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fix: 堆垛机对接位到货架修改

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LENOVO
2024-04-19 14:08:30 +08:00
parent dc10c8ffc3
commit 53b6d91c3f
2 changed files with 63 additions and 60 deletions
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121
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/belt_conveyor/BeltConveyorDeviceDriver.java
View File

@@ -1,5 +1,6 @@
package org.nl.acs.device_driver.conveyor.belt_conveyor;
import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
@@ -463,65 +464,66 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
requireSucess = true;
return true;
} else {
//判断是否有相同起点的,任务状态就绪的任务
TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
if (ObjectUtil.isNull(taskdto)) {
//补码生成堆垛机对接位到货架的指令
if (StrUtil.isNotEmpty(hand_barcode)) {
TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);
if (Objects.nonNull(taskDtoHandCode)) {
String taskid = taskDtoHandCode.getTask_id();
String taskcode = taskDtoHandCode.getTask_code();
String priority = taskDtoHandCode.getPriority();
String start_point_code = taskDtoHandCode.getStart_point_code();
String start_device_code = "";
String route_plan_code = taskDtoHandCode.getRoute_plan_code();
String next_device_code = taskDtoHandCode.getNext_device_code();
String interactionJson = taskDtoHandCode.getInteraction_json();
String containerType = "";
if (StrUtil.isNotEmpty(interactionJson)) {
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
containerType = interactionJsonDTO.getContainerType();
}
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(taskDtoHandCode.getStart_device_code(), next_device_code, route_plan_code);
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(next_device_code)) {
index = m - 2;
break;
}
}
start_device_code = pathlist.get(index);
//校验路由关系
List<RouteLineDto> shortPathsList2 = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList2) || shortPathsList2.size() < 1) {
throw new RuntimeException("路由不通!");
}
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
String next_point_code;
if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = taskDtoHandCode.getTo_x() + "-" + taskDtoHandCode.getTo_y() + "-" + taskDtoHandCode.getTo_z();
Instruction instdto = new Instruction();
packageData(instdto, route_plan_code, taskDtoHandCode, taskid, taskcode, start_device_code, next_device_code, start_point_code, next_point_code, priority, containerType);
try {
instructionService.create(instdto);
} catch (Exception e) {
e.printStackTrace();
log.error("指令创建失败!,{}", e.getMessage());
return false;
}
return updateTask(taskDtoHandCode, nextdevice, instdto);
}
} else {
return false;
//补码生成堆垛机对接位到货架的指令
if (StrUtil.isNotEmpty(hand_barcode)) {
TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);
if (Objects.nonNull(taskDtoHandCode)) {
String taskid = taskDtoHandCode.getTask_id();
String taskcode = taskDtoHandCode.getTask_code();
String priority = taskDtoHandCode.getPriority();
String start_point_code = taskDtoHandCode.getStart_point_code();
String start_device_code = "";
String route_plan_code = taskDtoHandCode.getRoute_plan_code();
String next_device_code = taskDtoHandCode.getNext_device_code();
String interactionJson = taskDtoHandCode.getInteraction_json();
String containerType = "";
if (StrUtil.isNotEmpty(interactionJson)) {
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
containerType = interactionJsonDTO.getContainerType();
}
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(taskDtoHandCode.getStart_device_code(), next_device_code, route_plan_code);
RouteLineDto routeLineDto = shortPathsList.get(0);
String path = routeLineDto.getPath();
String[] str = path.split("->");
List<String> pathlist = Arrays.asList(str);
int index = 0;
for (int m = 0; m < pathlist.size(); m++) {
if (pathlist.get(m).equals(start_device_code)) {
index = m + 2;
break;
}
}
start_device_code = pathlist.get(index);
//校验路由关系
List<RouteLineDto> shortPathsList2 = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
if (ObjectUtils.isEmpty(shortPathsList2) || shortPathsList2.size() < 1) {
throw new RuntimeException("路由不通!");
}
Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
String next_point_code;
if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
next_point_code = next_device_code + "-" + taskDtoHandCode.getTo_y() + "-" + taskDtoHandCode.getTo_z();
Instruction instdto = new Instruction();
packageData(instdto, route_plan_code, taskDtoHandCode, taskid, taskcode, start_device_code, next_device_code, start_point_code, next_point_code, priority, containerType);
try {
instructionService.create(instdto);
} catch (Exception e) {
e.printStackTrace();
log.error("指令创建失败!,{}", e.getMessage());
return false;
}
return updateTask(taskDtoHandCode, nextdevice, instdto);
}
} else {
return false;
}
return false;
}
/**
* 目前没有从标准输送线为起点的任务
*/
//判断是否有相同起点的,任务状态就绪的任务
/**
TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
if (ObjectUtil.isNotNull(taskdto)) {
//判断指令的起点和当前的设备号相同
if (!taskdto.getStart_device_code().equals(device_code)) {
@@ -541,9 +543,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
containerType = interactionJsonDTO.getContainerType();
}
/**
* 开始平均分配
*/
String this_coevice_code = taskserver.queryAssignedByDevice(device_code, taskdto.getNext_device_code());
if (StrUtil.isEmpty(this_coevice_code)) {
List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, taskdto.getNext_device_code(), route_plan_code);
@@ -590,6 +590,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
}
return updateTask(taskdto, nextdevice, instdto);
}
**/
}
return false;
@@ -602,7 +603,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
requireSucess = true;
String next_addr = nextdevice.getExtraValue().get("address").toString();
List list = new ArrayList();
writeData(next_addr, list, instdto);
// writeData(next_addr, list, instdto);
// led_message = getLedMessage(instdto);
requireSucess = true;
return true;

2
acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/storage/standard_storage/StandardStorageDefination.java
View File

@@ -1,9 +1,11 @@
package org.nl.acs.device_driver.storage.standard_storage;
import org.nl.acs.device.device_driver.standard_inspect.ItemDto;
import org.nl.acs.device.domain.Device;
import org.nl.acs.device_driver.DeviceDriver;
import org.nl.acs.device_driver.DeviceDriverDefination;
import org.nl.acs.device.enums.DeviceType;
import org.nl.acs.device_driver.defination.OpcDeviceDriverDefination;
import org.springframework.stereotype.Service;
import java.util.LinkedList;