fix: 诺宝修改

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);

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")
+                    .device_code("叉车追加运单响应")
-                    .content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo)
+                    .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");

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<TaskDto> taskDtos =  taskserver.findByTrappedManipulatorReady();
                     List<TaskDto> 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())) {

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;
             }
         }
     }