fix: 堆垛机对接位到货架修改

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

@@ -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
+                //补码生成堆垛机对接位到货架的指令
-                TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
+                if (StrUtil.isNotEmpty(hand_barcode)) {
-                if (ObjectUtil.isNull(taskdto)) {
+                    TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);
-                    //补码生成堆垛机对接位到货架的指令
+                    if (Objects.nonNull(taskDtoHandCode)) {
-                    if (StrUtil.isNotEmpty(hand_barcode)) {
+                        String taskid = taskDtoHandCode.getTask_id();
-                        TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);
+                        String taskcode = taskDtoHandCode.getTask_code();
-                        if (Objects.nonNull(taskDtoHandCode)) {
+                        String priority = taskDtoHandCode.getPriority();
-                            String taskid = taskDtoHandCode.getTask_id();
+                        String start_point_code = taskDtoHandCode.getStart_point_code();
-                            String taskcode = taskDtoHandCode.getTask_code();
+                        String start_device_code = "";
-                            String priority = taskDtoHandCode.getPriority();
+                        String route_plan_code = taskDtoHandCode.getRoute_plan_code();
-                            String start_point_code = taskDtoHandCode.getStart_point_code();
+                        String next_device_code = taskDtoHandCode.getNext_device_code();
-                            String start_device_code = "";
+                        String interactionJson = taskDtoHandCode.getInteraction_json();
-                            String route_plan_code = taskDtoHandCode.getRoute_plan_code();
+                        String containerType = "";
-                            String next_device_code = taskDtoHandCode.getNext_device_code();
+                        if (StrUtil.isNotEmpty(interactionJson)) {
-                            String interactionJson = taskDtoHandCode.getInteraction_json();
+                            InteractionJsonDTO interactionJsonDTO = JSON.parseObject(interactionJson, InteractionJsonDTO.class);
-                            String containerType = "";
+                            containerType = interactionJsonDTO.getContainerType();
-                            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;
                         }
+                        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;

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

@@ -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;