fix: 关联站点驱动测试、双工位堆垛机驱动测试

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

@@ -1,5 +1,6 @@
 package org.nl.acs.device_driver.conveyor.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;
@@ -10,7 +11,6 @@ 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;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
@@ -21,6 +21,8 @@ import org.nl.acs.device_driver.driver.ExecutableDeviceDriver;
 import org.nl.acs.ext.wms.service.AcsToWmsService;
 import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
 import org.nl.acs.instruction.domain.Instruction;
+import org.nl.acs.instruction.domain.InstructionMybatis;
+import org.nl.acs.instruction.enums.InstructionStatusEnum;
 import org.nl.acs.instruction.service.InstructionService;
 import org.nl.acs.log.service.DeviceExecuteLogService;
 import org.nl.acs.monitor.DeviceStageMonitor;
@@ -29,8 +31,8 @@ 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.acs.utils.ConvertUtil;
 import org.nl.config.SpringContextHolder;
-import org.springframework.beans.factory.annotation.Autowired;
 
 import java.util.*;
 
@@ -42,82 +44,32 @@ import java.util.*;
 @RequiredArgsConstructor
 public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements DeviceDriver, ExecutableDeviceDriver, RouteableDeviceDriver, DeviceStageMonitor {
 
-    @Autowired
     DeviceAppService deviceAppservice = SpringContextHolder.getBean(DeviceAppService.class);
-    @Autowired
     InstructionService instructionService = SpringContextHolder.getBean("instructionServiceImpl");
-    @Autowired
     DeviceService deviceservice = SpringContextHolder.getBean("deviceServiceImpl");
-    @Autowired
     RouteLineService routelineserver = SpringContextHolder.getBean("routeLineServiceImpl");
-    @Autowired
     TaskService taskServer = SpringContextHolder.getBean("taskServiceImpl");
-    @Autowired
     RouteLineService routeLineService = SpringContextHolder.getBean(RouteLineService.class);
-    @Autowired
     AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
-    @Autowired
     DeviceExecuteLogService logServer = SpringContextHolder.getBean(DeviceExecuteLogService.class);
-    @Autowired
     NDCAgvService agvService = SpringContextHolder.getBean(NDCAgvService.class);
 
 
-    Integer hasGoods = 0;
     int error = 0;
     Boolean iserror = false;
     Boolean islock = false;
-
-    int branchProtocol = 0;
-    int last_branchProtocol = 0;
-    //是否需要输入物料
-    String input_material = "0";
-    //备注
-    String remark = "";
-    //数量
-    String qty = "";
-    //批次
-    String batch = "";
-    //物料
-    String material = "";
-    //目标点位
-    String purpose = "";
-
-    //上次指令
-    Instruction last_inst = null;
-
     boolean requireSucess = false;
-
-    //触摸屏手动触发任务
-    private Boolean is_has_task = false;
-
-    //申请搬运任务
-    private Boolean apply_handling = false;
-    //申请物料
-    private Boolean apply_material = false;
-
-    // 1取货完成 2放货完成 3进入区域 4离开区域
-    private int flag;
-
-    //人工确认信号 默认0 agv到达后请求置1 等人工确认后变为2 反馈agv后继续为0
-    private int manua_confirm = 0;
-
-    String device_code = null;
-    String container;
-    String container_type_desc;
-    String last_container_type_desc;
-    String last_container;
     private Date instruction_require_time = new Date();
     private Date instruction_finished_time = new Date();
-
+    private Date instruction_update_time = new Date();
     private int instruction_require_time_out = 30000;
+    private int instruction_update_time_out = 500;
 
     String message;
 
     // 1 上位系统允许进入 2 上位系统允许离开
     int option = 0;
 
-    //agv请求当前信息
-    private int agvphase = 0;
     private int index = 0;
 
     int mode = 2;
@@ -125,162 +77,105 @@ public class WithStationDeviceDriver extends AbstractOpcDeviceDriver implements
     int move;
 
     @Override
-    public void execute() {
+    public void execute() throws Exception {
-
-        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");
         //只需要判断对接位就可以
-        for (int i = 0; i < 1; i++) {
+        for (int i = 0; i < 4; ) {
             Device sddjExtraCode1 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i));
             Device sddjExtraCode2 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i + 1));
-            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriver1;
+            Device sddjExtraCode3 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i + 2));
-            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriver2;
+            Device sddjExtraCode4 = deviceAppservice.findDeviceByCode(sddjExtraCodeList.get(i + 3));
-            if (sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver && sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver) {
+            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriverStart;
-                doubleBeltConveyorDeviceDriver1 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode1.getDeviceDriver();
+            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriverEnd1;
-                doubleBeltConveyorDeviceDriver2 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode2.getDeviceDriver();
+            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriverEnd2;
-                //判断输送线是否有任务，有任务进行创建指令。
+            DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriverWith;
-                TaskDto taskDtos1 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code());
+            if (sddjExtraCode1.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver && sddjExtraCode2.getDeviceDriver() instanceof DoubleBeltConveyorDeviceDriver) {
-                TaskDto taskDtos2 = taskServer.findByStartCodeAndReady(doubleBeltConveyorDeviceDriver1.getDevice_code());
+                doubleBeltConveyorDeviceDriverStart = (DoubleBeltConveyorDeviceDriver) sddjExtraCode1.getDeviceDriver();
-                if (ObjectUtil.isNotEmpty(taskDtos1) && ObjectUtil.isNotEmpty(taskDtos2)) {
+                doubleBeltConveyorDeviceDriverEnd1 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode2.getDeviceDriver();
-                    if (doubleBeltConveyorDeviceDriver1.getMove() == 0) {
+                doubleBeltConveyorDeviceDriverEnd2 = (DoubleBeltConveyorDeviceDriver) sddjExtraCode3.getDeviceDriver();
-                        requireSucess = false;
+                doubleBeltConveyorDeviceDriverWith = (DoubleBeltConveyorDeviceDriver) sddjExtraCode4.getDeviceDriver();
-                    }
+                //判断输送线是否有任务
-                    if (doubleBeltConveyorDeviceDriver2.getMove() == 0) {
+                List<TaskDto> tasks = taskServer.findByStartCodeAndBusy(doubleBeltConveyorDeviceDriverStart.getDevice_code());
-                        requireSucess = false;
+                if (CollectionUtil.isNotEmpty(tasks) && tasks.size() == 2) {
-                    }
+                    String nextPointCode1 = tasks.get(0).getNext_point_code();
-                    //判断任务列是否相邻
+                    String nextPointCode2 = tasks.get(1).getNext_point_code();
-                    String nextDeviceCode1 = taskDtos1.getNext_device_code();
+                    if (StrUtil.contains(nextPointCode1, "-") && StrUtil.contains(nextPointCode2, "-")) {
-                    String nextDeviceCode2 = taskDtos2.getNext_device_code();
+                        //判断关联的输送线是否满足状态
-                    if (StrUtil.contains(nextDeviceCode1, "-") && StrUtil.contains(nextDeviceCode2, "-")) {
+                        if (doubleBeltConveyorDeviceDriverEnd1.getMode() == 2 && doubleBeltConveyorDeviceDriverEnd1.getMove() == 1) {
-                        String[] split1 = nextDeviceCode1.split("-");
+                            //判断任务列是否相邻
-                        String nextPointCodeDown = split1[0] + "-" + (Integer.parseInt(split1[1]) - 1) + "-" + split1[2];
+                            String[] split1 = nextPointCode1.split("-");
-                        String nextPointCodeUp = split1[0] + "-" + (Integer.parseInt(split1[1]) + 1) + "-" + split1[2];
+                            String x1;
-                        if (!nextDeviceCode2.equals(nextPointCodeDown) || !nextDeviceCode2.equals(nextPointCodeUp)) {
+                            String x2;
-                            //创建指令
+                            if (Integer.parseInt(split1[1]) < 10) {
-                            if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
+                                x1 = "0" + (Integer.parseInt(split1[1]) - 1);
-                                creatInstruction(taskDtos1);
+                                x2 = "0" + (Integer.parseInt(split1[1]) + 1);
+                            } else {
+                                x1 = "" + (Integer.parseInt(split1[1]) - 1);
+                                x2 = "" + (Integer.parseInt(split1[1]) + 1);
+                            }
+                            String nextPointCodeDown = split1[0] + "-" + x1 + "-" + split1[2];
+                            String nextPointCodeUp = split1[0] + "-" + x2 + "-" + split1[2];
+                            if (!nextPointCode2.equals(nextPointCodeDown) && !nextPointCode2.equals(nextPointCodeUp)) {
+                                if ("1".equals(tasks.get(0)
+                                        .getTask_type())) {
+                                    //创建单指令
+                                    extracted(doubleBeltConveyorDeviceDriverEnd1, doubleBeltConveyorDeviceDriverWith);
+                                    log.info("虚拟工位指令创建成功");
+                                }
+                            } else {
+                                //判断是否大于等待时间
+                                if (null != doubleBeltConveyorDeviceDriverEnd1.getArrivalTime() && System.currentTimeMillis() - doubleBeltConveyorDeviceDriverEnd1.getArrivalTime().getTime()
+                                        < Integer.parseInt(this.getExtraValue().get("apply_time").toString()) * 1000) {
+                                    if (doubleBeltConveyorDeviceDriverEnd2.getMode() == 2 && doubleBeltConveyorDeviceDriverEnd2.getMove() == 1) {
+                                        //创建双指令
+                                        extracted(doubleBeltConveyorDeviceDriverEnd1, doubleBeltConveyorDeviceDriverWith);
+                                        extracted(doubleBeltConveyorDeviceDriverEnd2, doubleBeltConveyorDeviceDriverWith);
+                                        log.info("虚拟工位指令创建成功");
+                                        requireSucess = true;
+                                    }
+                                } else {
+                                    extracted(doubleBeltConveyorDeviceDriverEnd1, doubleBeltConveyorDeviceDriverWith);
+                                }
                             }
                         }
-                    } else {
-                        requireSucess = false;
                     }
+                }
+            }
+            break;
+        }
+    }
+
+
+    private void extracted(DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriver, DoubleBeltConveyorDeviceDriver doubleBeltConveyorDeviceDriverWith) throws Exception {
+        if (doubleBeltConveyorDeviceDriver.getMove() != 0 && doubleBeltConveyorDeviceDriver.getTask() > 0) {
+            Date date = new Date();
+            if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
+                log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
+            } else {
+                this.instruction_update_time = date;
+                Instruction inst = instructionService.findByCodeFromCache(String.valueOf(doubleBeltConveyorDeviceDriver.getTask()));
+                if (inst != null) {
+                    //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())) {
+                        inst.setExecute_device_code(doubleBeltConveyorDeviceDriver.getDevice_code());
+                        inst.setNext_device_code(doubleBeltConveyorDeviceDriverWith.getDevice_code());
+                        finish_instruction(inst);
+                        logServer.deviceExecuteLog(doubleBeltConveyorDeviceDriver.getDevice_code(), "", "", "入库输送线任务开始反馈完成状态,反馈成功,指令号:" + doubleBeltConveyorDeviceDriver.getTask());
 
-                    //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) {
-                        //判断是否大于等待时间
-                        if (System.currentTimeMillis() - doubleBeltConveyorDeviceDriver1.getInstruction_require_time().getTime()
-                                > Integer.parseInt(this.getExtraValue().get("apply_time").toString()) * 1000) {
-                            //创建指令
-                            if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
-                                creatInstruction(taskDtos1);
-                            }
-                        }
-                        log.info("单工位请求成功");
-                        requireSucess = true;
-                    } else {
-                        //创建指令
-                        if (ObjectUtil.isNotNull(taskDtos1) && "1".equals(taskDtos1.getTask_type())) {
-                            creatInstruction(taskDtos1);
-                        }
-                        if (ObjectUtil.isNotNull(taskDtos2) && "1".equals(taskDtos1.getTask_type())) {
-                            creatInstruction(taskDtos2);
-                        }
-                        log.info("双工位指令创建成功");
-                        requireSucess = true;
                     }
-
                 }
             }
         }
     }
 
-    private void creatInstruction(TaskDto taskDtos1) {
 
-        //判断当前任务号是否存在指令
+    public synchronized boolean finish_instruction(Instruction inst) throws Exception {
-        String taskid = taskDtos1.getTask_id();
+        instructionService.finish(inst);
-        String taskcode = taskDtos1.getTask_code();
+        return true;
-        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 {
-            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;
     }
 
 

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/double_belt_conveyor/DoubleBeltConveyorDefination.java

@@ -11,7 +11,7 @@ import java.util.LinkedList;
 import java.util.List;
 
 /**
- * 标准版-输送机
+ * 双工位-输送机
  */
 @Service
 public class DoubleBeltConveyorDefination implements OpcDeviceDriverDefination {

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

@@ -10,6 +10,7 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.ObjectUtils;
 import org.nl.acs.agv.server.AgvService;
+import org.nl.acs.common.base.CommonFinalParam;
 import org.nl.acs.device.domain.Device;
 import org.nl.acs.device.service.DeviceService;
 import org.nl.acs.device_driver.DeviceDriver;
@@ -36,7 +37,7 @@ import java.util.*;
 import static redis.clients.jedis.HostAndPort.localhost;
 
 /**
- * 输送线
+ * 双工位输送线
  */
 @Slf4j
 @Data
@@ -59,6 +60,7 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
     private Date instruction_finished_time = new Date();
     private Date instruction_apply_time = new Date();
     private int instruction_require_time_out = 3000;
+    private Date arrivalTime = null;
 
     //心跳
     int heartbeat = 0;
@@ -249,29 +251,28 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
             Instruction instruction = null;
             List toInstructions;
 
-            //纸管库申请任务
+        }
-            switch (mode) {
+        switch (mode) {
-                case 1:
+            case 1:
-                    log.debug("弃用(留作兼容)");
+                log.debug("弃用(留作兼容)");
-                    break;
+                break;
-                case 2:
+            case 2:
-                    //申请任务
+                //申请任务
-                    if (move == 1 && !requireSucess) {
+                if (move == 1 && !requireSucess) {
-                        instruction_require();
+                    instruction_require();
-                    }
+                }
-                    break;
+                break;
-                case 3:
+            case 3:
-                    log.info("运行中");
+                log.info("运行中");
-                    break;
+                break;
-                case 4:
+            case 4:
-                    //申请出货
+                //申请出货
-                    if (move == 1 && !requireSucess) {
+                if (move == 1 && !requireSucess) {
-                        //request_for_shipment(String.valueOf(mode), item_out_seq_arr, item_out_qty_arr);
+                    //request_for_shipment(String.valueOf(mode), item_out_seq_arr, item_out_qty_arr);
-                    }
+                }
-                    break;
+                break;
-                default:
+            default:
-                    break;
+                break;
-            }
         }
         last_heartbeat = heartbeat;
         last_mode = mode;
@@ -300,17 +301,28 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
     }
 
 
-    public void writing(Map<String, Object> map) {
+    public void writing(List list) {
-        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+
-        Map<String, Object> itemMap = new LinkedHashMap<>();
+        Map<String, Object> itemMap = new HashMap<String, Object>();
-        map.forEach((key, value) -> {
+        for (int i = 0; i < list.size(); i++) {
-            if (ObjectUtil.isNotEmpty(value)) {
+            Object ob = list.get(i);
-                itemMap.put(getToParam() + key, value);
+            JSONObject json = (JSONObject) JSONObject.toJSON(ob);
+            if (!StrUtil.isEmpty(json.getString("value"))) {
+                String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                        + "." + json.getString("code");
+                itemMap.put(to_param, json.getString("value"));
+            }
+        }
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap);
+        try {
+            this.checkcontrol(itemMap);
+        } catch (Exception e) {
+            e.printStackTrace();
+            try {
+                this.checkcontrol(itemMap);
+            } catch (Exception e1) {
+                e1.printStackTrace();
             }
-        });
-        if (ObjectUtil.isNotEmpty(itemMap)) {
-            this.control(itemMap);
-            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
         }
     }
 
@@ -373,6 +385,7 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
      * 申请任务
      */
     public synchronized Boolean instruction_require() {
+        List<Object> list = new ArrayList<>();
         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);
@@ -395,7 +408,8 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                 map.put("to_command", "1");
                 map.put("to_container_type", "1");
                 map.put("to_container_no", "1");
-                this.writing(map);
+                list.add(map);
+                this.writing(list);
                 led_message = getLedMessage(inst);
                 requireSucess = true;
                 return true;
@@ -491,7 +505,8 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
                     map.put("to_command", "1");
                     map.put("to_container_type", "1");
                     map.put("to_container_no", "1");
-                    this.writing(map);
+                    list.add(map);
+                    this.writing(list);
                     led_message = getLedMessage(instdto);
                     requireSucess = true;
                     return true;
@@ -580,7 +595,7 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
     /**
      * 更新指令状态
      */
-    public synchronized void update_instruction_status() throws Exception {
+    public synchronized void update_instruction_status() {
         Date date = new Date();
         if (date.getTime() - this.instruction_update_time.getTime() < (long) this.instruction_update_time_out) {
             log.trace("触发时间因为小于{}毫秒，而被无视", this.instruction_update_time_out);
@@ -588,13 +603,22 @@ public class DoubleBeltConveyorDeviceDriver extends AbstractOpcDeviceDriver impl
             this.instruction_update_time = date;
             inst = checkInst();
             if (inst != null) {
-                //a点到b点,给状态说允许取货
+                //a点,给状态说允许取货
                 if (StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex()) && StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code())) {
                     inst.setInstruction_status(InstructionStatusEnum.BUSY.getIndex());
                     inst.setExecute_device_code(this.device_code);
                     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b点存在货物的时候设置到达时间
+                if (StrUtil.equals(inst.getInstruction_status(), CommonFinalParam.ONE) || StrUtil.equals(inst.getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
+                    if (!StrUtil.equals(this.getDeviceCode(), inst.getStart_device_code()) && mode ==2 && move == 1) {
+                       this.arrivalTime = new Date();
+                    }
+                }
+
+
+
 
             }
         }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/device_driver/conveyor/double_station_stacker/DoubleStationStackerDeviceDriver.java

@@ -264,6 +264,7 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
             message = "有报警";
         } else {
             HashMap<String, Object> map = new HashMap<>();
+            List<Object> list = new ArrayList<>();
             if (CommandEnum.STANDY.getStatus().equals(frontCommand) || backCommand.equals(CommandEnum.STANDY.getStatus())){
                 applyTask();
                 requireSucess = true;
@@ -349,7 +350,8 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
                 requireSucess = true;
             }
             if (ObjectUtil.isNotNull(map)) {
-                this.writing(map);
+                list.add(map);
+                this.writing(list);
             }
         }
         lastHeartbeat = heartbeat;
@@ -490,7 +492,7 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
 
             Instruction inst = instructionList.get(0);
             LinkedList<Instruction> instructionsAll = new LinkedList<>();
-
+            instructionsAll.add(inst);
             //找出有相邻的列的指令,如果没有按照单叉走，有按照双叉走
             if (findInstruction(instructionList, inst, instructionsAll)) {
                 return false;
@@ -541,6 +543,7 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
     }
 
     private boolean wirteData(LinkedList<Instruction> inst) {
+        List<Object> list = new ArrayList<>();
         if (StrUtil.equals(inst.get(0).getInstruction_status(), InstructionStatusEnum.READY.getIndex())) {
             String startDeviceCode = inst.get(0).getStart_device_code();
             Device startDevice = deviceAppService.findDeviceByCode(startDeviceCode);
@@ -557,23 +560,23 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
             HashMap<String, Object> map = new HashMap<>();
             if (inst.size()==1&& ObjectUtil.isNotEmpty(inst.get(0))) {
                 map.put("to_device_code", this.getDevice().getAddress());
-                map.put("to_command", CommandEnum.PICKUP.getStatus());
+                map.put("to_command", CommandEnum.PICKUP.getStatus().toString());
                 map.put("to_front_task", inst.get(0).getInstruction_code());
 
             }
-            if (inst.size()>1 && ObjectUtil.isNotEmpty(inst.get(1))) {
+            else if (inst.size()>1 && ObjectUtil.isEmpty(inst.get(1))) {
                 map.put("to_device_code", this.getDevice().getAddress());
-                map.put("to_command", CommandEnum.PICKUP.getStatus());
+                map.put("to_command", CommandEnum.PICKUP.getStatus().toString());
                 map.put("to_back_task", inst.get(1).getInstruction_code());
             }else{
                 map.put("to_device_code", this.getDevice().getAddress());
-                map.put("to_command", CommandEnum.PICKUP.getStatus());
+                map.put("to_command", CommandEnum.PICKUP.getStatus().toString());
                 map.put("to_front_task", inst.get(0).getInstruction_code());
                 map.put("to_back_task", inst.get(1).getInstruction_code());
             }
             writeStorageOrConveyor(inst, startDeviceCode, startDevice, map);
-
+            list.add(map);
-            this.writing(map);
+            this.writing(list);
         }
         return false;
     }
@@ -645,12 +648,21 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
             if (Integer.valueOf(splitFront[1]).equals(MIN_Y)){
                 return true;
             }
+            String x1 ;
+            String x2 ;
+            if (Integer.parseInt(splitFront[1])<10){
+                x1 =  "0"+(Integer.parseInt(splitFront[1]) - 1);
+                x2 =  "0"+(Integer.parseInt(splitFront[1]) + 1);
+            }else {
+                x1 =  ""+(Integer.parseInt(splitFront[1]) - 1);
+                x2 =  ""+(Integer.parseInt(splitFront[1]) + 1);
+            }
             //根据排序进行加减
-            String nextPointCodeDown = splitFront[0] + commonFinalParam.getBARRE() + (Integer.parseInt(splitFront[1]) - 1) + commonFinalParam.getBARRE() + splitFront[2];
+            String nextPointCodeDown = splitFront[0] + commonFinalParam.getBARRE() + x1 + commonFinalParam.getBARRE() + splitFront[2];
-            String nextPointCodeUp = splitFront[0] + commonFinalParam.getBARRE() + (Integer.parseInt(splitFront[1]) + 1) + commonFinalParam.getBARRE() + splitFront[2];
+            String nextPointCodeUp = splitFront[0] + commonFinalParam.getBARRE() + x2 + commonFinalParam.getBARRE() + splitFront[2];
             if (CollectionUtil.isNotEmpty(sort)&& SortEnum.BACK.getCode().equals(sort.get(0).getExtra_value())){
-                nextPointCodeDown = splitFront[0] + commonFinalParam.getBARRE() + (Integer.parseInt(splitFront[1]) + 1) + commonFinalParam.getBARRE() + splitFront[2];
+                nextPointCodeDown = splitFront[0] + commonFinalParam.getBARRE() + x2 + commonFinalParam.getBARRE() + splitFront[2];
-                nextPointCodeUp = splitFront[0] + commonFinalParam.getBARRE() + (Integer.parseInt(splitFront[1]) - 1) + commonFinalParam.getBARRE() + splitFront[2];
+                nextPointCodeUp = splitFront[0] + commonFinalParam.getBARRE() + x1 + commonFinalParam.getBARRE() + splitFront[2];
             }
 
             if (Integer.valueOf(splitFront[1]).equals(MAX_Y)){
@@ -772,17 +784,28 @@ public class DoubleStationStackerDeviceDriver extends AbstractOpcDeviceDriver im
         return this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code() + ".";
     }
 
-    public void writing(Map<String, Object> map) {
+    public void writing(List list) {
-        DeviceExecuteLogService logServer = SpringContextHolder.getBean("deviceExecuteLogServiceImpl");
+
-        Map<String, Object> itemMap = new LinkedHashMap<>();
+        Map<String, Object> itemMap = new HashMap<String, Object>();
-        map.forEach((key, value) -> {
+        for (int i = 0; i < list.size(); i++) {
-            if (ObjectUtil.isNotEmpty(value)) {
+            Object ob = list.get(i);
-                itemMap.put(getToParam() + key, value);
+            JSONObject json = (JSONObject) JSONObject.toJSON(ob);
+            if (!StrUtil.isEmpty(json.getString("value"))) {
+                String to_param = this.getDevice().getOpc_server_code() + "." + this.getDevice().getOpc_plc_code() + "." + this.getDevice().getDevice_code()
+                        + "." + json.getString("code");
+                itemMap.put(to_param, json.getString("value"));
+            }
+        }
+        logServer.deviceExecuteLog(device_code, "", "", "下发电气信号:" + itemMap);
+        try {
+            this.checkcontrol(itemMap);
+        } catch (Exception e) {
+            e.printStackTrace();
+            try {
+                this.checkcontrol(itemMap);
+            } catch (Exception e1) {
+                e1.printStackTrace();
             }
-        });
-        if (ObjectUtil.isNotEmpty(itemMap)) {
-            this.control(itemMap);
-            logServer.deviceExecuteLog(this.getDevice().getDevice_code(), "", "", "下发多个电气信号:" + itemMap);
         }
     }
 

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

@@ -406,4 +406,9 @@ public interface InstructionService extends CommonService<InstructionMybatis> {
      * @throws IOException
      */
     void downloadInstLogging(List<JSONObject> instList, HttpServletResponse response) throws IOException;
+
+    /**
+     * 只完成指令
+     * @param inst2
+     */
 }

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

@@ -1622,4 +1622,6 @@ public class InstructionServiceImpl extends CommonServiceImpl<InstructionMapper,
         }
         FileUtil.downloadExcel(list, response);
     }
+
+
 }

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

@@ -89,7 +89,7 @@ public class TaskController {
     @Log("修改任务")
     @ApiOperation("修改任务")
     //@PreAuthorize("@el.check('task:edit')")
-    public ResponseEntity<Object> update(@Validated @RequestBody TaskDto dto) {
+    public ResponseEntity<Object>   update(@Validated @RequestBody TaskDto dto) {
         taskService.update(dto);
         return new ResponseEntity<>(HttpStatus.NO_CONTENT);
     }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/TaskService.java

@@ -501,4 +501,5 @@ public interface TaskService extends CommonService<Task> {
      */
     List<JSONObject> getTaskList(Map whereJson);
 
+    List<TaskDto> findByStartCodeAndBusy(String deviceCode);
 }

acs/nladmin-system/nlsso-server/src/main/java/org/nl/acs/task/service/impl/TaskServiceImpl.java

@@ -1733,6 +1733,25 @@ public class TaskServiceImpl extends CommonServiceImpl<TaskMapper, Task> impleme
         return array;
     }
 
+    @Override
+    public List<TaskDto> findByStartCodeAndBusy(String deviceCode) {
+        Iterator var3 = tasks.iterator();
+        ArrayList<TaskDto> tasks = new ArrayList<>();
+        while (var3.hasNext()) {
+            TaskDto task = (TaskDto) var3.next();
+            //            if (!StrUtil.equals(task.getTask_type(), "5")) {
+            //                continue;
+            //            }
+            if (StrUtil.equals(task.getStart_device_code(), deviceCode)
+                    && StrUtil.equals(task.getTask_status(), TaskStatusEnum.BUSY.getIndex())) {
+                if (tasks.size()<2){
+                    tasks.add(task);
+                }
+            }
+        }
+        return tasks;
+    }
+
 
     @Override
     public Integer querySameTaskByType(String taskType) {