add: 关联站点开发,代确认开发点

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

@@ -381,7 +381,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
     /**
      * 申请任务
      */
-    public synchronized Boolean instruction_require() {
+    public synchronized Boolean
+    instruction_require() {
         Date date = new Date();
         if (date.getTime() - this.instruction_require_time.getTime() < (long) this.instruction_require_time_out) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_require_time_out);

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/belt_with_station/WithStationDeviceDriver.java

@@ -1,12 +1,15 @@
 package org.nl.acs.device_driver.basedriver.belt_with_station;
 
 import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.auto.run.OneNDCSocketConnectionAutoRun;
 import org.nl.acs.device.domain.Device;
@@ -25,14 +28,13 @@ import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.monitor.DeviceStageMonitor;
 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.service.TaskService;
 import org.nl.acs.task.service.dto.TaskDto;
 import org.nl.config.SpringContextHolder;
 import org.springframework.beans.factory.annotation.Autowired;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.Date;
-import java.util.List;
 
 /**
  * 关联驱动
@@ -129,7 +131,6 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements
         device_code = this.getDeviceCode();
 
 
-
         //取关联设备 list   要求：先配置外侧的站点
         //遍历
         List<String> sddjExtraCodeList = this.getExtraDeviceCodes("link_device_code");
@@ -143,71 +144,174 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements
                 doubleBeltConveyorDeviceDriver1 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode1.getDeviceDriver();
                 doubleBeltConveyorDeviceDriver2 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode2.getDeviceDriver();
                 //判断输送线是否有任务，有任务进行创建指令。
-                List<TaskDto> taskDtos1 = taskServer.queryTaskByStartDeviceCode(doubleBeltConveyorDeviceDriver1.getDevice_code());
+                TaskDto taskDtos1 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code());
-                List<TaskDto> taskDtos2 = taskServer.queryTaskByStartDeviceCode(doubleBeltConveyorDeviceDriver2.getDevice_code());
+                TaskDto taskDtos2 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code());
-                if (CollectionUtil.isNotEmpty(taskDtos1) && CollectionUtil.isNotEmpty(taskDtos2)) {
+                if (ObjectUtil.isNotEmpty(taskDtos1) && ObjectUtil.isNotEmpty(taskDtos2)) {
                     if (doubleBeltConveyorDeviceDriver1.getMove() == 0) {
                         requireSucess = false;
                     }
                     if (doubleBeltConveyorDeviceDriver2.getMove() == 0) {
                         requireSucess = false;
                     }
+                    //判断任务列是否相邻
+                    String nextDeviceCode1 = taskDtos1.getNext_device_code();
+                    String nextDeviceCode2 = taskDtos2.getNext_device_code();
+                    if (StrUtil.contains(nextDeviceCode1, "-") && StrUtil.contains(nextDeviceCode2, "-")) {
+                        String[] split1 = nextDeviceCode1.split("-");
+                        String nextPointCodeDown = split1[0] + "-" + (Integer.parseInt(split1[1]) - 1) + "-" + split1[2];
+                        String nextPointCodeUp = split1[0] + "-" + (Integer.parseInt(split1[1]) + 1) + "-" + split1[2];
+                        if (!nextDeviceCode2.equals(nextPointCodeDown) || !nextDeviceCode2.equals(nextPointCodeUp)) {
+                            //创建指令
+                            if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
+                                creatInstruction(taskDtos1);
+                            }
+                        }
+                    } else {
+                        requireSucess = false;
+                    }
+
                     //判断关联的输送线是否满足状态
-                    if (doubleBeltConveyorDeviceDriver1.getMode() == 2 && doubleBeltConveyorDeviceDriver1.getMove() == 1 && !requireSucess &&doubleBeltConveyorDeviceDriver2.getMode() == 2 && doubleBeltConveyorDeviceDriver2.getMove() == 1
+                    if (doubleBeltConveyorDeviceDriver1.getMode() == 2 && doubleBeltConveyorDeviceDriver1.getMove() == 1 && !requireSucess && doubleBeltConveyorDeviceDriver2.getMode() == 2 && doubleBeltConveyorDeviceDriver2.getMove() == 1) {
-                    ) {
+                        //判断是否大于等待时间
-
-
-                        //判断是否超过等待时间
                         if (System.currentTimeMillis() - doubleBeltConveyorDeviceDriver1.getInstruction_require_time().getTime()
                                 > Integer.parseInt(this.getExtraValue().get("apply_time").toString()) * 1000) {
-                            //否则对接位单独申请任务
+                            //创建指令
-                            JSONObject reqParam = new JSONObject();
+                            if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
-                            reqParam.put("type", StatusEnum.HAIROU_LIKU_REQ.getCode());
+                                creatInstruction(taskDtos1);
-                            reqParam.put("device_code_one", hailiangHrSsxDeviceDriver.getDevice_code());
+                            }
-                            reqParam.put("vehicle_code_one", hailiangHrSsxDeviceDriver.getBarcode());
+                        }
                         log.info("单工位请求成功");
                         requireSucess = true;
-
                     } else {
-                            //否则判断另一个位置
+                        //创建指令
-                            Device neiRouDevice = deviceAppservice.findDeviceByCode(haiRouDeviceCodeList.get(i+1));
+                        if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
-                            if (neiRouDevice.getDeviceDriver() instanceof HailiangHrSsxDeviceDriver) {
+                            creatInstruction(taskDtos1);
-                                hailiangHrSsxDeviceDriver2 = (HailiangHrSsxDeviceDriver) neiRouDevice.getDeviceDriver();
+                        }
-                                if (hailiangHrSsxDeviceDriver2.getMode() == 2 &&
+                        if (ObjectUtil.isNotNull(taskDtos2) && "1".equals(taskDtos1.getTask_type())) {
-                                        hailiangHrSsxDeviceDriver2.getMove() == 1 &&
+                            creatInstruction(taskDtos2);
-                                        ObjectUtil.isNotEmpty(hailiangHrSsxDeviceDriver2.getBarcode())
+                        }
-                                ) {
+                        log.info("双工位指令创建成功");
-                                    JSONObject reqParam = new JSONObject();
-                                    //半成品库任务
-                                    reqParam.put("type", StatusEnum.HAIROU_LIKU_REQ.getCode());
-                                    //具体海柔出入库任务类型
-                                    reqParam.put("item_type", DeviceEnum.getTypeByCode(hailiangHrSsxDeviceDriver.getDevice_code()));
-                                    reqParam.put("device_code_one", hailiangHrSsxDeviceDriver.getDevice_code());
-                                    reqParam.put("vehicle_code_one", hailiangHrSsxDeviceDriver.getBarcode());
-                                    reqParam.put("device_code_two", hailiangHrSsxDeviceDriver2.getDevice_code());
-                                    reqParam.put("vehicle_code_two", hailiangHrSsxDeviceDriver2.getBarcode());
-                                    //向lms请求任务
-                                    // 联调时加上
-//                                    HttpResponse httpResponse = acsToWmsService.applyTaskToWms(reqParam);
-//                                    if (ObjectUtil.isNotEmpty(httpResponse) && httpResponse.getStatus() == 200) {
-//                                        requireSucess = true;
-//                                    }
-                                    log.info("双工位请求成功");
                         requireSucess = true;
                     }
+
+                }
+            }
         }
     }
 
+    private void creatInstruction(TaskDto taskDtos1) {
+
+        //判断当前任务号是否存在指令
+        String taskid = taskDtos1.getTask_id();
+        String taskcode = taskDtos1.getTask_code();
+        String priority = taskDtos1.getPriority();
+        String start_point_code = taskDtos1.getStart_point_code();
+        String start_device_code = taskDtos1.getStart_device_code();
+        String route_plan_code = taskDtos1.getRoute_plan_code();
+        String next_device_code = "";
+        /**
+         * 开始平均分配
+         */
+        String this_coevice_code = taskServer.queryAssignedByDevice(device_code, taskDtos1.getNext_device_code());
+        if (StrUtil.isEmpty(this_coevice_code)) {
+            List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, taskDtos1.getNext_device_code(), route_plan_code);
+            RouteLineDto routeLineDto = shortPathsList.get(0);
+
+            String path = routeLineDto.getPath();
+            String type = routeLineDto.getType();
+            String[] str = path.split("->");
+
+            List<String> pathlist = Arrays.asList(str);
+            int index = 0;
+            for (int m = 0; m < pathlist.size(); m++) {
+                if (pathlist.get(m).equals(start_device_code)) {
+                    index = m + 1;
+                    break;
+                }
+            }
+            next_device_code = pathlist.get(index);
         } else {
-                        //todo 输出不满足的原因
+            next_device_code = this_coevice_code;
-
         }
+        //校验路由关系
+        List<RouteLineDto> shortPathsList = routeLineService.getShortPathLines(start_device_code, next_device_code, route_plan_code);
+        if (ObjectUtils.isEmpty(shortPathsList) || shortPathsList.size() < 1) {
+            throw new RuntimeException("路由不通!");
         }
+        Device nextdevice = deviceAppservice.findDeviceByCode(next_device_code);
+        String next_point_code;
+        if (StrUtil.equals(deviceAppservice.findDeviceTypeByCode(next_device_code), "storage")) {
+            next_point_code = taskDtos1.getTo_x() + "-" + taskDtos1.getTo_y() + "-" + taskDtos1.getTo_z();
+        } else {
+            next_point_code = next_device_code;
         }
+        Instruction instdto = new Instruction();
+        instdto.setInstruction_id(IdUtil.simpleUUID());
+        instdto.setRoute_plan_code(route_plan_code);
+        instdto.setRemark(taskDtos1.getRemark());
+        instdto.setMaterial(taskDtos1.getMaterial());
+        instdto.setQuantity(taskDtos1.getQuantity());
+        instdto.setTask_id(taskid);
+        instdto.setTask_code(taskcode);
+        String now = DateUtil.now();
+        instdto.setCreate_time(now);
+        instdto.setCreate_by("auto");
+        instdto.setStart_device_code(start_device_code);
+        instdto.setNext_device_code(next_device_code);
+        instdto.setStart_point_code(start_point_code);
+        instdto.setNext_point_code(next_point_code);
+        instdto.setPriority(priority);
+        instdto.setInstruction_status("0");
+        instdto.setExecute_device_code(start_point_code);
+        log.error("=================================,{}", instdto.getCreate_by());
+        try {
+            instructionService.create(instdto);
+        } catch (Exception e) {
+            e.printStackTrace();
+            log.error("指令创建失败!", e.getMessage());
+        }
+        taskDtos1.setTask_status("1");
+        taskServer.update(taskDtos1);
+        requireSucess = true;
+        Map map = new HashMap();
+        String next_addr = nextdevice.getExtraValue().get("address").toString();
+        map.put("to_target", next_addr);
+        map.put("to_task", instdto.getInstruction_code());
+        map.put("to_command", "1");
+        map.put("to_container_type", "1");
+        map.put("to_container_no", "1");
+        this.writing(map);
+        requireSucess = true;
     }
 
 
+    public void writing(Map<String, Object> map) {
+        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+        Map<String, Object> itemMap = new LinkedHashMap<>();
+        map.forEach((key, value) -> {
+            if (ObjectUtil.isNotEmpty(value)) {
+                itemMap.put(getToParam() + key, value);
             }
+        });
+        if (ObjectUtil.isNotEmpty(itemMap)) {
+            try {
+                this.checkcontrol(itemMap);
+            } catch (Exception e) {
+                e.printStackTrace();
+                try {
+                    this.checkcontrol(itemMap);
+                } catch (Exception e1) {
+                    e1.printStackTrace();
+                }
+            }
+            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
+        }
+    }
+
+    public String getToParam() {
+        return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
+    }
+
 
     //将扩展表中的字符串数据转换成集合
     @Override

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/basedriver/double_belt_conveyor/DoubleBeltConveyorDeviceDriver.java

@@ -595,14 +595,6 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                     instructionService.update(inst);
                     logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈执行中状态,反馈成功,指令号:" + task);
                 }
-                //当货物到达b点,实现完成指令
-                if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.BUSY.getIndex()) || StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
-                    if (StrUtil.equals(this.getDeviceCode(), inst.getNext_device_code())) {
-                        inst.setExecute_device_code(this.device_code);
-                        finish_instruction();
-                        logServer.deviceExecuteLog(device_code, "", "", "入库输送线任务开始反馈完成状态,反馈成功,指令号:" + task);
-                    }
-                }
 
             }
         }

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

@@ -683,7 +683,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         instructionMapper.updateById(entity);
         removeByCodeFromCache(dto.getInstruction_code());
         instructions.add(dto);
-//        this.reload();
     }
 
     @Override