst.getFrom_x())) == Integer.parseInt(StringUtil.handleString(frontInst.getFrom_x())))
.filter(inst -> getDeviceCodeList.contains(inst.getNext_device_code()))
.filter(inst -> {
int frontY = Integer.parseInt(frontInst.getFrom_y());
int instY = Integer.parseInt(inst.getFrom_y());
int frontGroup = (frontY - 1) / 4;
int instGroup = (instY - 1) / 4;
if (frontGroup != instGroup) {
return false;
}
int frontMod = frontY % 4;
int instMod = instY % 4;
return (frontMod + instMod == 2 || frontMod + instMod == 4);
})
.filter(inst -> Integer.parseInt(inst.getFrom_y()) < Integer.parseInt(frontInst.getFrom_y()))
.filter(inst -> Integer.parseInt(inst.getFrom_z()) == Integer.parseInt(frontInst.getFrom_z()))
.filter(inst -> Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 0 || Integer.parseInt(getNumericPart(inst.getStart_device_code())) % 4 == 1)
.sorted(Comparator.comparing(Instruction::getPriority).reversed()
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.findFirst().orElse(null);
}
@Override
public Instruction findShallowReadyInstByNextDeviceCode(Instruction frontInst, String link_device_code, String noY, List<String> getDeviceCodeList) {
@@ -2284,6 +2102,16 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.findFirst().orElse(null);
}
@Override
public Instruction findReadyInstByStartPointCode(String start_point_code) {
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getStart_point_code().equals(start_point_code))
.findFirst().orElse(null);
}
@Override
public int findReadyInstNumByEnd(String next_device_code) {
return Optional.ofNullable(this.instructions)
@@ -2414,13 +2242,68 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
.orElse(null);
}
@Override
public List<Instruction> findInstsByNextDeviceCode(String deviceCode) {
public List<Instruction> findAllInstByPriorityCreateTime(List<String> next_device_code_list, String noY) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getNext_device_code().equals(deviceCode))
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> next_device_code_list.contains(inst.getNext_device_code()))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.sorted(Comparator
.comparingInt((Instruction inst) ->
inst.getPriority() != null && !inst.getPriority().isEmpty() ?
Integer.parseInt(inst.getPriority()) :
1)
.reversed()
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss")))
.thenComparing(inst -> {
String startDeviceCode = inst.getStart_device_code();
String numericPart = getNumericPart(startDeviceCode);
int location = Integer.parseInt(numericPart);
if (location == 2 || location == 3) {
return 0;
} else {
return 1;
}
})
.thenComparing(inst -> Integer.parseInt(inst.getNext_device_code()))
)
.collect(Collectors.toList());
}
@Override
public List<Instruction> findAllInstByPriorityCreateTime(String link_device_code, List<String> next_device_code_list, String noY) {
Set<String> currentNoY = noY == null ? Collections.emptySet() : new HashSet<>(Arrays.asList(noY.split(",")));
return Optional.ofNullable(this.instructions)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(inst -> inst.getInstruction_status().equals(InstructionStatusEnum.READY.getIndex()))
.filter(inst -> inst.getNext_device_code().equals(link_device_code))
.filter(inst -> next_device_code_list.contains(inst.getNext_device_code()))
.filter(inst -> ObjectUtil.isNotEmpty(inst.getFrom_y()) && !currentNoY.contains(String.valueOf(Integer.parseInt(inst.getFrom_y()))))
.sorted(Comparator
.comparingInt((Instruction inst) ->
inst.getPriority() != null && !inst.getPriority().isEmpty() ?
Integer.parseInt(inst.getPriority()) :
1)
.reversed()
.thenComparing(inst -> LocalDateTime.parse(inst.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss")))
.thenComparing(inst -> {
String startDeviceCode = inst.getStart_device_code();
String numericPart = getNumericPart(startDeviceCode);
int location = Integer.parseInt(numericPart);
if (location == 2 || location == 3) {
return 0;
} else {
return 1;
}
})
)
.collect(Collectors.toList());
}
}

15
nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java
View File

@@ -294,7 +294,7 @@ public interface TaskService extends CommonService<Task> {
List<TaskDto> findTasksByNextCode(String device_code);
TaskDto findByStartPointCode(String device_code);
TaskDto findReadyByStartPointCode(String start_point_code);
TaskDto findReadyByVehicleCode(String vehicleCode);
@@ -331,16 +331,6 @@ public interface TaskService extends CommonService<Task> {
*/
String queryAssignedByDevice(String device_code, String task_nextdevice_code);
/**
* 查询相同起终任务的数量
*
* @param
* @return
*/
Integer querySameDeviceReadyTask(String start_device, String next_device, String status);
/**
* 条件查询任务和指令
*
@@ -385,8 +375,6 @@ public interface TaskService extends CommonService<Task> {
TaskDto findReadyTaskByNextDeviceCode(String next_device_code, List<String> checkoutStartDeviceCode);
List<TaskDto> findReadyTasksByNextDeviceCode(String next_device_code, List<String> checkoutStartDeviceCode);
List<TaskDto> findReadyTaskByXDeviceCode(List<String> xDeviceCodeList, String noY);
/**
@@ -409,6 +397,5 @@ public interface TaskService extends CommonService<Task> {
void cancelNoSendWms(String task_id);
List<TaskDto> findInstsByNextDeviceCode(String deviceCode);
}

64
nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java
View File

@@ -742,7 +742,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
instdto.setNext_point_code2(next_point_code2);
instdto.setAgv_inst_type(CommonFinalParam.ONE);
instdto.setAgv_system_type(agv_system_type);
if (StrUtil.equals(instdto.getNext_device_code(),"3101")){
if (StrUtil.equals(instdto.getNext_device_code(), "3101")) {
instdto.setAgv_system_type(AgvSystemTypeEnum.HK_SYSTEM_TYPE.getCode());
instdto.setInstruction_type(InstTypeEnum.CTU_OUT_TASK.getCode());
}
@@ -904,13 +904,15 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
.collect(Collectors.toList());
}
@Override
public TaskDto findByStartPointCode(String device_code) {
public TaskDto findReadyByStartPointCode(String start_point_code) {
return Optional
.ofNullable(this.tasks)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(task -> StrUtil.equals(task.getStart_point_code(), device_code))
.filter(task -> StrUtil.equals(task.getStart_point_code(), start_point_code))
.filter(task -> StrUtil.equals(task.getTask_status(),TaskStatusEnum.READY.getIndex()))
.findFirst()
.orElse(null);
}
@@ -1251,21 +1253,6 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
}
@Override
public Integer querySameDeviceReadyTask(String start_device, String next_device, String status) {
int num = 0;
Iterator<TaskDto> iterator = tasks.iterator();
while (iterator.hasNext()) {
TaskDto task = iterator.next();
if (StrUtil.equals(task.getStart_device_code(), start_device)
&& StrUtil.equals(task.getNext_device_code(), next_device)
&& StrUtil.equals(task.getTask_status(), status)) {
num++;
}
}
return num;
}
@Override
@@ -1340,7 +1327,7 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
String type = shortPathsList.get(0).getType();
// != 0 为agv任务
if (!StrUtil.equals(type, "0")) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGV_TYPE).getValue(), "3") && StrUtil.equals(taskDto.getAgv_system_type(),AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode())) {
if (StrUtil.equals(paramService.findByCode(AcsConfig.AGV_TYPE).getValue(), "3") && StrUtil.equals(taskDto.getAgv_system_type(), AgvSystemTypeEnum.XG_SYSTEM_TYPE.getCode())) {
try {
JSONObject reqParam = new JSONObject();
reqParam.put("id", taskDto.getTask_code());
@@ -1361,30 +1348,29 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
.filter(taskDto -> TaskStatusEnum.READY.getIndex().equals(taskDto.getTask_status()))
.filter(taskDto -> taskDto.getNext_device_code().equals(next_device_code))
.filter(taskDto -> !checkoutStartDeviceCode.contains(taskDto.getStart_device_code()))
.sorted(Comparator.comparingInt((TaskDto taskDto) -> Integer.parseInt(getNumericPart(taskDto.getStart_device_code())) % 4).reversed()
.thenComparing(taskDto -> Integer.parseInt(ObjectUtil.isEmpty(taskDto.getFrom_y()) ? "0" : taskDto.getFrom_y()))
.thenComparing(TaskDto::getPriority)
.thenComparing(taskDto -> LocalDateTime.parse(taskDto.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.sorted(
Comparator
.comparingInt((TaskDto taskDto) ->
taskDto.getPriority() != null && !taskDto.getPriority().isEmpty() ?
Integer.parseInt(taskDto.getPriority()) :
1)
.reversed()
.thenComparing(taskDto -> LocalDateTime.parse(taskDto.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss")))
.thenComparing(taskDto -> {
String startDeviceCode = taskDto.getStart_device_code();
String numericPart = getNumericPart(startDeviceCode);
int location = Integer.parseInt(numericPart);
if (location == 2 || location == 3) {
return 0;
} else {
return 1;
}
})
)
.findFirst()
.orElse(null);
}
@Override
public List<TaskDto> findReadyTasksByNextDeviceCode(String next_device_code, List<String> checkoutStartDeviceCode) {
return Optional.ofNullable(this.tasks)
.orElse(new CopyOnWriteArrayList<>())
.stream()
.filter(taskDto -> TaskStatusEnum.READY.getIndex().equals(taskDto.getTask_status()))
.filter(taskDto -> taskDto.getNext_device_code().equals(next_device_code))
.filter(taskDto -> !checkoutStartDeviceCode.contains(taskDto.getStart_device_code()))
.sorted(Comparator.comparingInt((TaskDto taskDto) -> Integer.parseInt(getNumericPart(taskDto.getStart_device_code())) % 4).reversed()
.thenComparing(taskDto -> Integer.parseInt(ObjectUtil.isEmpty(taskDto.getFrom_z()) ? "0" : taskDto.getFrom_z()))
.thenComparing(taskDto -> Integer.parseInt(ObjectUtil.isEmpty(taskDto.getFrom_y()) ? "0" : taskDto.getFrom_y()))
.thenComparing(TaskDto::getPriority)
.thenComparing(taskDto -> LocalDateTime.parse(taskDto.getCreate_time(), DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss"))))
.collect(Collectors.toList());
}
private String getNumericPart(String device_c0de) {
Pattern pattern = Pattern.compile("\\d+");
Matcher matcher = pattern.matcher(device_c0de);

2
nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/config/JobRunner.java
View File

@@ -17,7 +17,7 @@ import java.util.List;
@Component
@RequiredArgsConstructor
@Order(100)
@ConditionalOnProperty(value = "spring.profiles.active",havingValue = "dev")
@ConditionalOnProperty(value = "spring.profiles.active",havingValue = "prod")
public class JobRunner implements ApplicationRunner {
private static final Logger log = LoggerFactory.getLogger(JobRunner.class);
private final ISysQuartzJobService quartzJobService;

4
nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/AutoCreateYkInst.java
View File

@@ -91,10 +91,6 @@ public class AutoCreateYkInst {
continue;
}
if (!StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.ONE) && !StrUtil.equals(shortPathsList.get(0).getType(), CommonFinalParam.TWO)) {
continue;
}
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String type = routeLineDto.getType();