fix: 输送线筛掉行架、堆垛机策略开发测试

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 org.nl.acs.custompolicy.domain.CustomPolicy;
-import java.util.Map;
+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<String, StackerStrategyDto> 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<CustomPolicy> 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<StackerInstruction> plansList = plans.toJavaList(StackerInstruction.class);
+                StackerStrategyDto stackerStrategyDto = new StackerStrategyDto();
+                stackerStrategyDto.setPlan(plansList);
+                stackerStrategyDto.setDeviceCode(customPolicy.getKey_code());
+                strategyCache.put(customPolicy.getKey_code(), stackerStrategyDto);
+            }
+        }
     }
 }

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;
-    private int quantity = 1;
     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;
-    }
 }

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<StackerInstruction> plan = new ArrayList();
+    private List<StackerInstruction> plans = new ArrayList();
     /**
      * 禁止策略 暂时未开发
      */
@@ -26,11 +26,11 @@ public class StackerStrategyDto {
     }
 
     public List<StackerInstruction> getPlan() {
-        return this.plan;
+        return this.plans;
     }
 
     public void setPlan(List<StackerInstruction> plan) {
-        this.plan = plan;
+        this.plans = plan;
     }
 
     public List<StackerInstruction> getForbid() {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/custompolicy/server/dto/CustomPolicyPlantDTO.java

@@ -22,9 +22,9 @@ public class CustomPolicyPlantDTO implements Serializable {
 
     private Integer type;
 
-    private Integer from;
+    private String from;
 
-    private Integer to;
+    private String to;
 
     private Integer quantity;
 

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<CustomPolicyMappe
 
     private final CustomPolicyMapper customPolicyMapper;
     private final HashMap<String, List<CustomPolicyPlantDTO>> customPolicyPlantDTOMap;
+    @Autowired
+    DeviceAppService deviceAppService;
 
     /**
      * 初始化策略
@@ -122,6 +130,14 @@ public class CustomPolicyServiceImpl extends CommonServiceImpl<CustomPolicyMappe
             customPolicy.setKey_value(null);
         }
         customPolicyMapper.updateById(customPolicy);
+        //清除堆垛机策略缓存
+        Device ddjDevice = deviceAppService.findDeviceByCode(customPolicyPlantVO.getDeviceCode());
+        StandardStackerDeviceDriver standardStackerDeviceDriver;
+        if (ddjDevice.getDeviceDriver() instanceof  StandardStackerDeviceDriver){
+            standardStackerDeviceDriver = (StandardStackerDeviceDriver) ddjDevice.getDeviceDriver();
+            standardStackerDeviceDriver.setTackerInstructionQueue(null);
+        }
+
     }
 
     @Override

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

@@ -36,6 +36,7 @@ import org.nl.acs.opc.DeviceAppService;
 import org.nl.acs.route.service.RouteLineService;
 import org.nl.acs.route.service.dto.RouteLineDto;
 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.utils.SecurityUtils;
@@ -557,6 +558,10 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
 
                 //入库异常口为起点的任务
                 TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
+                //移除行架任务
+                if (taskdto.getTask_type().equals(TaskTypeEnum.Truss_Task.getIndex())){
+                    return false;
+                }
                 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)) {
@@ -581,6 +586,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                     }
 
                     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);
                         RouteLineDto routeLineDto = shortPathsList.get(0);

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<String> getDeviceCodeList = null;
     List<String> 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<StackerInstruction> 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<String, Object> 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<Instruction> 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<Instruction> instructionList, List<Instruction> instructionStragetyList) {
+        List<StackerInstruction> plan = stragety.getPlan();
+        Map<String, List<Instruction>> startDeviceCodes = instructionList.stream().collect(Collectors.groupingBy(Instruction::getStart_device_code));
+        Map<String, List<Instruction>> 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<Instruction> 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<Instruction> 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<Instruction> 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"))) {

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;
+    }
+}