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 3218fac27..59b75e1cb 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 @@ -145,11 +145,6 @@ public class AgvWaitUtil { if (manipulatorAgvStationDeviceDriver.getTo_command() != 3) { manipulatorAgvStationDeviceDriver.writing(3); } - try { - Thread.sleep(1000); - } catch (InterruptedException e) { - e.printStackTrace(); - } if (manipulatorAgvStationDeviceDriver.getAction() == 0 && manipulatorAgvStationDeviceDriver.getMode() == 2) { if (StrUtil.equals(paramService.findByCode(AcsConfig.isSendLms).getValue(), CommonFinalParam.ONE)){ if (!AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java index b24029096..1b26824ba 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java @@ -390,6 +390,9 @@ public class InstructionServiceImpl extends CommonServiceImpl findReadyInstructions() { //根据时间升序取第一个 diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java index f939207c6..e5e9a74fb 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java @@ -130,8 +130,6 @@ public class TaskServiceImpl extends CommonServiceImpl impleme private static final String BQHJ_TYPE = "6"; - - @Override public PageInfo queryAll(TaskQueryParam query, Pageable pageable) { IPage queryPage = PageUtil.toMybatisPage(pageable); @@ -453,7 +451,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme public TaskDto findByBarcodeFromCache(String barcode) { Task task = new LambdaQueryChainWrapper<>(taskMapper) .eq(Task::getVehicle_code, barcode) - .eq(Task::getTask_status,TaskStatusEnum.READY.getIndex()) + .eq(Task::getTask_status, TaskStatusEnum.READY.getIndex()) .one(); return ConvertUtil.convert(task, TaskDto.class); } @@ -505,10 +503,10 @@ public class TaskServiceImpl extends CommonServiceImpl impleme && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())) .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null) .collect(Collectors.toList()); - if(CollUtil.isEmpty(collect)){ + if (CollUtil.isEmpty(collect)) { tasks.forEach( - task ->{ - if(TASK_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())){ + task -> { + if (TASK_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())) { Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code()); if (ObjectUtil.isNotEmpty(instruction)) { if (StrUtil.equals(instruction.getStart_device_code(), device_code)) { @@ -535,10 +533,10 @@ public class TaskServiceImpl extends CommonServiceImpl impleme && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())) .filter(task -> instructionService.findByTaskcodeAndStatus(task.getTask_code()) != null) .collect(Collectors.toList()); - if(CollUtil.isEmpty(collect)){ + if (CollUtil.isEmpty(collect)) { tasks.forEach( - task ->{ - if(BQHJ_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())){ + task -> { + if (BQHJ_TYPE.equals(task.getTask_type()) && StrUtil.isNotEmpty(task.getPut_device_code())) { Instruction instruction = instructionService.findByDeviceCodeFromCache(task.getNext_device_code()); if (ObjectUtil.isNotEmpty(instruction)) { if (StrUtil.equals(instruction.getStart_device_code(), device_code)) { @@ -947,7 +945,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme //反馈上位系统任务状态 this.feedWmsTaskStatus(entity); //关闭仙工运单序列 - if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { + if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode()) || StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { this.markComplete(entity); } } @@ -979,7 +977,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme //反馈上位系统任务状态 // this.feedWmsTaskStatus(entity); //关闭仙工运单序列 - if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { + if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode()) || StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { this.markComplete(entity); } } @@ -1011,7 +1009,7 @@ public class TaskServiceImpl extends CommonServiceImpl impleme //反馈上位系统任务状态 this.feedWmsTaskStatus(entity); //关闭仙工运单序列 - if(StrUtil.equals(task.getTask_type(),TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode())||StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { + if (StrUtil.equals(task.getTask_type(), TaskTypeEnum.Standard_AGV_Task.getCode()) && (StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.One_NDC_System_Type.getCode()) || StrUtil.equals(task.getAgv_system_type(), AgvSystemTypeEnum.XG_System_Type.getCode()))) { this.markComplete(entity); } } @@ -1055,6 +1053,9 @@ public class TaskServiceImpl extends CommonServiceImpl impleme List shortPathsList = routeLineService.getShortPathLines( start_device_code, acsTask.getNext_device_code(), route_plan_code); + if (shortPathsList.size() == 0) { + throw new BadRequestException(start_device_code + "->" + acsTask.getNext_device_code() + "路由不存在！"); + } Device startDevice = deviceAppService.findDeviceByCode(start_device_code); Device nextDevice = deviceAppService.findDeviceByCode(next_device_code); RouteLineDto routeLineDto = shortPathsList.get(0); @@ -1066,9 +1067,9 @@ public class TaskServiceImpl extends CommonServiceImpl impleme for (int m = 0; m < pathlist.size(); m++) { if (pathlist.get(m).equals(start_device_code)) { //起点为货架跳过堆垛机 - if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver ) { + if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { index = m + 2; - }else { + } else { index = m + 1; } break; @@ -1287,13 +1288,12 @@ public class TaskServiceImpl extends CommonServiceImpl impleme public TaskDto findByStarCodeAndExcute(String start_code) { Optional optionalTask = tasks.stream() .filter(task -> StrUtil.equals(task.getStart_device_code(), start_code) - && (StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())||StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex()))) + && (StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex()) || StrUtil.equals(task.getTask_status(), TaskStatusEnum.READY.getIndex()))) .findFirst(); return optionalTask.orElse(null); } - @Override public TaskDto findByEndCodeAndReady(String device_code) { Optional optionalTask = tasks.stream()