diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/CustomerStragetyCacheService.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/CustomerStragetyCacheService.java index 7ae5ad02e..192617a18 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/CustomerStragetyCacheService.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/CustomerStragetyCacheService.java @@ -1,13 +1,32 @@ package org.nl.acs.custompolicy; +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.JSONArray; +import com.alibaba.fastjson.JSONObject; +import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper; import org.nl.acs.auto.initial.ApplicationAutoInitial; -import java.util.HashMap; -import java.util.Map; +import org.nl.acs.custompolicy.domain.CustomPolicy; +import org.nl.acs.custompolicy.server.mapper.CustomPolicyMapper; +import org.nl.acs.task.domain.Task; +import org.nl.acs.task.enums.TaskStatusEnum; +import org.nl.acs.task.service.mapper.TaskMapper; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Component; +import org.springframework.stereotype.Service; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +@Service public class CustomerStragetyCacheService implements ApplicationAutoInitial { private Map strategyCache = new HashMap(); + @Autowired + private CustomPolicyMapper customPolicyMapper; + public CustomerStragetyCacheService() { } @@ -27,5 +46,23 @@ public class CustomerStragetyCacheService implements ApplicationAutoInitial { @Override public void autoInitial() throws Exception { // 策略缓存 + List customPolicyList = new LambdaQueryChainWrapper<>(customPolicyMapper) + .eq(CustomPolicy::getIs_on, "1") + .orderByDesc(CustomPolicy::getCreate_time) + .list(); + for (CustomPolicy customPolicy : customPolicyList) { + if (StrUtil.isEmpty(customPolicy.getKey_value())){ + continue; + } + JSONObject jsonObject = JSONObject.parseObject(customPolicy.getKey_value()); + JSONArray plans = jsonObject.getJSONArray("plans"); + if (ObjectUtil.isNotEmpty(plans)) { + List plansList = plans.toJavaList(StackerInstruction.class); + StackerStrategyDto stackerStrategyDto = new StackerStrategyDto(); + stackerStrategyDto.setPlan(plansList); + stackerStrategyDto.setDeviceCode(customPolicy.getKey_code()); + strategyCache.put(customPolicy.getKey_code(), stackerStrategyDto); + } + } } } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerInstruction.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerInstruction.java index dbbf4ab3a..a4df7c43e 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerInstruction.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerInstruction.java @@ -1,61 +1,16 @@ package org.nl.acs.custompolicy; + +import lombok.Data; + +@Data public class StackerInstruction { - private String procedure; - private String type; private String from; - private String to; - private int quantity = 1; + private int quantity; private int sort; + private String to; + private int type; - public StackerInstruction() { - } - public String getProcedure() { - return this.procedure; - } - public void setProcedure(String procedure) { - this.procedure = procedure; - } - - public String getType() { - return this.type; - } - - public void setType(String type) { - this.type = type; - } - - public String getFrom() { - return this.from; - } - - public void setFrom(String from) { - this.from = from; - } - - public String getTo() { - return this.to; - } - - public void setTo(String to) { - this.to = to; - } - - public int getQuantity() { - return this.quantity; - } - - public void setQuantity(int quantity) { - this.quantity = quantity; - } - - public int getSort() { - return this.sort; - } - - public void setSort(int sort) { - this.sort = sort; - } } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerStrategyDto.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerStrategyDto.java index 26124e0ec..273ff4e12 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerStrategyDto.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/StackerStrategyDto.java @@ -8,7 +8,7 @@ public class StackerStrategyDto { /** * 策略 */ - private List plan = new ArrayList(); + private List plans = new ArrayList(); /** * 禁止策略 暂时未开发 */ @@ -26,11 +26,11 @@ public class StackerStrategyDto { } public List getPlan() { - return this.plan; + return this.plans; } public void setPlan(List plan) { - this.plan = plan; + this.plans = plan; } public List getForbid() { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/dto/CustomPolicyPlantDTO.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/dto/CustomPolicyPlantDTO.java index 3612046a7..3b7573a14 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/dto/CustomPolicyPlantDTO.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/dto/CustomPolicyPlantDTO.java @@ -19,15 +19,15 @@ import java.io.Serializable; public class CustomPolicyPlantDTO implements Serializable { private static final long serialVersionUID = 1L; - + private Integer type; - - private Integer from; - - private Integer to; - + + private String from; + + private String to; + private Integer quantity; - + private Integer sort; } diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/impl/CustomPolicyServiceImpl.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/impl/CustomPolicyServiceImpl.java index db1245f40..77dc09b8e 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/impl/CustomPolicyServiceImpl.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/impl/CustomPolicyServiceImpl.java @@ -18,9 +18,15 @@ import org.nl.acs.custompolicy.server.dto.CustomPolicyDTO; import org.nl.acs.custompolicy.server.dto.CustomPolicyPlantDTO; import org.nl.acs.custompolicy.server.mapper.CustomPolicyMapper; import org.nl.acs.custompolicy.server.vo.CustomPolicyPlantVO; +import org.nl.acs.device.domain.Device; +import org.nl.acs.device_driver.stacker.standard_stacker.StandardStackerDeviceDriver; +import org.nl.acs.opc.DeviceAppService; +import org.nl.acs.opc.DeviceAppServiceImpl; import org.nl.acs.utils.ConvertUtil; import org.nl.acs.utils.PageUtil; import org.nl.common.utils.SecurityUtils; +import org.nl.config.SpringContextHolder; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.data.domain.Pageable; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Propagation; @@ -44,6 +50,8 @@ public class CustomPolicyServiceImpl extends CommonServiceImpl> customPolicyPlantDTOMap; + @Autowired + DeviceAppService deviceAppService; /** * 初始化策略 @@ -122,6 +130,14 @@ public class CustomPolicyServiceImpl extends CommonServiceImpl shortPathsList = routeLineService.getShortPathLines(start_device_code, taskdto.getNext_device_code(), route_plan_code); RouteLineDto routeLineDto = shortPathsList.get(0); diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java index 9190852d9..0ffd24872 100644 --- a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java @@ -9,6 +9,9 @@ import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.acs.common.base.CommonFinalParam; +import org.nl.acs.custompolicy.CustomerStragetyCacheService; +import org.nl.acs.custompolicy.StackerInstruction; +import org.nl.acs.custompolicy.StackerStrategyDto; import org.nl.acs.device.domain.Device; import org.nl.acs.device.enums.DeviceType; import org.nl.acs.device.service.DeviceExtraService; @@ -19,6 +22,7 @@ import org.nl.acs.device_driver.conveyor.belt_conveyor.BeltConveyorDeviceDriver; import org.nl.acs.device_driver.conveyor.siemens_conveyor.SiemensConveyorDeviceDriver; import org.nl.acs.device_driver.driver.AbstractOpcDeviceDriver; import org.nl.acs.device_driver.driver.ExecutableDeviceDriver; +import org.nl.acs.device_driver.stacker.standard_stacker.enums.CustomPolicyTaskTypeEnum; import org.nl.acs.device_driver.storage.standard_storage.StandardStorageDeviceDriver; import org.nl.acs.ext.wms.service.AcsToWmsService; import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl; @@ -46,7 +50,9 @@ import org.nl.config.lucene.service.dto.LuceneLogDto; import org.springframework.beans.factory.annotation.Autowired; import java.util.*; +import java.util.concurrent.LinkedBlockingQueue; import java.util.regex.Pattern; +import java.util.stream.Collectors; /** * 单工位堆垛机驱动 @@ -80,6 +86,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme @Autowired private RedisUtils redisUtils; + + private CustomerStragetyCacheService customerStragetyCacheService = SpringContextHolder.getBean(CustomerStragetyCacheService.class);; + /** * 禁止入库 */ @@ -270,6 +279,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme List getDeviceCodeList = null; List putDeviceCodeList = null; + + + /** * 请求成功标记 */ @@ -295,7 +307,8 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme Boolean iserror = false; String inst_message; - + //阻塞队列，保证指令顺序执行 + LinkedBlockingQueue tackerInstructionQueue = new LinkedBlockingQueue<>(); @Override public Device getDevice() { @@ -333,16 +346,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } } - // 更新指令状态 if (mode == 3 && task > 0 && command == 1 && error == 0) { - if (null!=inst) { + if (null != inst) { inst_message = "指令号:" + inst.getInstruction_code() + " " + inst.getStart_point_code() + "->" + inst.getNext_point_code(); } 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); - } else { this.instruction_update_time = date; //更改指令状态 @@ -360,14 +371,14 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } //不同任务限制清零 if (!Objects.equals(task, last_task)) { - this.isonline=true; + this.isonline = true; count = 0; } if (mode == 0 || command == 9) { this.setIsonline(false); message = "universal_off"; - }else { + } else { this.setIsonline(true); } if (error != 0) { @@ -425,7 +436,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme Pattern compile = Pattern.compile(pattern); Map map = new HashMap<>(); map.put("code", "to_y"); - map.put("value", inst.getTo_z() ); + map.put("value", inst.getTo_z()); list.add(map); if (inst.getTo_x().length() > 1 && !compile.matcher(inst.getTo_x()).matches()) { String substring = inst.getTo_x().substring(1); @@ -504,9 +515,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme String start_device_code = errorInst.getStart_device_code(); Device startDevice = deviceAppService.findDeviceByCode(start_device_code); List listError = new ArrayList(); - pakageCommand(listError , errorInst.getInstruction_code()); + pakageCommand(listError, errorInst.getInstruction_code()); if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name()) && !prohibitOutWarehouse) { - pakagePlc(errorInst, listError,"1"); + pakagePlc(errorInst, listError, "1"); } if (ObjectUtil.isNotEmpty(listError)) { this.writing(listError); @@ -571,7 +582,6 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } - last_heartbeat = heartbeat; last_item_deviceCode = item_deviceCode; last_mode = mode; @@ -725,7 +735,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme luceneExecuteLogService.deviceExecuteLog(logDto1); String response = acsToWmsService.applyUpdatePointCode(param); JSONObject jo = JSON.parseObject(response); - if ( jo.getInteger("status") == 200) { + if (jo.getInteger("status") == 200) { try { //清警 cleanErro(); @@ -884,7 +894,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme //放货完成 if (forkCargo == 0) { //取货中或者取货完成（分入库出库） - if ("1".equals(instructionErro.getExecute_code()) ) { + if ("1".equals(instructionErro.getExecute_code())) { List list = new ArrayList(); String startDeviceCode = instructionErro.getStart_device_code(); Device startDeviceError = deviceAppService.findDeviceByCode(startDeviceCode); @@ -893,7 +903,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme requireSucess = true; return true; } - }else { + } else { message = "one_message19"; } } @@ -905,21 +915,21 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme requireSucess = true; return true; } - }else { + } else { message = "one_message20"; } } //出库报警 if (startDevice.getDeviceDriver() instanceof StandardStorageDeviceDriver) { //取货报警 - if ("1".equals(instructionErro.getExecute_code()) ) { + if ("1".equals(instructionErro.getExecute_code())) { List list = new ArrayList(); if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) { pakagePLCData(list, instructionErro.getFrom_x(), instructionErro.getFrom_y(), instructionErro.getFrom_z(), "1", instructionErro.getInstruction_code()); requireSucess = true; return true; } - }else { + } else { message = "one_message19"; } //放货中报警 @@ -938,7 +948,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme requireSucess = true; return true; } - }else { + } else { message = "one_message20"; } } @@ -993,7 +1003,22 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme return false; } instructionList = this.sortInst(instructionList); - inst = instructionList.get(0); + + //堆垛机策略 + StackerStrategyDto stragety = customerStragetyCacheService.getStragety(device_code); + List instructionStragetyList = new ArrayList<>(); + if (ObjectUtil.isNotEmpty(stragety)) { + //根据筛选指令，指令中包含策略起点终点的指令 + stragetySort(stragety, instructionList, instructionStragetyList); + if (!instructionStragetyList.isEmpty()) { + inst = instructionStragetyList.get(0); + } else { + inst = instructionList.get(0); + } + } else { + inst = instructionList.get(0); + } + //指令未执行 if (StrUtil.equals(inst.getInstruction_status(), "0")) { String start_device_code = inst.getStart_device_code(); @@ -1019,9 +1044,9 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme } List list = new ArrayList(); pakageCommand(list, inst.getInstruction_code()); - packagePlcCoordinate(startDevice, list,"1"); + packagePlcCoordinate(startDevice, list, "1"); if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name()) && !prohibitOutWarehouse) { - pakagePlc(inst, list,"1"); + pakagePlc(inst, list, "1"); } if (ObjectUtil.isNotEmpty(list)) { this.writing(list); @@ -1032,6 +1057,78 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme return true; } + private void stragetySort(StackerStrategyDto stragety, List instructionList, List instructionStragetyList) { + List plan = stragety.getPlan(); + Map> startDeviceCodes = instructionList.stream().collect(Collectors.groupingBy(Instruction::getStart_device_code)); + Map> endDeviceCodes = instructionList.stream().collect(Collectors.groupingBy(Instruction::getNext_device_code)); + //初始化队列 + if (CollUtil.isNotEmpty(plan)){ + if (tackerInstructionQueue.isEmpty()) { + for (StackerInstruction stackerInstruction : plan) { + tackerInstructionQueue.offer(stackerInstruction); + } + } + } + //找到满足策略的指令跳出循环 + for (StackerInstruction stackerInstruction : tackerInstructionQueue) { + //从头拿队列 + //入库策略 + if (StrUtil.isNotEmpty(stackerInstruction.getFrom())) { + if (startDeviceCodes.containsKey(stackerInstruction.getFrom())) { + instructionStragetyList.add(startDeviceCodes.get(stackerInstruction.getFrom()).get(0)); + //从头移除队列 + tackerInstructionQueue.poll(); + break; + } + } + //出库策略 + if (StrUtil.isNotEmpty(stackerInstruction.getTo())) { + if (endDeviceCodes.containsKey(stackerInstruction.getTo())) { + instructionStragetyList.add(endDeviceCodes.get(stackerInstruction.getTo()).get(0)); + //从头移除队列 + tackerInstructionQueue.poll(); + break; + } + } + //起点终点都为空根据类型做任务 + if (StrUtil.isEmpty(stackerInstruction.getFrom()) && StrUtil.isEmpty(stackerInstruction.getTo())){ + //入库 + if (CustomPolicyTaskTypeEnum.IN.getCode().equals(stackerInstruction.getType())){ + List instIn = instructionList.stream().filter(item -> item.getNext_device_code().contains("L")).collect(Collectors.toList()); + if (CollUtil.isNotEmpty(instIn)){ + instructionStragetyList.add(instIn.get(0)); + //从头移除队列 + tackerInstructionQueue.poll(); + break; + } + } + //出库 + if (CustomPolicyTaskTypeEnum.OUT.getCode().equals(stackerInstruction.getType())){ + List instOut = instructionList.stream().filter(item -> item.getStart_device_code().contains("L")).collect(Collectors.toList()); + if (CollUtil.isNotEmpty(instOut)){ + instructionStragetyList.add(instOut.get(0)); + //从头移除队列 + tackerInstructionQueue.poll(); + break; + } + } + //移库 + if (CustomPolicyTaskTypeEnum.MOVE.getCode().equals(stackerInstruction.getType())){ + List instInAndOut = instructionList.stream().filter(item -> item.getStart_device_code().contains("L") && item.getNext_device_code().contains("L") ).collect(Collectors.toList()); + if (CollUtil.isNotEmpty(instInAndOut)){ + instructionStragetyList.add(instInAndOut.get(0)); + //从头移除队列 + tackerInstructionQueue.poll(); + break; + } + } + + } + + + } + } + private void packagePlcCoordinate(Device startDevice, List list, String toCommand) { if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name()) && !prohibitInWarehouse) { if (ObjectUtil.isNotEmpty(startDevice.getExtraValue().get("z"))) { diff --git a/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/enums/CustomPolicyTaskTypeEnum.java b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/enums/CustomPolicyTaskTypeEnum.java new file mode 100644 index 000000000..67b909073 --- /dev/null +++ b/acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/enums/CustomPolicyTaskTypeEnum.java @@ -0,0 +1,38 @@ +/** + * @author ls + * @date 2023/11/20 13:33 + */ +package org.nl.acs.device_driver.stacker.standard_stacker.enums; + +import lombok.AllArgsConstructor; +import lombok.Getter; + + +@Getter +@AllArgsConstructor +public enum CustomPolicyTaskTypeEnum { + /** + * 入库 + */ + OUT(1, "入库"), + /** + * 出库 + */ + IN(2, "出库"), + /** + * 移库 + */ + MOVE(3, "移库"); + + Integer code; + String status; + + public static String getStatus(Integer code) { + for (CustomPolicyTaskTypeEnum value : values()) { + if (value.code.equals(code)) { + return value.status; + } + } + return null; + } +}