diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java index 6932d31d8..91e8ef9e6 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java @@ -94,11 +94,17 @@ public class AgvWaitUtil { instructionService.update(inst); //如果是叉车，取货完成给输送线完成信号 Device startDevice = deviceAppService.findDeviceByCode(startDeviceCode); + ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver; if (inst.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())){ BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver; boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) startDevice.getDeviceDriver(); boxSubvolumesConveyorDeviceDriver.writing(3); } + if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){ + manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver(); + manipulatorAgvStationDeviceDriver.writing(3); + + } JSONObject map = new JSONObject(); map.put("status", 200); map.put("message", "允许离开！"); @@ -113,7 +119,7 @@ public class AgvWaitUtil { ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver; if(endDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver){ manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) endDevice.getDeviceDriver(); - manipulatorAgvStationDeviceDriver.writing(2); + manipulatorAgvStationDeviceDriver.writing(4); if(manipulatorAgvStationDeviceDriver.getAction() != 1){ LuceneLogDto logDto = LuceneLogDto.builder() .device_code(inst.getCarno()) @@ -135,6 +141,13 @@ public class AgvWaitUtil { //放货完成等待 public JSONObject waitOutPut(String endDeviceCode, Instruction inst) { + Device nextDevice = deviceAppService.findDeviceByCode(inst.getNext_device_code()); + ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver; + if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){ + manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) nextDevice.getDeviceDriver(); + manipulatorAgvStationDeviceDriver.writing(5); + + } log.info("仙工AGV放货完成后请求离开，设备号 - {}", endDeviceCode); inst.setExecute_status("2"); instructionService.update(inst); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java index 233224d81..9b86dd80b 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/server/impl/XianGongAgvServiceImpl.java @@ -695,8 +695,9 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { if (StrUtil.isBlank(address)) { throw new BadRequestException("请求失败，地址为空！"); } - if (address.contains("IN")) { + if (address.contains("IN") || address.contains("WAITE")) { String task_code = instructionDto.getTask_code(); + String instructionCode = instructionDto.getInstruction_code(); String deviceCodeNow = address.substring(0, address.length() - 5); if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) { throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！"); @@ -707,19 +708,45 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) { Integer actionType = ActionTypeEnum.IN_STOCK.getCode(); deviceCodeNow = applyXGAgvTask(task_code, actionType, instructionDto); + if (StrUtil.isNotEmpty(deviceCodeNow)) { + return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto); + } else { + LuceneLogDto logDto = LuceneLogDto.builder() + .content("取货分配新的点位为空") + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto); + throw new BadRequestException("取货分配新的点位为空"); + } } } return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto); - } else if (address.contains("PUT")) { + } else if (address.contains("PUT") || address.contains("WAITE")) { if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) { //如果是放货二次分配，取放货二次分配需要重新追加动作块 if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) { Integer actionType = ActionTypeEnum.OUT_STOCK.getCode(); deviceCodeNow = applyXGAgvTask(task_code, actionType, instructionDto); + if (StrUtil.isNotEmpty(deviceCodeNow)) { + return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto); + } else { + LuceneLogDto logDto = LuceneLogDto.builder() + .content("防货分配新的点位为空") + .build(); + logDto.setLog_level(4); + luceneExecuteLogService.deviceExecuteLog(logDto); + throw new BadRequestException("防货分配新的点位为空"); + } } } else if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.XG_System_Type.getIndex())) { - deviceCodeNow = applyCCAgvTask(task_code, instructionDto); + if (ObjectUtil.isEmpty(deviceCodeNow)) { + JSONObject map = new JSONObject(); + map.put("status", 200); + map.put("message", "允许放货！"); + log.info("允许仙工AGV放货，设备号 - {}", deviceCodeNow); + return map; + } } return agvWaitUtil.waitInPut(deviceCodeNow, instructionDto); } @@ -746,7 +773,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { param.put("task_code", task_code); LuceneLogDto logDto = LuceneLogDto.builder() .device_code(instructionDto.getCarno()) - .content("追加动叉车作块,参数:" + task_code ) + .content("追加动叉车作块,参数:" + task_code) .build(); logDto.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto); @@ -760,7 +787,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); //请求成功调用叉车追加动作块 - sendAddSequencesToCCAgv(task_code, jo.getString("data"), instructionDto); + sendAddSequencesToCCAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto); return jo.getString("data"); } else { @@ -792,7 +819,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { .build(); logDto.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto); - log.info("任务号：{},指令号{},追加诺宝运单:{}", instructionCode, instructionCode, jo); + log.info("任务号：{},指令号{},追加诺宝叉车运单:{}", instructionCode, instructionCode, jo); if (StrUtil.equals(paramService.findByCode(AcsConfig.FORKAGV).getValue(), CommonFinalParam.ONE)) { String agvurl = paramService.findByCode(AcsConfig.AGVURL).getValue(); @@ -808,8 +835,8 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { .timeout(20000) .execute(); LuceneLogDto logDto1 = LuceneLogDto.builder() - .device_code("叉车运单响应") - .content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo) + .device_code("叉车追加运单响应") + .content("指令号:" + instructionCode + ",下发追加诺宝叉车运单反馈参数:" + jo) .build(); logDto.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto1); @@ -901,7 +928,6 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { com.alibaba.fastjson.JSONObject jo = new com.alibaba.fastjson.JSONObject(); jo.put("id", inst.getInstruction_code()); //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块 - //运单封口,true=创建运单之后不可添加动作块;false=创建运单可以添加动作块 if (AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) { jo.put("complete", true); } else { @@ -1343,16 +1369,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService { JSONObject jo9 = new JSONObject(); jo9.put("blockId", IdUtil.simpleUUID()); - jo9.put("location", inst.getNext_device_code()); + jo9.put("location", inst.getNext_device_code() + "WAITE"); jo9.put("operation", "script"); - jo9.put("id", inst.getNext_device_code()); + jo9.put("id", inst.getNext_device_code() + "WAITE"); jo9.put("script_name", "userpy/interact.py"); JSONObject script_args5 = new JSONObject(); script_args5.put("addr", addr); JSONObject data3 = new JSONObject(); JSONObject reach3 = new JSONObject(); reach3.put("task_code", inst.getInstruction_code()); - reach3.put("address", inst.getNext_device_code()); + reach3.put("address", inst.getNext_device_code() + "WAITE"); data3.put("reach", reach3); script_args5.put("data", data3); script_args5.put("protocol", "HTTP"); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java index 435dced02..1956493ce 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java @@ -362,7 +362,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice } else { List taskDtos = taskserver.findByTrappedManipulatorReady(); List taskDtosReady = new ArrayList<>(); - TaskDto taskDto = new TaskDto(); + TaskDto taskDto = null; if (CollUtil.isNotEmpty(taskDtos)) { for (TaskDto taskDto1 : taskDtos) { if (getDeviceCodeList.contains(taskDto1.getStart_device_code())) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java index ed0339816..66ecbe5ec 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java @@ -691,7 +691,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out); return; } else { - Instruction instruction = instructionService.findByDeviceCodeRunFromCache(String.valueOf(task)); + Instruction instruction = checkInst(); if (ObjectUtil.isEmpty(instruction)) { message = "one_message9"; return; @@ -718,6 +718,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); + this.message = "申请更新点位,参数,接口返回:" + jo; String poinCode = jo.getString("point_code"); String vehicleCode = jo.getString("vehicle_code"); if (StrUtil.isNotEmpty(poinCode)) { @@ -761,6 +762,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme .build(); logDto2.setLog_level(4); luceneExecuteLogService.deviceExecuteLog(logDto2); + this.message = "申请更新点位,参数,接口返回:" + jo; } } }