rev:优化一楼诺宝取货完成交互

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/AcsConfig.java

@@ -83,6 +83,11 @@ public interface AcsConfig {
      */
     String pgErrorSendLms = "pgErrorSendLms";
 
+    /**
+     * 是否存在wms系统
+     */
+    String isSendLms = "isSendLms";
+
     /**
      * 是否请求wms系统
      */

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/agv/AgvWaitUtil.java

@@ -1,9 +1,12 @@
 package org.nl.acs.agv;
 
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.nl.acs.AcsConfig;
+import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
 import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
@@ -15,12 +18,17 @@ import org.nl.acs.task.enums.ActionTypeEnum;
 import org.nl.acs.task.enums.AgvActionTypeEnum;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.common.exception.BadRequestException;
+import org.nl.config.SpringContextHolder;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
+import org.nl.system.service.param.ISysParamService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
+import java.util.LinkedHashMap;
+import java.util.Map;
+
 /**
  * @author zhangjiangwei
  */
@@ -42,6 +50,8 @@ public class AgvWaitUtil {
 
     @Autowired
     private LuceneExecuteLogService luceneExecuteLogService;
+    @Autowired
+    ISysParamService paramService;
 
     //取货前等待
     public JSONObject waitInGet(String startDeviceCode, Instruction inst) {
@@ -50,7 +60,7 @@ public class AgvWaitUtil {
         ManipulatorAgvStationDeviceDriver manipulatorAgvStationDeviceDriver;
         BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
         //agv诺宝对接位安全信号交互
-            if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
+        if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             if (manipulatorAgvStationDeviceDriver.getTo_command() != 2) {
                 manipulatorAgvStationDeviceDriver.writing(2);
@@ -130,15 +140,23 @@ public class AgvWaitUtil {
         }
         //诺宝agv调lms更新点位
         if (inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
-             if (!AgvActionTypeEnum.ORDINARY.getCode().equals(inst.getAgv_action_type())) {
-                 applyLmsGetOut(inst);
-             }
             if (startDevice.getDeviceDriver() instanceof ManipulatorAgvStationDeviceDriver) {
                 manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
                 if (manipulatorAgvStationDeviceDriver.getTo_command() != 3) {
                     manipulatorAgvStationDeviceDriver.writing(3);
                 }
-                if (manipulatorAgvStationDeviceDriver.getAction() != 0) {
+                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())) {
+                            applyLmsGetOut(inst);
+                        }
+                    }
+                } else {
                     LuceneLogDto logDto = LuceneLogDto.builder()
                             .device_code(manipulatorAgvStationDeviceDriver.getDevice_code())
                             .content("未给agv离开信号原因是：" + manipulatorAgvStationDeviceDriver.getDevice_code() + "动作信号不为0")
@@ -154,38 +172,39 @@ public class AgvWaitUtil {
         JSONObject map = new JSONObject();
         map.put("status", 200);
         map.put("message", "允许离开！");
+        log.info("允许仙工AGV取货完成后请求离开，返回参数 - {}", map);
         log.info("允许仙工AGV取货完成后请求离开，设备号 - {}", startDeviceCode);
         return map;
     }
 
     private void applyLmsGetOut(Instruction inst) {
-            JSONObject param = new JSONObject();
+        JSONObject param = new JSONObject();
-            param.put("taskCode", inst.getTask_code());
+        param.put("taskCode", inst.getTask_code());
-            param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
+        param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
-            LuceneLogDto logDto = LuceneLogDto.builder()
+        LuceneLogDto logDto = LuceneLogDto.builder()
+                .device_code(inst.getCarno())
+                .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getStatus())
+                .build();
+        logDto.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto);
+        String response = acsToWmsService.secondaryAllocationPoint(param);
+        JSONObject jo = JSON.parseObject(response);
+        if (jo.getInteger("status") == 200) {
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
                     .device_code(inst.getCarno())
-                    .content("诺宝取货完成请求lms:" + inst.getTask_code() + "--" + ActionTypeEnum.IN_FINISHING.getStatus())
+                    .content("诺宝取货完成请求lms,参数,接口返回:" + jo)
                     .build();
-            logDto.setLog_level(4);
+            logDto2.setLog_level(4);
-            luceneExecuteLogService.deviceExecuteLog(logDto);
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
-            String response = acsToWmsService.secondaryAllocationPoint(param);
+        } else {
-            JSONObject jo = JSON.parseObject(response);
+            LuceneLogDto logDto2 = LuceneLogDto.builder()
-            if (jo.getInteger("status") == 200) {
+                    .device_code(inst.getCarno())
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                    .content("请求lms追加动诺宝作块失败,返回参数:" + jo)
-                        .device_code(inst.getCarno())
+                    .build();
-                        .content("诺宝取货完成请求lms,参数,接口返回:" + jo)
+            logDto2.setLog_level(4);
-                        .build();
+            luceneExecuteLogService.deviceExecuteLog(logDto2);
-                logDto2.setLog_level(4);
+            throw new BadRequestException("追加动诺宝作块返回失败");
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
+        }
-            } else {
-                LuceneLogDto logDto2 = LuceneLogDto.builder()
-                        .device_code(inst.getCarno())
-                        .content("请求lms追加动诺宝作块失败,返回参数:" + jo)
-                        .build();
-                logDto2.setLog_level(4);
-                luceneExecuteLogService.deviceExecuteLog(logDto2);
-                throw new BadRequestException("追加动诺宝作块返回失败");
-            }
     }
 
     //放货前等待