opt: 标准版-单工位堆垛机驱动优化

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device/domain/Device.java

@@ -58,6 +58,21 @@ public class Device  implements Serializable {
     @TableField(exist = false)
     private String device_type_name;
 
+    /**
+     * 排
+     */
+    private String x;
+
+    /**
+     * 列
+     */
+    private String y;
+
+    /**
+     * 层
+     */
+    private String z;
+
     @TableField(exist = false)
     private String region_name;
 

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

@@ -264,7 +264,7 @@ public class BeltConveyorDeviceDriver extends AbstractOpcDeviceDriver implements
                     break;
                 case 2:
                     //申请任务
-                    if (task == 0 && !requireSucess) {
+                    if (move == 1 && !requireSucess) {
                         instruction_require();
                     }
                     break;

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

@@ -8,6 +8,7 @@ import lombok.Data;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
 import org.nl.acs.device_driver.DeviceDriver;
 import org.nl.acs.device_driver.RouteableDeviceDriver;
 import org.nl.acs.device_driver.basedriver.belt_conveyor.BeltConveyorDeviceDriver;
@@ -386,9 +387,30 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
 
         } else if (error != 0) {
             message = "有报警";
+            //指定库位满入
+            if(error == 5){
 
+            }
+            //空出
+            if(error == 6){
+
+            }
+            //浅货位有货
+            if(error == 16){
+                //放货
+                if(cargoMove==1){
+
+                }else if(cargoMove==0){
+                    //取货
+                }
+
+
+            }
         } else {
             HashMap map = new HashMap();
+            Instruction instruction = checkInst();
+            String next_device_code = instruction.getNext_device_code();
+            Device nextDevice = deviceAppService.findDeviceByCode(next_device_code);
             switch (command) {
                 case 0:
                     if (task == 0) {
@@ -400,6 +422,21 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     break;
                 case 2:
                     message = "取货完成";
+                    if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.conveyor.name())) {
+                        map.put("to_z", nextDevice.getZ());
+                        map.put("to_x", nextDevice.getX());
+                        map.put("to_y", nextDevice.getY());
+                    }
+                    if (StrUtil.equals(nextDevice.getDevice_type(), DeviceType.storage.name())) {
+                        map.put("to_z", inst.getTo_z());
+                        if (inst.getTo_x().length() > 1) {
+                            String substring = inst.getTo_x().substring(1);
+                            map.put("to_x", substring);
+                        } else {
+                            map.put("to_x", inst.getTo_x());
+                        }
+                        map.put("to_y", inst.getTo_y());
+                    }
                     map.put("to_command", 2);
                     break;
                 case 3:
@@ -407,14 +444,11 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                     break;
                 case 4:
                     message = "请求卸货(申请卸货)";
-                    Instruction instruction = checkInst();
                     if (ObjectUtil.isNotNull(instruction)) {
                         //指令为执行
-                        String next_device_code = instruction.getNext_device_code();
-                        Device startDevice = deviceAppService.findDeviceByCode(next_device_code);
                         SiemensConveyorDeviceDriver siemensConveyorDeviceDriver;
-                        if (startDevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
+                        if (nextDevice.getDeviceDriver() instanceof SiemensConveyorDeviceDriver) {
-                            siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) startDevice.getDeviceDriver();
+                            siemensConveyorDeviceDriver = (SiemensConveyorDeviceDriver) nextDevice.getDeviceDriver();
                             if (siemensConveyorDeviceDriver.getMode() != 2 || siemensConveyorDeviceDriver.getMove() == 1) {
                                 notCreateInstMessage = "未下发电气信号原因->输送线-货架对接位:" + siemensConveyorDeviceDriver.getDevice_code() +
                                         "有货或未联机,无法下发指令!指令号:" + inst.getInstruction_code();
@@ -560,14 +594,23 @@ public class StandardStackerDeviceDriver extends AbstractOpcDeviceDriver impleme
                 map.put("to_command", 1);
 //                map.put("to_type", inst.getMaterial());
                 map.put("to_task", inst.getInstruction_code());
-                map.put("to_z", inst.getTo_z());
+
-                if(inst.getTo_x().length()>1){
+                if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.conveyor.name())) {
-                    String substring = inst.getTo_x().substring(1);
+                    map.put("to_z", startDevice.getZ());
-                    map.put("to_x", substring);
+                    map.put("to_x", startDevice.getX());
-                }else {
+                    map.put("to_y", startDevice.getY());
-                    map.put("to_x", inst.getTo_x());
                 }
-                map.put("to_y", inst.getTo_y());
+                if (StrUtil.equals(startDevice.getDevice_type(), DeviceType.storage.name())) {
+                    map.put("to_z", inst.getFrom_z());
+                    if (inst.getFrom_x().length() > 1) {
+                        String substring = inst.getFrom_x().substring(1);
+                        map.put("to_x", substring);
+                    } else {
+                        map.put("to_x", inst.getFrom_x());
+                    }
+                    map.put("to_y", inst.getFrom_y());
+                }
+
                 this.writing(map);
             }
         }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/instruction/rest/InstructionController.java

@@ -37,9 +37,6 @@ public class InstructionController {
     @ApiOperation("查询指令")
     //@PreAuthorize("@el.check('instruction:list')")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
-        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
-            whereJson.put("status", "1");
-        }
         return new ResponseEntity<>(instructionService.queryAll(whereJson, page), HttpStatus.OK);
     }
 

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

@@ -21,6 +21,7 @@ import org.nl.acs.agv.server.NDCAgvService;
 import org.nl.acs.agv.server.XianGongAgvService;
 import org.nl.acs.auto.initial.ApplicationAutoInitial;
 import org.nl.acs.device.domain.Device;
+import org.nl.acs.device.enums.DeviceType;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device.service.impl.DeviceServiceImpl;
 import org.nl.acs.device_driver.DeviceDriver;
@@ -914,6 +915,9 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         for (int m = 0; m < pathlist.size(); m++) {
             if (pathlist.get(m).equals(dto.getNext_device_code())) {
                 index = m + 1;
+                if(StrUtil.equals(deviceAppService.findDeviceTypeByCode(pathlist.get(index)), DeviceType.stacker.name())) {
+                    index += 1;
+                }
                 break;
             }
         }

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

@@ -297,7 +297,7 @@ public class DeviceAppServiceImpl implements DeviceAppService, ApplicationAutoIn
 
         while (var3.hasNext()) {
             Device device = (Device) var3.next();
-            if (ObjectUtil.equal(device.getDevice_code(), deviceCode)&&BeanUtil.isNotEmpty(device.getDeviceDriverDefination())) {
+            if (ObjectUtil.equal(device.getDevice_code(), deviceCode)&&ObjectUtil.isNotEmpty(device.getDeviceDriverDefination())) {
                 return device.getDeviceDriverDefination().getFitDeviceTypes().get(0).name();
             }
         }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/rest/TaskController.java

@@ -39,9 +39,9 @@ public class TaskController {
     //@PreAuthorize("@el.check('task:list')")
     public ResponseEntity<Object> query(@RequestParam Map whereJson, Pageable page) {
 //        return new ResponseEntity<>(taskService.queryAllByCache(whereJson, page), HttpStatus.OK);
-        if(ObjectUtil.isEmpty(whereJson.get("status"))) {
+        /*if(ObjectUtil.isEmpty(whereJson.get("status"))) {
             whereJson.put("status", "1");
-        }
+        }*/
         return new ResponseEntity<>(taskService.queryAll(whereJson, page), HttpStatus.OK);
     }