opt: 堆垛机驱动优化
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yanps
@@ -6,6 +6,7 @@ import cn.hutool.core.util.ObjectUtil;
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import cn.hutool.core.util.StrUtil;
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import com.alibaba.fastjson.JSONObject;
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import lombok.Data;
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import lombok.EqualsAndHashCode;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.apache.commons.lang3.ObjectUtils;
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@@ -388,9 +389,8 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
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} else {
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this.instruction_require_time = date;
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//查找有没有对应的指令
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//找指令类型是10的
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Instruction inst = instructionService.findByDeviceCodeFromCache(this.device_code);
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if (ObjectUtil.isNotNull(inst) && "10".equals(inst.getInstruction_type())) {
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if (ObjectUtil.isNotNull(inst) && "1".equals(inst.getInstruction_type())) {
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Device nextdevice = deviceAppservice.findDeviceByCode(inst.getNext_device_code());
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String next_addr = nextdevice.getExtraValue().get("address").toString();
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TaskDto taskDto = taskserver.findByCodeFromCache(inst.getTask_code());
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@@ -410,7 +410,6 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
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return true;
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} else {
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//判断是否有相同起点的,任务状态就绪的任务
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//任务类型是10
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TaskDto taskdto = taskserver.findByStartCodeAndReady(device_code);
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if (ObjectUtil.isNull(taskdto)) {
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return false;
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@@ -240,94 +240,94 @@ public class CreateDDJInst {
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max++;
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}
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}
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List<DeviceExtra> deviceExtras = deviceExtra.list(Wrappers.lambdaQuery(DeviceExtra.class).
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eq(DeviceExtra::getDevice_code, pathlist.get(1)).orderByDesc(DeviceExtra::getCreate_time));
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for (DeviceExtra extra : deviceExtras) {
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if (extra.getExtra_code().equals("count")) {
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if (max <= Integer.parseInt(extra.getExtra_value())) {
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instdto.setInstruction_type(task_type);
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instdto.setInstruction_id(IdUtil.simpleUUID());
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instdto.setRoute_plan_code(route_plan_code);
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instdto.setRemark(taskDto.getRemark());
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instdto.setMaterial(taskDto.getMaterial());
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instdto.setQuantity(taskDto.getQuantity());
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instdto.setTask_id(taskid);
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instdto.setTask_code(taskcode);
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instdto.setVehicle_code(vehiclecode);
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String now = DateUtil.now();
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instdto.setCreate_time(now);
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instdto.setCreate_by("auto");
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/*List<DeviceExtra> deviceExtras = deviceExtra.list(Wrappers.lambdaQuery(DeviceExtra.class).
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eq(DeviceExtra::getDevice_code, pathlist.get(1)).orderByDesc(DeviceExtra::getCreate_time));*/
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String count = deviceByCode.getExtraValue().get("count").toString();
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if (StrUtil.isNotEmpty(count) ) {
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if (max <= Integer.parseInt(count)) {
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instdto.setInstruction_type(task_type);
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instdto.setInstruction_id(IdUtil.simpleUUID());
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instdto.setRoute_plan_code(route_plan_code);
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instdto.setRemark(taskDto.getRemark());
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instdto.setMaterial(taskDto.getMaterial());
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instdto.setQuantity(taskDto.getQuantity());
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instdto.setTask_id(taskid);
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instdto.setTask_code(taskcode);
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instdto.setVehicle_code(vehiclecode);
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String now = DateUtil.now();
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instdto.setCreate_time(now);
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instdto.setCreate_by("auto");
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instdto.setStart_device_code(start_device_code);
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instdto.setStart_point_code(start_point_code);
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instdto.setPut_device_code(put_device_code);
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instdto.setPut_point_code(put_point_code);
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instdto.setNext_device_code(next_device_code);
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instdto.setNext_point_code(next_point_code);
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instdto.setStart_device_code(start_device_code);
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instdto.setStart_point_code(start_point_code);
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instdto.setPut_device_code(put_device_code);
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instdto.setPut_point_code(put_point_code);
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instdto.setNext_device_code(next_device_code);
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instdto.setNext_point_code(next_point_code);
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instdto.setStart_point_code2(start_point_code2);
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instdto.setStart_device_code2(start_device_code2);
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instdto.setNext_point_code2(next_point_code2);
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instdto.setNext_device_code2(next_device_code2);
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instdto.setStart_point_code2(start_point_code2);
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instdto.setStart_device_code2(start_device_code2);
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instdto.setNext_point_code2(next_point_code2);
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instdto.setNext_device_code2(next_device_code2);
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instdto.setPriority(priority);
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instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
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instdto.setExecute_device_code(start_point_code);
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instdto.setVehicle_type(vehicleType);
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instdto.setAgv_system_type(agv_system_type);
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instdto.setStart_height(start_height);
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instdto.setNext_height(next_height);
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if (startDevice.getDevice_type().equals(DeviceType.storage.name())) {
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instdto.setFrom_x(taskDto.getFrom_x());
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instdto.setFrom_z(taskDto.getFrom_z());
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instdto.setFrom_y(taskDto.getFrom_y());
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}
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if (nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
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instdto.setTo_x(taskDto.getTo_x());
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instdto.setTo_z(taskDto.getTo_z());
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instdto.setTo_y(taskDto.getTo_y());
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}
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//判断agv系统
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//1、1楼叉车系统
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//2、2楼1区域AGV系统
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//3、2楼2区域AGV系统 -已废弃
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if (!StrUtil.equals(agv_system_type, "1")) {
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// task_type
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//1、生箔； Itype=1:取空，取满，放空，放满；
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//2、分切 Itype=3取满、取空、放满、放空；
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//3、普通任务 Itype=2:取货、放货；
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//4、叉车任务
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//5、输送任务
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//6、行架
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//7、立库
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if (StrUtil.equals(task_type, "1")) {
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instdto.setAgv_inst_type("1");
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} else if (StrUtil.equals(task_type, "3")) {
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instdto.setAgv_inst_type("2");
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} else if (StrUtil.equals(task_type, "2")) {
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instdto.setAgv_inst_type("3");
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} else if (StrUtil.equals(task_type, "8")) {
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instdto.setAgv_inst_type("2");
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} else {
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log.info("未找到对应的AGV指令类型，任务号:" + taskDto.getTask_code() + ",task_type:" + taskDto.getTask_type());
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}
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} else {
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instdto.setAgv_inst_type("4");
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}
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try {
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instructionService.create(instdto);
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} catch (Exception e) {
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taskDto.setRemark(e.getMessage());
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taskserver.updateByCodeFromCache(taskDto);
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}
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//创建指令后修改任务状态
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taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
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taskserver.update(taskDto);
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continue;
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instdto.setPriority(priority);
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instdto.setInstruction_status(InstructionStatusEnum.READY.getIndex());
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instdto.setExecute_device_code(start_point_code);
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instdto.setVehicle_type(vehicleType);
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instdto.setAgv_system_type(agv_system_type);
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instdto.setStart_height(start_height);
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instdto.setNext_height(next_height);
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if (startDevice.getDevice_type().equals(DeviceType.storage.name())) {
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instdto.setFrom_x(taskDto.getFrom_x());
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instdto.setFrom_z(taskDto.getFrom_z());
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instdto.setFrom_y(taskDto.getFrom_y());
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}
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if (nextDevice.getDevice_type().equals(DeviceType.storage.name())) {
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instdto.setTo_x(taskDto.getTo_x());
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instdto.setTo_z(taskDto.getTo_z());
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instdto.setTo_y(taskDto.getTo_y());
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}
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//判断agv系统
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//1、1楼叉车系统
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//2、2楼1区域AGV系统
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//3、2楼2区域AGV系统 -已废弃
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if (!StrUtil.equals(agv_system_type, "1")) {
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// task_type
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//1、生箔； Itype=1:取空，取满，放空，放满；
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//2、分切 Itype=3取满、取空、放满、放空；
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//3、普通任务 Itype=2:取货、放货；
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//4、叉车任务
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//5、输送任务
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//6、行架
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//7、立库
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if (StrUtil.equals(task_type, "1")) {
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instdto.setAgv_inst_type("1");
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} else if (StrUtil.equals(task_type, "3")) {
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instdto.setAgv_inst_type("2");
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} else if (StrUtil.equals(task_type, "2")) {
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instdto.setAgv_inst_type("3");
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} else if (StrUtil.equals(task_type, "8")) {
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instdto.setAgv_inst_type("2");
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} else {
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log.info("未找到对应的AGV指令类型，任务号:" + taskDto.getTask_code() + ",task_type:" + taskDto.getTask_type());
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}
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} else {
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instdto.setAgv_inst_type("4");
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}
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try {
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instructionService.create(instdto);
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} catch (Exception e) {
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taskDto.setRemark(e.getMessage());
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taskserver.updateByCodeFromCache(taskDto);
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}
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//创建指令后修改任务状态
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taskDto.setTask_status(TaskStatusEnum.BUSY.getIndex());
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taskserver.update(taskDto);
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continue;
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}
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}
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}
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}
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}
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