fix: 堆垛机command顺序修改

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

@@ -1,21 +1,17 @@
 package org.nl.acs.agv;
 
-import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.domain.Device;
-import org.nl.acs.device.service.DeviceService;
-import org.nl.acs.device_driver.conveyor.standard_inspect_site.StandardInspectSiteDeviceDriver;
 import org.nl.acs.device_driver.one_conveyor.box_subvolumes_conveyor.BoxSubvolumesConveyorDeviceDriver;
-import org.nl.acs.device_driver.one_manipulator.box_storage_manipulator.BoxStorageManipulatorDeviceDriver;
 import org.nl.acs.device_driver.two_conveyor.manipulator_agv_station.ManipulatorAgvStationDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.instruction.domain.Instruction;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.opc.DeviceAppService;
+import org.nl.acs.task.enums.ActionTypeEnum;
 import org.nl.acs.task.enums.AgvSystemTypeEnum;
 import org.nl.common.exception.BadRequestException;
 import org.nl.config.lucene.service.LuceneExecuteLogService;
@@ -80,6 +76,12 @@ public class AgvWaitUtil {
                 throw new BadRequestException("上位系统不允许取货");
             }
         }
+        LuceneLogDto logDto1 = LuceneLogDto.builder()
+                .device_code(inst.getCarno())
+                .content("200:允许取货")
+                .build();
+        logDto1.setLog_level(4);
+        luceneExecuteLogService.deviceExecuteLog(logDto1);
         JSONObject map = new JSONObject();
         map.put("status", 200);
         map.put("message", "允许取货！");
@@ -101,6 +103,7 @@ public class AgvWaitUtil {
             boxSubvolumesConveyorDeviceDriver.writing(3);
         }
         if(inst.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())){
+            applyLmsGetOut(inst);
             manipulatorAgvStationDeviceDriver = (ManipulatorAgvStationDeviceDriver) startDevice.getDeviceDriver();
             manipulatorAgvStationDeviceDriver.writing(3);
 
@@ -112,6 +115,40 @@ public class AgvWaitUtil {
         return map;
     }
 
+    private void applyLmsGetOut(Instruction inst) {
+        try {
+            JSONObject param = new JSONObject();
+            param.put("taskCode", inst.getTask_code());
+            param.put("actionType", ActionTypeEnum.IN_FINISHING.getCode().toString());
+            LuceneLogDto logDto = LuceneLogDto.builder()
+                    .device_code(inst.getCarno())
+                    .content("诺宝取货完成:" + inst.getTask_code() + "--" +  ActionTypeEnum.IN_FINISHING.getCode().toString())
+                    .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("追加动诺宝作块,参数,接口返回:" + jo)
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+            } else {
+                LuceneLogDto logDto2 = LuceneLogDto.builder()
+                        .device_code(inst.getCarno())
+                        .content("追加动诺宝作块失败,返回参数:" + jo.getString("body"))
+                        .build();
+                logDto2.setLog_level(4);
+                luceneExecuteLogService.deviceExecuteLog(logDto2);
+                throw new BadRequestException("追加动诺宝作块返回失败");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
     //放货前等待
     public JSONObject waitInPut(String endDeviceCode, Instruction inst) {
         log.info("仙工AGV请求放货，设备号 - {}", endDeviceCode);

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

@@ -336,10 +336,18 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         //动作块id
         jo.put("blockId", IdUtil.simpleUUID());
         //目的地名称
-        jo.put("location", pointCode + "INGET");
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+            jo.put("location", pointCode + "WAIT");
+        } else {
+            jo.put("location", pointCode + "INGET");
+        }
         //执行脚本
         jo.put("operation", "script");
-        jo.put("id", pointCode + "INGET");
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+            jo.put("id", pointCode + "WAIT");
+        } else {
+            jo.put("id", pointCode + "INGET");
+        }
         //通信脚本,动作前后与现场设备交互的场景
         jo.put("script_name", "userpy/interact.py");
         JSONObject script_args = new JSONObject();
@@ -348,7 +356,11 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         JSONObject data = new JSONObject();
         JSONObject reach = new JSONObject();
         reach.put("task_code", instCode);
-        reach.put("address", pointCode + "INGET");
+        if (AgvActionTypeEnum.IN_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+            reach.put("address", pointCode + "WAIT");
+        } else {
+            reach.put("address", pointCode + "INGET");
+        }
         data.put("reach", reach);
         script_args.put("data", data);
         script_args.put("protocol", "HTTP");
@@ -403,16 +415,28 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
             //放货前等待
             JSONObject jo3 = new JSONObject();
             jo3.put("blockId", IdUtil.simpleUUID());
-            jo3.put("location", pointCode + "INPUT");
+            if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+                jo3.put("location", pointCode + "WAIT");
+            } else {
+                jo3.put("location", pointCode + "INPUT");
+            }
             jo3.put("operation", "script");
-            jo3.put("id", pointCode + "INPUT");
+            if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+                jo3.put("id", pointCode + "WAIT");
+            } else {
+                jo3.put("id", pointCode + "INPUT");
+            }
             jo3.put("script_name", "userpy/interact.py");
             JSONObject script_args3 = new JSONObject();
             script_args3.put("addr", addr);
             JSONObject data3 = new JSONObject();
             JSONObject reach3 = new JSONObject();
             reach3.put("task_code", instCode);
-            reach3.put("address", pointCode + "INPUT");
+            if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(agv_action_type) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(agv_action_type)) {
+                reach3.put("address", pointCode + "WAIT");
+            } else {
+                reach3.put("address", pointCode + "INPUT");
+            }
             data3.put("reach", reach3);
             script_args3.put("data", data3);
             script_args3.put("protocol", "HTTP");
@@ -695,14 +719,18 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
         if (StrUtil.isBlank(address)) {
             throw new BadRequestException("请求失败，地址为空！");
         }
-        if (address.contains("IN") || address.contains("WAITE")) {
+        if (address.contains("IN") || address.contains("WAIT")) {
             String task_code = instructionDto.getTask_code();
-            String instructionCode = instructionDto.getInstruction_code();
+            String deviceCodeNow;
-            String deviceCodeNow = address.substring(0, address.length() - 5);
+            if (address.contains("WAIT")) {
+                deviceCodeNow = address.substring(0, address.length() - 4);
+            } else {
+                deviceCodeNow = address.substring(0, address.length() - 5);
+            }
             if (ObjectUtil.isEmpty(deviceAppService.findDeviceByCode(deviceCodeNow))) {
                 throw new BadRequestException("设备号 " + deviceCodeNow + " 不存在！");
             }
-            if (address.contains("GET")) {
+            if (address.contains("GET") || address.contains("WAIT")) {
                 if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
                     //如果是取货二次分配，取放货二次分配需要重新追加动作块
                     if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
@@ -721,7 +749,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     }
                 }
                 return agvWaitUtil.waitInGet(deviceCodeNow, instructionDto);
-            } else if (address.contains("PUT") || address.contains("WAITE")) {
+            } else if (address.contains("PUT") || address.contains("WAIT")) {
                 if (instructionDto.getAgv_system_type().equals(AgvSystemTypeEnum.One_NDC_System_Type.getIndex())) {
                     //如果是放货二次分配，取放货二次分配需要重新追加动作块
                     if (AgvActionTypeEnum.OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type()) || AgvActionTypeEnum.IN_OUT_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
@@ -909,7 +937,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                 luceneExecuteLogService.deviceExecuteLog(logDto2);
                 if (!ActionTypeEnum.IN_FINISHING.getCode().equals(actionType)) {
                     //请求成功调用诺宝追加动作块
-                    sendAddSequencesToNBAgv(task_code, jo.getString("data"), instructionDto);
+                    sendAddSequencesToNBAgv(instructionDto.getInstruction_code(), jo.getString("data"), instructionDto);
                 }
                 return jo.getString("data");
 
@@ -1019,7 +1047,7 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
                     .timeout(20000)
                     .execute();
             LuceneLogDto logDto1 = LuceneLogDto.builder()
-                    .device_code("叉车运单响应")
+                    .device_code("追加诺宝运单参数")
                     .content("指令号:" + instructionCode + ",下发追加诺宝运单反馈参数:" + jo)
                     .build();
             logDto.setLog_level(4);
@@ -1079,25 +1107,25 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
     }
 
     private void sendEndDeviceOrder2(JSONArray ja, String nextDeviceCode, String instructionCode, Instruction instructionDto) {
-        //放货前等待
-        JSONObject jo3 = new JSONObject();
-        jo3.put("blockId", IdUtil.simpleUUID());
-        jo3.put("location", nextDeviceCode + "INPUT");
-        jo3.put("operation", "script");
-        jo3.put("id", nextDeviceCode + "INPUT");
-        jo3.put("script_name", "userpy/interact.py");
-        JSONObject script_args3 = new JSONObject();
-        script_args3.put("addr", addr);
-        JSONObject data3 = new JSONObject();
-        JSONObject reach3 = new JSONObject();
-        reach3.put("task_code", instructionCode);
-        reach3.put("address", nextDeviceCode + "INPUT");
-        data3.put("reach", reach3);
-        script_args3.put("data", data3);
-        script_args3.put("protocol", "HTTP");
-        jo3.put("script_args", script_args3);
-        ja.add(jo3);
         if (AgvActionTypeEnum.IN_STOCK.getCode().equals(instructionDto.getAgv_action_type())) {
+            //放货前等待
+            JSONObject jo3 = new JSONObject();
+            jo3.put("blockId", IdUtil.simpleUUID());
+            jo3.put("location", nextDeviceCode + "INPUT");
+            jo3.put("operation", "script");
+            jo3.put("id", nextDeviceCode + "INPUT");
+            jo3.put("script_name", "userpy/interact.py");
+            JSONObject script_args3 = new JSONObject();
+            script_args3.put("addr", addr);
+            JSONObject data3 = new JSONObject();
+            JSONObject reach3 = new JSONObject();
+            reach3.put("task_code", instructionCode);
+            reach3.put("address", nextDeviceCode + "INPUT");
+            data3.put("reach", reach3);
+            script_args3.put("data", data3);
+            script_args3.put("protocol", "HTTP");
+            jo3.put("script_args", script_args3);
+            ja.add(jo3);
             //将货物放下
             com.alibaba.fastjson.JSONObject jo4 = new com.alibaba.fastjson.JSONObject();
             jo4.put("blockId", IdUtil.simpleUUID());
@@ -1376,16 +1404,16 @@ public class XianGongAgvServiceImpl implements XianGongAgvService {
 
             JSONObject jo9 = new JSONObject();
             jo9.put("blockId", IdUtil.simpleUUID());
-            jo9.put("location", inst.getNext_device_code() + "WAITE");
+            jo9.put("location", inst.getNext_device_code() + "WAIT");
             jo9.put("operation", "script");
-            jo9.put("id", inst.getNext_device_code() + "WAITE");
+            jo9.put("id", inst.getNext_device_code() + "WAIT");
             jo9.put("script_name", "userpy/interact.py");
             JSONObject script_args5 = new JSONObject();
             script_args5.put("addr", addr);
             JSONObject data3 = new JSONObject();
             JSONObject reach3 = new JSONObject();
             reach3.put("task_code", inst.getInstruction_code());
-            reach3.put("address", inst.getNext_device_code() + "WAITE");
+            reach3.put("address", inst.getNext_device_code() + "WAIT");
             data3.put("reach", reach3);
             script_args5.put("data", data3);
             script_args5.put("protocol", "HTTP");

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

@@ -482,6 +482,14 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
             } else {
                 //查看是否存在输送线到对接为的指令
                 Instruction byNextDeviceCodeFromCache = instructionService.findByNextDeviceCodeFromCache(this.device_code);
+                if (ObjectUtil.isNotEmpty(byNextDeviceCodeFromCache)){
+                    LuceneLogDto logDto = LuceneLogDto.builder()
+                            .device_code(device_code)
+                            .content("存在堆垛机对接为的指令")
+                            .build();
+                    logDto.setLog_level(4);
+                    luceneExecuteLogService.deviceExecuteLog(logDto);
+                }
                 //补码生成堆垛机对接位到货架的指令
                 if (StrUtil.isNotEmpty(hand_barcode) && ObjectUtil.isEmpty(byNextDeviceCodeFromCache)) {
                     TaskDto taskDtoHandCode = taskserver.findByVehicleCodeCodeAndReady(hand_barcode);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/stacker/standard_stacker/StandardStackerDeviceDriver.java

@@ -45,10 +45,8 @@ import org.nl.config.lucene.service.LuceneExecuteLogService;
 import org.nl.config.lucene.service.dto.LuceneLogDto;
 import org.springframework.beans.factory.annotation.Autowired;
 
-import java.time.LocalDateTime;
 import java.util.*;
 import java.util.regex.Pattern;
-import java.util.stream.Collectors;
 
 /**
  * 单工位堆垛机驱动
@@ -996,7 +994,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 }
                 List list = new ArrayList();
                 pakageCommand(list, inst.getInstruction_code());
-                packagePlcCoordinate(startDevice, list);
+                packagePlcCoordinate(startDevice, list,"1");
                 if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name()) && !prohibitOutWarehouse) {
                     pakagePlc(inst, list,"1");
                 }
@@ -1009,7 +1007,7 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
         return true;
     }
 
-    private void packagePlcCoordinate(Device startDevice, List list) {
+    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"))) {
                 HashMap map4 = new HashMap();
@@ -1029,6 +1027,10 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 map6.put("value", startDevice.getExtraValue().get("y"));
                 list.add(map6);
             }
+            HashMap map2 = new HashMap();
+            map2.put("code", "to_command");
+            map2.put("value", toCommand);
+            list.add(map2);
         }
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/service/impl/InstructionServiceImpl.java

@@ -546,14 +546,14 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         }
 
         String start_device_code = dto.getStart_device_code();
-        if (StrUtil.isNotEmpty(dto.getTask_code())) {
+//        if (StrUtil.isNotEmpty(dto.getTask_code())) {
-            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
+//            List<InstructionMybatis> instructionMybatis = instructionMapper.selectList(Wrappers.lambdaQuery(InstructionMybatis.class)
-                    .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
+//                    .eq(InstructionMybatis::getTask_code, dto.getTask_code()));
-            if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
+//            if (CollUtil.isNotEmpty(instructionMybatis) && instructionMybatis.stream().anyMatch(inst -> inst.getStart_device_code()
-                    .equals(start_device_code))) {
+//                    .equals(start_device_code))) {
-                return;
+//                return;
-            }
+//            }
-        }
+//        }
         String currentUsername = SecurityUtils.getCurrentNickName();
         String now = DateUtil.now();
         if (StrUtil.isEmpty(dto.getRoute_plan_code())) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/enums/AgvSystemTypeEnum.java

@@ -11,14 +11,17 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum AgvSystemTypeEnum {
     /**
+     * 二期一楼AGV任务
      * 一期1楼叉车NDC系统
      */
     One_NDC_System_Type("1", "1", "一期1楼叉车NDC系统"),
     /**
+     * 二期二楼NDC系统
      * 一期2楼NDC系统
      */
     Two_NDC_System_Type("2", "2", "一期2楼NDC系统"),
     /**
+     * 二期一楼叉车任务
      * 仙工AGV系统
      */
     XG_System_Type("3", "3", "仙工AGV系统");