add: 充电bug修改

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

@@ -1,5 +1,6 @@
 package org.nl.acs.agv.service.impl;
 
+import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.agv.domain.TwoFloorAgvStatus;
 import org.nl.acs.device_driver.agv.utils.TwoAgvPhase;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -15,6 +16,7 @@ import java.util.concurrent.ConcurrentHashMap;
  * 二楼AGV状态管理服务
  * 负责管理和更新AGV状态，通过HTTP接口提供状态查询
  */
+@Slf4j
 @Service
 public class TwoFloorAgvStatusService {
 
@@ -110,31 +112,35 @@ public class TwoFloorAgvStatusService {
      * 清除AGV错误信息
      */
     public void clearAgvError(int carno) {
-        String vehicleCode = String.format("AGV%02d", carno);
-        TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
-        if (agvStatus != null) {
-            agvStatus.setIs_error(false);
-            agvStatus.setError_code(null);
-            agvStatus.setError_message(null);
-            agvStatus.setError_action(null);
-            agvStatus.setError_mode(null);
-            // 设置错误信息
-            agvStatus.setDriver(null);
-            agvStatus.setIs_error(false);
-            agvStatus.setError_message(null);
-            agvStatus.setDevice_code(null);
-            agvStatus.setError_action(null);
-            agvStatus.setError_mode(null);
-            agvStatus.setError_move(null);
-            agvStatus.setError_error(null);
-            agvStatus.setExp_action(null);
-            agvStatus.setExp_mode(null);
-            agvStatus.setExp_move(null);
-            agvStatus.setExp_error(null);
-            if ("error".equals(agvStatus.getStatus())) {
-                agvStatus.setStatus("idle");
-                agvStatus.setStatus_text("空闲");
+        try {
+            String vehicleCode = String.format("AGV%02d", carno);
+            TwoFloorAgvStatus agvStatus = agvStatusMap.get(vehicleCode);
+            if (agvStatus != null) {
+                agvStatus.setIs_error(false);
+                agvStatus.setError_code(null);
+                agvStatus.setError_message(null);
+                agvStatus.setError_action(null);
+                agvStatus.setError_mode(null);
+                // 设置错误信息
+                agvStatus.setDriver(null);
+                agvStatus.setIs_error(false);
+                agvStatus.setError_message(null);
+                agvStatus.setDevice_code(null);
+                agvStatus.setError_action(null);
+                agvStatus.setError_mode(null);
+                agvStatus.setError_move(null);
+                agvStatus.setError_error(null);
+                agvStatus.setExp_action(null);
+                agvStatus.setExp_mode(null);
+                agvStatus.setExp_move(null);
+                agvStatus.setExp_error(null);
+                if ("error".equals(agvStatus.getStatus())) {
+                    agvStatus.setStatus("idle");
+                    agvStatus.setStatus_text("空闲");
+                }
             }
+        } catch (Exception e){
+            log.error("清空agv异常状态有异常，异常原因={}",e.getMessage());
         }
     }
 }

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/auto/run/TwoNDCSocketConnectionAutoRun.java

@@ -345,29 +345,7 @@ public class TwoNDCSocketConnectionAutoRun extends AbstractAutoRunnable {
                             } else {
                                 log.info(device_code + "对应设备号为空!");
                             }
-                        } else if (phase == 0x64) {
-                            log.info("AGV车号{}反馈充电任务下发成功，锁定充电桩{}", agvaddr, station);
-                            Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
-                            if (ObjectUtil.isNotEmpty(dict)) {
-                                dict.setValue("1");
-                                dict.setPara2(String.valueOf(agvaddr));
-                                dict.setPara3("下发成功");
-                                dictService.updateDetail(dict);
-                            }
-                            //充电成功
-                        } else if (phase == 0x65) {
-                            log.info("AGV车号{}反馈充电中，充电桩{}", agvaddr, station);
-                            //充电取消上报
-                        } else if (phase == 0x66) {
-                            log.info("AGV车号{}反馈充电任务已取消，释放充电桩{}", agvaddr, station);
-                            Dict dict = dictService.getDictByName3("station", String.valueOf(agvaddr), null);
-                            if (ObjectUtil.isNotEmpty(dict)) {
-                                dict.setValue("0");
-                                dict.setPara2("");
-                                dict.setPara3("充电桩空闲");
-                                dictService.updateDetail(dict);
-                            }
-                        } else {
+                        }  else {
                             //上报异常信息
                             //（不需要WCS反馈）
 

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

@@ -510,7 +510,12 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         } else {
             this.instruction_require_time = date;
             //查找有没有对应的指令
-            Instruction inst = instructionService.findByStartCodeAndReady(this.device_code);
+            Instruction inst;
+            if ("RK1032".equals(this.device_code)||"RK1034".equals(this.device_code)||"RK1035".equals(this.device_code)){
+                inst = instructionService.findByStartCodeAndReady2(this.device_code);
+            }else {
+                inst = instructionService.findByStartCodeAndReady(this.device_code);
+            }
             if (ObjectUtil.isNotNull(inst)) {
                 List<RouteLineDto> routeLineDtos = routeLineService.selectDeviceCodeList(this.device_code);
                 if (routeLineDtos.size() < 1) {
@@ -796,7 +801,15 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
         List list = new ArrayList();
         writeData(next_addr, list, instdto, containerType);
 //                    led_message = getLedMessage(instdto);
-        requireSucess = true;
+        //写完信号to_task写成功后更新指令为执行中
+        inst = checkInst();
+            to_task = this.itemProtocol.getTo_task();
+        if (Integer.parseInt(to_task)>0 && to_task.equals(inst.getInstruction_code())) {
+            inst.setInstruction_status(CommonFinalParam.ONE);
+            inst.setExecute_device_code(this.device_code);
+            instructionService.update(inst);
+            requireSucess = true;
+        }
         return true;
     }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/driver/AbstractOpcDeviceDriver.java

@@ -218,10 +218,10 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
                 int var18 = itemValues.length;
 
                 for (int var19 = 0; var19 < var18; ++var19) {
-                    ItemValue itemValue = var17[var19];
-                    String code = itemValue.getItem_code();
-                    Object value = itemValue.getItem_value();
-                    opcValueAccessor.setValue(code, value);
+                    //ItemValue itemValue = var17[var19];
+                    //String code = itemValue.getItem_code();
+                    //Object value = itemValue.getItem_value();
+                    //opcValueAccessor.setValue(code, value);
                 }
             }
 
@@ -274,10 +274,10 @@ public class AbstractOpcDeviceDriver extends AbstractDeviceDriver implements Opc
                 int var18 = itemValues.length;
 
                 for (int var19 = 0; var19 < var18; ++var19) {
-                    ItemValue itemValue = var17[var19];
-                    String code = itemValue.getItem_code();
-                    Object value = itemValue.getItem_value();
-                    opcValueAccessor.setValue(code, value);
+                    //ItemValue itemValue = var17[var19];
+                    //String code = itemValue.getItem_code();
+                    //Object value = itemValue.getItem_value();
+                    //opcValueAccessor.setValue(code, value);
                 }
             }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/scanner_weight_conveyor/ConveyorWithScannerWeightDeviceDriver.java

@@ -178,6 +178,9 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private Date require_apply_zjrk_time = new Date();
     //退货入库申请时间
     private Date require_apply_thrk_time = new Date();
+    //入库申请时间
+    private Date require_apply_in_time = new Date();
+
     private int instruction_update_time_out = 1000;
     Integer heartbeat_tag;
     private Date instruction_require_time = new Date();
@@ -187,6 +190,7 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     private int require_apply_tprk_time_out = 4000;
     private int require_apply_zjrk_time_out = 4000;
     private int require_apply_thrk_time_out = 4000;
+    private int require_apply_in_time_out = 4000;
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
@@ -694,6 +698,13 @@ public class ConveyorWithScannerWeightDeviceDriver extends AbstractOpcDeviceDriv
     }
 
     private void applyIn(String type, int mode) {
+        Date date = new Date();
+        if (date.getTime() - this.require_apply_in_time.getTime()
+                < (long) this.require_apply_in_time_out) {
+            log.trace("触发时间因为小于{}毫秒，而被无视", this.require_apply_in_time_out);
+            return;
+        }
+        this.require_apply_in_time = date;
         try {
             JSONObject param = new JSONObject();
             param.put("device_code", device_code);

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_conveyor/un_box_lable_conveyor/UnBoxLableConveyorDeviceDriver.java

@@ -202,7 +202,7 @@ public class UnBoxLableConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                 }
 
                 //空箱出库开盖位，申请开盖
-                if (mode == 15 && move == 1 && task > 0) {
+                if (mode == 15 && move == 1 && task > 0 && !requireSucess) {
                     Instruction instruction = instructionService.findByCode(String.valueOf(task));
                     //不允许开盖，完成出库任务，自动去扫码位
                     if (instruction == null || StrUtil.isEmpty(instruction.getVehicle_code())) {

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/one_manipulator/box_package_manipulator/BoxPackageManipulatorDeviceDriver.java

@@ -424,14 +424,16 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                             throw new BadRequestException("设备：" + nextDevice.getDevice_code() + "未设置电气调度号！");
                         }
 
-                        BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
-                        if (nextDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver) {
-                            boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) nextDevice.getDeviceDriver();
-                            if (boxSubvolumesConveyorDeviceDriver.getMove() != 1) {
-                                notCreateInstMessage = "universal_notCreateInstMessage2";
-                                return false;
-                            }
-                        }
+                        //效率提升屏蔽光电判断
+
+//                        BoxSubvolumesConveyorDeviceDriver boxSubvolumesConveyorDeviceDriver;
+//                        if (nextDevice.getDeviceDriver() instanceof BoxSubvolumesConveyorDeviceDriver) {
+//                            boxSubvolumesConveyorDeviceDriver = (BoxSubvolumesConveyorDeviceDriver) nextDevice.getDeviceDriver();
+//                            if (boxSubvolumesConveyorDeviceDriver.getMove() != 1) {
+//                                notCreateInstMessage = "universal_notCreateInstMessage2";
+//                                return false;
+//                            }
+//                        }
 
                         ManipulatorCacheDeviceDriver manipulatorCacheDeviceDriver;
                         if (startDevice.getDeviceDriver() instanceof ManipulatorCacheDeviceDriver) {
@@ -553,11 +555,11 @@ public class BoxPackageManipulatorDeviceDriver extends AbstractOpcDeviceDriver i
                 map12.put("value", interactionJsonDTO.getFrpModel());
                 list.add(map12);
             }
-            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getIsHave())) {
-                map13.put("code", "to_have_or_not");
-                map13.put("value", interactionJsonDTO.getIsHave());
-                list.add(map13);
-            }
+//            if (ObjectUtil.isNotEmpty(interactionJsonDTO.getIsHave())) {
+//                map13.put("code", "to_have_or_not");
+//                map13.put("value", interactionJsonDTO.getIsHave());
+//                list.add(map13);
+//            }
         }
         this.writing(list);
         luceneExecuteLogService.deviceExecuteLog(LuceneLogDto.builder()

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/two_conveyor/pull_tail_manipulator/PullTailManipulatorDeviceDriver.java

@@ -132,8 +132,11 @@ public class PullTailManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
     private int instruction_update_time_out = 1000;
     Integer heartbeat_tag;
     private Date instruction_require_time = new Date();
+    private Date apply_feedback_require_time = new Date();
 
     private int instruction_require_time_out = 3000;
+    private int apply_feedback_require_time_out = 3000;
+
     //行架机械手申请任务成功标识
     boolean requireSucess = false;
 
@@ -230,6 +233,12 @@ public class PullTailManipulatorDeviceDriver extends AbstractOpcDeviceDriver imp
 
             //反馈重量
             if (mode == 3 && action == 5 && move == 0 && weight > 0 && StrUtil.isNotEmpty(sub_volume_no) && !requireSucess) {
+                Date date = new Date();
+                if (date.getTime() - this.apply_feedback_require_time.getTime() < (long) this.apply_feedback_require_time_out) {
+                    log.trace("触发时间因为小于{}毫秒，而被无视", this.apply_feedback_require_time_out);
+                    return ;
+                }
+                this.apply_feedback_require_time = date;
                 logServer.deviceExecuteLog(this.device_code, "", "", "反馈重量");
                 ApplyfeedbackSubVolumeWeightRequest applyfeedbackSubVolumeWeightRequest = new ApplyfeedbackSubVolumeWeightRequest();
                 ApplyfeedbackSubVolumeWeightResponse applyfeedbackSubVolumeWeightResponse;

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

@@ -348,6 +348,14 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      */
     Instruction findByStartCodeAndReady(String device_code);
 
+
+    /**
+     * 找最新的指令
+     * @param device_code
+     * @return
+     */
+    Instruction findByStartCodeAndReady2(String device_code);
+
     /**
      * 根据起点设备编号查询当前是否有运行的指令
      *

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

@@ -1935,6 +1935,15 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         return optionalInstruction.orElse(null);
     }
 
+
+    @Override
+    public Instruction findByStartCodeAndReady2(String device_code) {
+        Optional<Instruction> optionalInstruction = instructions.stream()
+                .filter(instruction -> StrUtil.equals(instruction.getStart_device_code(), device_code)
+                        && StrUtil.equals(instruction.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && !instruction.getInstruction_type().equals(TaskTypeEnum.Mxddhj_Task.getIndex())).max(Comparator.comparing(Instruction::getCreate_time));
+        return optionalInstruction.orElse(null);
+    }
+
     @Override
     public List<Instruction> findByDeviceCodes(Instruction instruction1, Boolean flay) {
         List<Instruction> instructionList = new ArrayList<>();

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

@@ -47,9 +47,9 @@ public class OpcUtl {
             Map<Item, Integer> e = null;
             try {
                 e = group.write(requests);
+                log.info("Group返回下发信号结果：" + String.valueOf(e));
 //                group.write(requests);
             } catch (Exception e1) {
-               e1.printStackTrace();
                throw new BadRequestException("下发信号失败：" + e1.getMessage());
             }
 

acs2/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/quartz/task/CreateDDJInst.java

@@ -29,10 +29,7 @@ import org.nl.common.utils.SecurityUtils;
 import org.nl.config.SpringContextHolder;
 import org.springframework.stereotype.Component;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
+import java.util.*;
 
 @Slf4j
 @Component
@@ -116,6 +113,30 @@ public class CreateDDJInst {
 
                     String start_height = taskDto.getStart_height();
                     String next_height = taskDto.getNext_height();
+
+                    //如果是换标任务判断终点1003，和1002点位的有无货判断
+                    if (StrUtil.isNotEmpty(taskDto.getStorage_task_type())&& Objects.equals(taskDto.getStorage_task_type(), "1")){
+                        //关联站点判断
+                        BeltConveyorDeviceDriver beltConveyorDeviceDriver;
+                        if (nextDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                            beltConveyorDeviceDriver = (BeltConveyorDeviceDriver) nextDevice.getDeviceDriver();
+                            //判断对接位和关联站点光电信号
+                            List<String>   getDeviceCodeList = beltConveyorDeviceDriver.getExtraDeviceCodes("link_device_code");
+                            if (CollUtil.isNotEmpty(getDeviceCodeList)) {
+                                String linkDeviceCode = getDeviceCodeList.get(0);
+                                Device linkDevice = appService.findDeviceByCode(linkDeviceCode);
+                                BeltConveyorDeviceDriver linkDeviceDriver;
+                                if (linkDevice.getDeviceDriver() instanceof BeltConveyorDeviceDriver) {
+                                    linkDeviceDriver = (BeltConveyorDeviceDriver) linkDevice.getDeviceDriver();
+                                    if ((beltConveyorDeviceDriver.getMode() == 0 || beltConveyorDeviceDriver.getMove() == 1) || (linkDeviceDriver.getMode() == 0 || linkDeviceDriver.getMove() == 1)) {
+                                        ((StandardStackerDeviceDriver) deviceByCode.getDeviceDriver()).setNotCreateInstMessage("无法创建堆垛机指令的原因：换标位" + next_device_code + "条件不满足！");
+                                       continue;
+                                    }
+                                }
+
+                            }
+                        }
+                    }
                     //同排的货位移库任务
                     if (StrUtil.equals(taskDto.getStart_device_code(), taskDto.getNext_device_code())) {
                         //通过起点找路由
@@ -385,33 +406,6 @@ public class CreateDDJInst {
                                     instdto.setTo_z(taskDto.getTo_z());
                                     instdto.setTo_y(taskDto.getTo_y());
                                 }
-                                //判断agv系统
-                                //1、1楼叉车系统
-                                //2、2楼1区域AGV系统
-                                //3、2楼2区域AGV系统 -已废弃
-                                if (!StrUtil.equals(agv_system_type, CommonFinalParam.ONE)) {
-                                    // task_type
-                                    //1、生箔； Itype=1:取空，取满，放空，放满；
-                                    //2、分切  Itype=3取满、取空、放满、放空；
-                                    //3、普通任务 Itype=2:取货、放货；
-                                    //4、叉车任务
-                                    //5、输送任务
-                                    //6、行架
-                                    //7、立库
-                                    if (StrUtil.equals(task_type, CommonFinalParam.ONE)) {
-                                        instdto.setAgv_inst_type(CommonFinalParam.ONE);
-                                    } else if (StrUtil.equals(task_type, "3")) {
-                                        instdto.setAgv_inst_type("2");
-                                    } else if (StrUtil.equals(task_type, "2")) {
-                                        instdto.setAgv_inst_type("3");
-                                    } else if (StrUtil.equals(task_type, "8")) {
-                                        instdto.setAgv_inst_type("2");
-                                    } else {
-                                        log.info("未找到对应的AGV指令类型，任务号:" + taskDto.getTask_code() + ",task_type:" + taskDto.getTask_type());
-                                    }
-                                } else {
-                                    instdto.setAgv_inst_type("4");
-                                }
                                 try {
                                     instructionService.create(instdto);
                                 } catch (Exception e) {

acs2/nladmin-ui/src/views/acs/history/instRecord/index.vue

@@ -172,6 +172,7 @@
         <el-table-column prop="start_point_code" :label="$t('task.select.Start_point')" :min-width="flexWidth('start_point_code',crud.data,$t('task.select.Start_point'))" />
         <el-table-column prop="next_point_code" :label="$t('task.select.Destination')" :min-width="flexWidth('next_point_code',crud.data,$t('task.select.Destination'))" />
         <el-table-column prop="matarial" :label="$t('TaskRecord.table.Material')" :min-width="flexWidth('matarial',crud.data,$t('TaskRecord.table.Material'))" />
+        <el-table-column prop="carno" :label="$t('Inst.table.carno')" :min-width="flexWidth('carno',crud.data,$t('Inst.table.carno'))"/>
         <el-table-column prop="quantity" :label="$t('TaskRecord.table.Quantity')" :min-width="flexWidth('quantity',crud.data,$t('TaskRecord.table.Quantity'))" />
         <el-table-column prop="weight" label="重量" :min-width="flexWidth('weight',crud.data,'重量')" />
         <el-table-column prop="remark" :label="$t('task.select.Remark')" :min-width="flexWidth('remark',crud.data,$t('task.select.Remark'))" />