fix : 行架对接位，强制放行自动流程

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java

@@ -250,10 +250,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             }
 
             if (move != 0 && task > 0) {
-                if (null != inst) {
-                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
-                    vehicle_code2 = inst.getVehicle_code2();
-                }
                 CompletableFuture.runAsync(() -> {
                     // 异步更新指令状态
                     try {
@@ -262,6 +258,10 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                         e.printStackTrace();
                     }
                 });
+                if (null != inst) {
+                    inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
+                    vehicle_code2 = inst.getVehicle_code2();
+                }
             }
             //申请空托盘出库
             if (mode == 8 && !requireSucess) {
@@ -684,7 +684,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     private boolean updateTask(TaskDto taskdto, Device nextdevice, Instruction instdto) {
         taskdto.setTask_status(TaskStatusEnum.BUSY.getIndex());
         taskserver.update(taskdto);
-        requireSucess = true;
         String next_addr = nextdevice.getExtraValue().get("address").toString();
         String interactionJson = taskdto.getInteraction_json();
         InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_storage_out_conveyor/BoxStorageOutConveyorDeviceDriver.java

@@ -192,10 +192,10 @@ public class BoxStorageOutConveyorDeviceDriver extends AbstractOpcDeviceDriver i
             }
 
             if (move != 0 && task > 0) {
+                update_instruction_status();
                 if (null != inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                update_instruction_status();
             }
             if (move != last_move && move == 0 && last_move == 1 && mode > 0) {
                 requireSucess = false;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/box_subvolumes_conveyor/BoxSubvolumesConveyorDeviceDriver.java

@@ -194,11 +194,11 @@ public class BoxSubvolumesConveyorDeviceDriver extends AbstractOpcDeviceDriver i
                 requireSucess = false;
             }
             if (move != 0 && task > 0) {
+                update_instruction_status();
                 if (null != inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                     vehicle_code2 = inst.getVehicle_code2();
                 }
-                update_instruction_status();
             }
 
             if (move != last_move && move == 0 && last_move == 1 && mode > 0) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -325,8 +325,8 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
 
                 //申请退货入库
                 if (mode == 18 && move == 1 && !requireSucess) {
-                    if (StrUtil.isEmpty(barcode)) {
+                    if (StrUtil.isEmpty(barcode)|| StrUtil.isEmpty(material_barcode)) {
-                        message = "托盘条码为空";
+                        message = "托盘条码为空或者木箱号为空";
                     } else {
                         applyBoxReturnTask(StorageTypeEnum.BOX_RETURN.getType(), mode);
                     }
@@ -335,7 +335,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
                 //申请高度
                 if (mode == 23 && !requireSucess) {
                     if (StrUtil.isEmpty(barcode) || StrUtil.isEmpty(material_barcode)) {
-                        message = "条码为空";
+                        message = "托盘条码为空或者木箱号为空";
                     } else {
                         applyErrorHeight();
                     }
@@ -737,10 +737,6 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
      * 更新指令状态
      */
     public synchronized void update_instruction_status() throws Exception {
-        if (null != inst) {
-            inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
-            vehicle_code2 = inst.getVehicle_code2();
-        }
         Date date = new Date();
         if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java

@@ -189,10 +189,10 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                updateInstrction();
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                updateInstrction();
             }
             if (mode == 0) {
                 this.setIsonline(false);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_storage_manipulator/BoxStorageManipulatorDeviceDriver.java

@@ -159,10 +159,10 @@ public class BoxStorageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
             }
             // 更新指令状态
             if (mode == 3 && task > 0 && !requireActionSucess) {
+                updateInstructionStatus();
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                updateInstructionStatus();
             }
             if (mode == 0) {
                 this.setIsonline(false);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/return_good_manipulator/ReturnGoodManipulatorDeviceDriver.java

@@ -172,10 +172,10 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                updateInstructionStatus();
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                updateInstructionStatus();
             }
             if (mode == 0) {
                 this.setIsonline(false);
@@ -273,17 +273,17 @@ public class ReturnGoodManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
 
                 //放货完成
                 if (action == 4 && move == 0) {
+                    Map<String, Object> map1 = new HashMap<>();
+                    List list = new ArrayList();
+                    map1.put("code", "to_command");
+                    map1.put("value", 5);
+                    list.add(map1);
+                    this.writing(list);
+                    message = "universal_message1";
                     if (inst != null) {
                         try {
                             logServer.deviceExecuteLog(this.device_code, "", "", "放货完成");
                             finish_instruction(inst);
-                            Map<String, Object> map1 = new HashMap<>();
-                            List list = new ArrayList();
-                            map1.put("code", "to_command");
-                            map1.put("value", 5);
-                            list.add(map1);
-                            this.writing(list);
-                            message = "universal_message1";
                         } catch (Exception e) {
                             message = "universal_message2";
                             e.printStackTrace();

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/trapped_manipulator/TrappedManipulatorManipulatorDeviceDriver.java

@@ -19,6 +19,8 @@ import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver;
 import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver;
 import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
+import org.nl.acs.ext.wms.service.AcsToWmsService;
+import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.history.ErrorUtil;
 import org.nl.acs.history.service.DeviceErrorLogService;
 import org.nl.acs.history.service.impl.DeviceErrorLogServiceImpl;
@@ -31,7 +33,6 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.impl.RouteLineServiceImpl;
 import org.nl.acs.task.enums.TaskStatusEnum;
-import org.nl.acs.task.enums.TaskTypeEnum;
 import org.nl.acs.task.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.common.exception.BadRequestException;
@@ -43,7 +44,6 @@ import org.nl.config.lucene.service.dto.LuceneLogDto;
 
 import java.util.*;
 import java.util.stream.Collectors;
-import java.util.stream.Stream;
 
 /**
  * 捆扎智能行架
@@ -70,6 +70,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
     DeviceErrorLogService errorLogServer = SpringContextHolder.getBean(DeviceErrorLogServiceImpl.class);
     LuceneExecuteLogService luceneExecuteLogService = SpringContextHolder.getBean("luceneExecuteLogServiceImpl");
 
+    AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
 
     int mode = 0;
     int last_mode = 0;
@@ -166,10 +167,10 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                updateInstructionStatus();
                 if (null != inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                updateInstructionStatus();
             }
             if (mode == 0) {
                 this.setIsonline(false);
@@ -409,6 +410,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                                 luceneExecuteLogService.deviceExecuteLog(logDto);
                                 taskDto = dto;
                             }else {
+                                forceMove(nextDevice);
                                 LuceneLogDto logDto = LuceneLogDto.builder()
                                         .device_code(device_code)
                                         .content("当前任务号：" + dto.getTask_code() + " " + next_device_code + "当前move值为：" + beltConveyorDeviceDriverEnd.getMove() + "，当前mode值为："+beltConveyorDeviceDriverEnd.getMode())
@@ -465,7 +467,6 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                     //创建指令后修改任务状态
                     taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
                     taskserver.update(taskDto);
-                    requireSucess = true;
 
                     Map<String, Object> map1 = new HashMap<>();
                     Map<String, Object> map2 = new HashMap<>();
@@ -487,6 +488,7 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
                                 .build();
                         logDto.setLog_level(2);
                         luceneExecuteLogService.deviceExecuteLog(logDto);
+                        return  false;
                     }
                     this.setRequireSucess(true);
                     return true;
@@ -498,6 +500,47 @@ public class TrappedManipulatorManipulatorDeviceDriver extends AbstractOpcDevice
         }
     }
 
+    private void forceMove( Device nextDevice) {
+        BeltConveyorDeviceDriver beltConveyorDeviceDriverNext;
+        BeltConveyorDeviceDriver beltConveyorDeviceDriverLink;
+        beltConveyorDeviceDriverNext = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+        if (beltConveyorDeviceDriverNext.getMode() == 3) {
+            List<String> deviceCodes = beltConveyorDeviceDriverNext.getExtraDeviceCodes("link_device_code");
+            if (ObjectUtil.isNotEmpty(deviceCodes)) {
+                Device linkDevice = deviceAppService.findDeviceByCode(deviceCodes.get(0));
+                if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                    beltConveyorDeviceDriverLink = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver();
+                    if (beltConveyorDeviceDriverLink.getMove() == 1 && beltConveyorDeviceDriverLink.getMode() == 2) {
+                        //查看是否存在到2022的行架任务
+                        Instruction byStartCodeAndReadyAndRun = instructionService.findByNextCodeAndReadyAndRun(deviceCodes.get(0));
+                        //申请上位强制离开
+                        if (ObjectUtil.isEmpty(byStartCodeAndReadyAndRun)) {
+                            JSONObject param = new JSONObject();
+                            param.put("deviceCode", deviceCodes.get(0));
+                            String response = acsToWmsService.forceMove(param);
+                            JSONObject jo = JSON.parseObject(response);
+                            if (jo.getInteger("code") == 200) {
+                                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                                        .device_code(device_code)
+                                        .content("强行离开,参数,接口返回:" + jo)
+                                        .build();
+                                logDto2.setLog_level(4);
+                                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                            }
+                        }else {
+                            LuceneLogDto logDto = LuceneLogDto.builder()
+                                    .device_code(device_code)
+                                    .content("无法强制离开，存在到CK2022的行架任务"+byStartCodeAndReadyAndRun.getInstruction_code())
+                                    .build();
+                            logDto.setLog_level(4);
+                            luceneExecuteLogService.deviceExecuteLog(logDto);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
 
     private void pushPLC(Map<String, Object> map1, Map<String, Object> map2, String next_addr, Map<String, Object> map3, String start_addr, Map<String, Object> map4, String task, InteractionJsonDTO interactionJsonDTO, Map<String, Object> map5, Map<String, Object> map6, Map<String, Object> map7, Map<String, Object> map8, Map<String, Object> map9, Map<String, Object> map10, Map<String, Object> map11, String vehicleCode) {
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/volume_two_manipulator/VolumeTwoManipulatorManipulatorDeviceDriver.java

@@ -194,10 +194,10 @@ public class VolumeTwoManipulatorManipulatorDeviceDriver extends AbstractOpcDevi
             }
             // 更新指令状态
             if (mode == 3 && task > 0) {
+                updateInstructionStatus();
                 if (null!=inst) {
                     inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code();
                 }
-                updateInstructionStatus();
             }
             //四个点行架任务，满轴放货完成后调lms生成rgv任务
             if (action == 6 && task > 0 && !actionRequireSucess ){

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/AcsToWmsService.java

@@ -216,4 +216,6 @@ public interface AcsToWmsService {
      * @param jsonObject
      */
     void actionFinishRequest2(JSONObject jsonObject);
+
+    String forceMove(JSONObject param);
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/AcsToWmsServiceImpl.java

@@ -747,6 +747,48 @@ public class AcsToWmsServiceImpl implements AcsToWmsService {
         }
     }
 
+
+    @Override
+    public String forceMove(JSONObject param) {
+        try {
+            MDC.put(log_file_type, log_type);
+            log.info("forceMove-----输入参数{}", param);
+            String wmsurl = paramService.findByCode(AcsConfig.WMSURL).getValue();
+            AddressDto addressDto = addressService.findByCode("forceMove");
+            String url = wmsurl + addressDto.getMethods_url();
+            HttpResponse result2 = null;
+            try {
+                result2 = HttpRequest.post(url)
+                        .addInterceptor(tLogHutoolhttpInterceptor)
+                        .header(Header.USER_AGENT, "Hutool http")
+                        .header("Authorization", token)
+                        .body(String.valueOf(param))
+                        .execute();
+            } catch (Exception e) {
+                String msg = e.getMessage();
+                log.info("forceMove-----输出参数{}", msg);
+                //网络不通
+            }
+            if(ObjectUtil.isEmpty(result2)){
+                log.info("forceMove-----输出参数{}", "返回结果为空");
+                return null;
+            }
+            String type = "";
+            if (result2.getStatus() == 200) {
+                type = "info";
+            } else {
+                type = "error";
+            }
+            log.info("forceMove-----输出参数{}", result2.body());
+            LuceneLogDto luceneLogDto = new LuceneLogDto(4,"forceMove", String.valueOf(result2.getStatus()),
+                    JSON.toJSONString(param), String.valueOf(result2.body()), "追加诺宝动作块");
+            luceneLogService.interfaceExecuteLog(luceneLogDto);
+            return result2.body();
+
+        } finally {
+            MDC.remove(log_file_type);
+        }
+    }
     @Override
     public void actionFinishRequest2(JSONObject jsonObject) {
         HttpResponse execute = null;

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/ext/wms/service/impl/WmsToAcsServiceImpl.java

@@ -772,6 +772,9 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
             //拆叠盘位
             FoldDiscSiteDeviceDriver foldDiscSiteDeviceDriver;
 
+            //标准版输送线
+            BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+
             //气胀轴缓存库
             InflatableShaftLibraryDeviceDriver inflatableShaftLibraryDeviceDriver;
 
@@ -932,7 +935,12 @@ public class WmsToAcsServiceImpl implements WmsToAcsService {
                     jo.put("qty", inflatableShaftLibraryDeviceDriver.getQty());
                     jo.put("error", inflatableShaftLibraryDeviceDriver.getError());
                     jo.put("type", inflatableShaftLibraryDeviceDriver.getError());
-                } else {
+                } else if (device.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                    beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) device.getDeviceDriver();
+                    jo.put("move", beltConveyorDeviceDriver.getMove());
+                    jo.put("mode", beltConveyorDeviceDriver.getMode());
+                    jo.put("device_code", parent_device_code);
+                }else {
                     jo.put("device_code", parent_device_code);
                 }
                 backja.add(jo);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/InstructionService.java

@@ -334,6 +334,12 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByDeviceCodeFromCache(String devicecode);
 
+    /**
+     * 查找起点是否有就绪或者执行中的指令
+     */
+
+    Instruction findByNextCodeAndReadyAndRun(String device_code);
+
     /**
      * 根据起点设备编号查询当前是否有就绪指令
      *

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -1874,6 +1874,15 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return optionalInstruction.orElse(null);
     }
 
+    @Override
+    public Instruction findByNextCodeAndReadyAndRun(String device_code) {
+        Optional<Instruction> optionalInstruction = instructions.stream()
+                .filter(instruction -> StrUtil.equals(instruction.getNext_device_code(), device_code)
+                        && (StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) || StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex())))
+                .findFirst();
+        return optionalInstruction.orElse(null);
+    }
+
     @Override
     public Instruction findByEndCodeAndReady(String device_code) {
         Optional<Instruction> optionalInstruction = instructions.stream()